Hello Folks,
I am trying to design a vehicle dynamic model that runs a co-simulation with
SUMO. I have my vehicle model in MATLAB and use TraCI to communicate between
them both.
To
calculate my brake and throttle commands, my model requires the current
speed (speed_i) and the future speed (speed_i+1). Is there any
function/method that i can use to obtain the required information. For
now i am using a round about method to accomplish the task.
Currently,
I use the IDM driver model in my SUMO simulation and built another IDM
model in MATLAB that can predict the SUMO driver's behavior. This helps
me run the co-simulation as of now. But Ive noticed that as the vehicle
approaches an intersection / traffic light, the vehicle velocity
deviates from the predicted IDM values. I understand that this is to
accommodate for the eventual stop at the intersection. But is there a
particular equation that SUMO uses to set these speeds? If so I can
incorporate this equation into my IDM model such that my predictor
always predicts the velocity correctly. Else if there exists an explicit
function that would output the future speed ( in the next time step) i
can use that too.
Thanks in Advance,
Avi
P.S.
I found some related information on :
http://www.sumo.dlr.de/2013/SUMO2013_15-17May%202013_Berlin-Adlershof.pdf but i
was unable come to a definite conclusion.
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