Hello, what you propose sounds very similar to something that is already being done but several parties (also in the context of testing automated vehicles): coupling a submicroscopic vehicle simulation with SUMO to control one or more vehicles with increased realism (with SUMO providing the background traffic). Your case differs somewhat since you wish to extract the lane-change decisions from SUMO instead of getting them from the submicroscopic simulator (this extraction can be done since version 0.30.0).
So my answer is: yes this can be done. Tractability depends on your dynamic model which you could "fit to (computational) cost". Some remarks regarding your original assessment: - option --lanechange.duration is a distinct model to realize some effects of non-instantaneous lane-changes at low computational cost. It is obsolete when using the sublane model (where the duration is an emergent effect of vehicle parameters and the traffic situation). - the sublane model is under continuous development and aims at producing realistic trajectories - I recommend contacting [email protected] because we may be able facilitate contact with other interested parties to enable joint development efforts. best regards, Jakob 2017-07-03 12:59 GMT+02:00 Manuel Schmidt via sumo-user < [email protected]>: > Hi, > > I am currently looking for a simulation tool to develop algorithms in the > field of automated driving. Realistic traffic is therefore really important > in order to project the reality into the simulation. > SUMO as a microscopic traffic simulator seems to provide great capabilities > in simulating traffic flow. > > However no sub-microscopic effects are taken into account. The vehicle > dynamics in particular are disregarded. > Some recent developments look really promising: > - Sublane model > - Enhanced movetoXY function > - laneChange.duration (but very often not realistic) > > Since my knowledge of SUMO is still somewhat limited, I would like to hear > your opinions regarding my plan to integrate vehicle dynamics into the > simulation. > > My plan is the following: > > A radius around one ego-vehicle will be defined. Other traffic participants > exist only within this radius. > > A vehicle dynamics model needs to be defined: > Input: Accelerations (ax, ay) and Yaw-Rate > Output: Velocities (vx, vy) and Yaw-Angle > The vehicle state is comprised of accelerations, velocities and yaw-angle > and can be calculated with finite-differences and saved to a variable. For > the longitudinal dynamics, a first-order-lag system could be used (see > PLEXE). > > Ideally SUMO provides a signal for every vehicle that marks the start of a > lane-change and also the information of the target-lane or ideally target > point (x,y,velocity) can be extracted (getBestLanes? getLaneID?). > > Next, realistic lane-change trajectories should be learned from data. A > mean trajectory, parametrized by velocities could be extracted and used as > "candidate-trajectories". Some stochasticity can be provided by sampling > from a distribution and superimpose these over the > "candidate-trajectories". > > The whole process of updating the vehicles could look somehow like this > (short "pseudo-code"): > > for veh_id in veh_ids: > if laneChangeTrigger(veh_id) == true: > goal_state = getGoalState(veh_id) <- "x,y,psi,v" > candidate_trajectory = planTrajectory(veh_id, veh_id_state, > goal_state) > realistic_trajectory = overlayTrajectory(candidate_trajectory) > for trajectory_point in realistic_trajectory: > veh_id_new_position = moveToXY(moveVehDynamically(veh_id, > trajectory_point, > > veh_id_state) > > > Using a small value of --lateral-resolution should make sure that SUMO > internally gets the correct representation of the scene and free drivable > space. > > These are some ideas regarding the integration. What do you think about > this? Does SUMO's TraCI interface provide all the necessary functionality > in order to realize the above described behaviour? Is it computationally > tractable? What problems could be encountered? > > > Best regards > Manuel > ------------------------------------------------------------ > ------------------ > Check out the vibrant tech community on one of the world's most > engaging tech sites, Slashdot.org! http://sdm.link/slashdot > _______________________________________________ > sumo-user mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/sumo-user > ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ sumo-user mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/sumo-user
