• Vehicle Value Retrieval

Vehicle Value Retrieval

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Command 0xa4: Get Vehicle Variable#

ubyte	string
Variable	Vehicle ID

Asks for the value of a certain variable of the named vehicle. The value returned is the state of the asked variable/value within the last simulation step. In the case the vehicle is loaded, but outside the network - due not being yet inserted into the network or being teleported within the current time step - a default "error" value is returned.

The following variable values can be retrieved, the type of the return value is also shown in the table.

Overview Retrievable Vehicle Variables

Variable	ValueType	Description	Python Method
id list (0x00)	stringList	Returns a list of ids of all vehicles currently running within the scenario (the given vehicle ID is ignored)	getIDList
count (0x01)	int	Returns the number of vehicles currently running within the scenario (the given vehicle ID is ignored)	getIDCount
speed (0x40)	double	Returns the speed of the named vehicle within the last step [m/s]; error value: -2^30	getSpeed
lateral speed (0x32)	double	Returns the lateral speed of the named vehicle within the last step [m/s]; error value: -2^30	getLateralSpeed
acceleration (0x72)	double	Returns the acceleration in the previous time step [m/s^2]	getAcceleration
position (0x42)	position	Returns the position(two doubles) of the named vehicle (center of the front bumper) within the last step [m,m]; error value: [-2^30, -2^30].	getPosition
position 3D (0x39)	position	Returns the 3D-position(three doubles) of the named vehicle (center of the front bumper) within the last step [m,m,m]; error value: [-2^30, -2^30, -2^30].	getPosition3D
angle (0x43)	double	Returns the angle of the named vehicle within the last step [°]; error value: -2^30	getAngle
road id (0x50)	string	Returns the id of the edge the named vehicle was at within the last step; error value: ""	getRoadID
lane id (0x51)	string	Returns the id of the lane the named vehicle was at within the last step; error value: ""	getLaneID
lane index (0x52)	int	Returns the index of the lane the named vehicle was at within the last step; error value: -2^30	getLaneIndex
type id (0x4f)	string	Returns the id of the type of the named vehicle	getTypeID
route id (0x53)	string	Returns the id of the route of the named vehicle	getRouteID
route index (0x69)	int	Returns the index of the current edge within the vehicles route or -1 if the vehicle has not yet departed	getRouteIndex
edges (0x54)	stringList	Returns the ids of the edges the vehicle's route is made of	getRoute
color (0x45)	ubyte,ubyte,ubyte,ubyte	Returns the vehicle's color (RGBA). This does not return the currently visible color in the GUI but the color value set in the XML file or via TraCI.	getColor
lane position (0x56)	double	The position of the vehicle along the lane (the distance from the front bumper to the start of the lane in [m]); error value: -2^30	getLanePosition
distance (0x84)	double	The distance, the vehicle has already driven ([m]); error value: -2^30	getDistance
signal states (0x5b)	int	An integer encoding the state of a vehicle's signals, see TraCI/Vehicle Signalling for more information.	getSignals
routing mode (0x89)	int	An integer encoding the current routing mode (0: default, 1: aggregated)	getRoutingMode
TaxiFleet (0x20)	stringList	Return the list of all taxis with the given mode:(-1: all, 0 : empty, 1 : pickup,2 : occupied, 3: pickup+occupied). Note: vehicles that are in state pickup+occupied (due to ride sharing) will also be returned when requesting mode 1 or 2	getTaxiFleet
CO2 emissions (id 0x60)	double	Vehicle's CO2 emissions in mg/s during this time step, to get the value for one step multiply with the step length; error value: -2^30	getCO2Emission
CO emissions (id 0x61)	double	Vehicle's CO emissions in mg/s during this time step, to get the value for one step multiply with the step length; error value: -2^30	getCOEmission
HC emissions (id 0x62)	double	Vehicle's HC emissions in mg/s during this time step, to get the value for one step multiply with the step length; error value: -2^30	getHCEmission
PMx emissions (id 0x63)	double	Vehicle's PMx emissions in mg/s during this time step, to get the value for one step multiply with the step length; error value: -2^30	getPMxEmission
NOx emissions (id 0x64)	double	Vehicle's NOx emissions in mg/s during this time step, to get the value for one step multiply with the step length; error value: -2^30	getNOxEmission
fuel consumption (id 0x65)	double	Vehicle's fuel consumption in mg/s during this time step, to get the value for one step multiply with the step length; error value: -2^30	getFuelConsumption
noise emission (id 0x66)	double	Noise generated by the vehicle in dBA; error value: -2^30	getNoiseEmission
electricity consumption (id 0x71)	double	Vehicle's electricity consumption in Wh/s during this time step, to get the value for one step multiply with the step length; error value: -2^30	getElectricityConsumption
best lanes (id 0xb2)	complex	For each lane on the current edge, the sequences of lanes that would be followed from that lane without lane-change as well as information regarding lane-change desirability are returned (see below).	getBestLanes
stop state (id 0xb5)	int	value = 1 * stopped + 2 * parking + 4 * triggered + 8 * containerTriggered + 16 * atBusStop + 32 * atContainerStop + 64 * atChargingStation + 128 * atParkingArea	getStopState isAtBusStop isAtContainerStop isStopped isStoppedParking isStoppedTriggered
length (0x44)	double	Returns the length of the vehicles [m]	getLength
vmax (0x41)	double	Returns the maximum speed of the vehicle [m/s]	getMaxSpeed
accel (0x46)	double	Returns the maximum acceleration possibility of this vehicle [m/s^2]	getAccel
decel (0x47)	double	Returns the maximum deceleration possibility of this vehicle [m/s^2]	getDecel
tau (0x48)	double	Returns the driver's desired time headway for this vehicle [s]	getTau
sigma (0x5d)	double	Returns the driver's imperfection (dawdling) [0,1]	getImperfection
speedFactor (0x5e)	double	Returns the road speed multiplier for this vehicle [double]	getSpeedFactor
speedDev (0x5f)	double	Returns the deviation of speedFactor for this vehicle [double]	getSpeedDeviation
vClass (0x49)	string	Returns the permission class of this vehicle	getVehicleClass
emission_class (0x4a)	string	Returns the emission class of this vehicle	getEmissionClass
shape (0x4b)	string	Returns the shape class of this vehicle	getShapeClass
minGap (0x4c)	double	Returns the offset (gap to front vehicle if halting) of this vehicle [m]	getMinGap
width (0x4d)	double	Returns the width of this vehicle [m]	getWidth
height (0xbc)	double	Returns the height of this vehicle [m]	getHeight
person capacity (0x38)	int	Returns the total number of persons that can ride in this vehicle	getPersonCapacity
waiting time (0x7a)	double	Returns the consecutive time in where this vehicle was standing [s] (voluntary stopping is excluded)	getWaitingTime
accumulated waiting time (0x87)	double	Returns the accumulated waiting time [s] within the previous time interval of default length 100 s. (length is configurable per option --waiting-time-memory given to the main application)	getAccumulatedWaitingTime
next TLS (0x70)	complex	Returns upcoming traffic lights, along with distance and state	getNextTLS
next stops (0x73)	complex	Returns the list of upcoming stops, each as compound (laneID, endPos, ID, flags, duration, until). If flag 1 is set (stop reached), duration encodes the remaining duration. Negative values indicate being blocked from re-entering traffic after a parking stop.	getNextStops
person id list (0x1a)	stringList	Returns the list of persons which includes those defined using attribute 'personNumber' as well as -objects which are riding in this vehicle.	getPersonIDList
speed mode (0xb3)	int bitset (see below)	Retrieves how the values set by speed (0x40) and slowdown (0x14) shall be treated. See the set speedmode command for details.	getSpeedMode
lane change mode (0xb6)	int bitset (see below)	Get information on how lane changing in general and lane changing requests by TraCI are performed.	getLaneChangeMode
slope (0x36)	double	Retrieves the slope at the current vehicle position in degrees	getSlope
allowed speed (0xb7)	double	Returns the maximum allowed speed on the current lane regarding speed factor in m/s for this vehicle.	getAllowedSpeed
line (0xbd)	string	Returns the line information of this vehicle.	getLine
Person Number(0x67)	int	Returns the total number of persons which includes those defined using attribute 'personNumber' as well as <person>-objects which are riding in this vehicle.	getPersonNumber
via edges(0xbe)	stringList	Returns the ids of via edges for this vehicle.	getVia
speed without TraCI (0xb1)	double	Returns the speed that the vehicle would drive if not speed-influencing command such as setSpeed or slowDown was given.	getSpeedWithoutTraCI
valid route (0x92)	bool	Returns whether the current vehicle route is connected for the vehicle class of the given vehicle.	isRouteValid
lateral lane position (0xb8)	double	Returns the lateral position of the vehicle on its current lane measured in m.	getLateralLanePosition
max lateral speed (0xba)	double	Returns the maximum lateral speed in m/s of this vehicle.	getMaxSpeedLat
boarding duration (0x2f)	double	Returns the boarding duration of the vehicle in s	getBoarding
current impatience (0x26)	double	Returns the current [dynamic impatience](../Definition_of_Vehicles%2C_Vehicle_Types%2C_and_Routes.md#impatience) of this vehicle.	getImpatience
lateral gap (0xbb)	double	Returns the desired lateral gap of this vehicle at 50km/h in m.	getMinGapLat
lateral alignment (0xb9)	string	Returns the preferred lateral alignment of the vehicle.	getLateralAlignment
parameter (0x7e)	string	Returns the value for the given string parameter	getParameter
action step length (0x7d)	double	Returns the current action step length for the vehicle in s.	getActionStepLength
last action time (0x7f)	double	Returns the time of the last action step in s.	getLastActionTime
stops (0x74)	complex	Returns the list of the next or last n stops as StopData objects.	getStops
timeLoss (0x8c)	double	Returns the accumulated timeLoss of the vehicle in s	getTimeLoss
loaded list (0x24)	stringList	Returns a list of all loaded vehicle ids that have not yet arrived. This includes vehicles that are meant to depart in the future.	getLoadedIDList
teleporting list (0x25)	stringList	Returns a list of all vehicles that are currently teleporting/jumping	getTeleportingIDList
next links (0x33)	complex	Returns the list of upcoming links with each compound containing info about (lane, via, priority, opened, foe, state, direction, length)	getNextLinks
actual departure time (0x3a)	double	Returns the actual departure time (after possibly queueing for insertion)	getDeparture
departure delay (0x3b)	double	Returns the time difference between the planned and the actual departure	getDepartDelay
segment id (0xa1)	string	Returns the id of the segment on which the vehicle is driving (mesosim)	getSegmentID
segment index (0xa2)	int	Returns the index of the segment on which the vehicle is driving (mesosim)	getDepartSegmentIndex
mass (0xc8)	double	Returns the mass of the vehicle	getMass

Response 0xb4: Vehicle Variable#

ubyte	string	ubyte	<return_type>
Variable	Vehicle ID	Return type of the variable	<VARIABLE_VALUE>

The respond to a "Command Get Vehicle Variable".

next stops (0x73)

byte	int	...
value type compound	number of following stop information	stop information

Each stop information is:

byte	string	byte	double	byte	string	byte	integer	byte	double	byte	double
value type string	lane-id	value type double	endPos	value type string	stoppingPlaceID	value type integer	stopFlags (bit set, see setStop())	value type double	duration in seconds	value type double	until in seconds

best lanes (0xb2)

byte	int	...
value type compound	number of following edge information	edge information

Each edge information is:

byte	string	byte	double	byte	double	byte	byte (signed)	byte	byte (unsigned)	byte	stringList
value type string	lane-id	value type double	length	value type double	occupation	value type byte	offset to best lane	value type ubyte	0: lane may not be used for continuing drive, 1: it may be used	value type stringlist	list of best subsequent lanes

Extended retrieval messages#

Some further messages require additional parameters.

Overview Extended Variables Retrieval

Variable	Request ValueType	Response ValueType	Description	Python Method
edge travel time information (0x58)	compound (time, edgeID), see below	double	Returns the edge travel time for the given time as stored in the vehicle's internal container. If such a value does not exist, -1 is returned.	getAdaptedTraveltime
edge effort information (0x59)	compound (time, edgeID), see below	double	Returns the edge effort for the given time as stored in the vehicle's internal container. If such a value does not exist, -1 is returned.	getEffort
leader (0x68)	double, see below	compound (string, double)	Returns the id of the leading vehicle and its distance, if the string is empty, no leader was found within the given range. Only vehicles ahead on the currently list of best lanes are considered (see above). This means, the leader is only valid until the next lane-change maneuver. The returned distance is measured from the ego vehicle front bumper + minGap to the back bumper of the leader vehicle.	getLeader
distance request (0x83)	compound (see Command 0x83: Distance Request)	double, see below	Returns the distance between the current vehicle position and the specified position (for the given distance type)	getDrivingDistance getDrivingDistance2D
change lane information (0x13)	compound , see below	int, int see below	Return whether the vehicle could change lanes in the specified direction in the previous step (right: -1, left: 1. sublane-change within current lane: 0). Return the lane change state for the vehicle.	getLaneChangeState couldChangeLane wantsAndCouldChangeLane
neighboring vehicles (0xbf)	byte , see below	stringList see below	Returns a list of IDs for neighboring vehicle relevant to lane changing (>1 elements only possible for sublane model)	getNeighbors, getLeftFollowers, getLeftLeaders, getRightFollowers, getRightLeaders
followSpeed (0x1c)	compound, see below	double	Return the follow speed computed by the carFollowModel of vehicle	getFollowSpeed
secureGap (0x1e)	compound, see below	double	Return the secure gap computed by the carFollowModel of vehicle	getSecureGap
stopSpeed (0x1e)	compound, see below	double	Return the safe speed for stopping at gap computed by the carFollowModel of vehicle	getStopSpeed
junction foes (0x37)	complex	Returns the list of foes within a certain distance of the ego vehicle.	getJunctionFoes
stop parameters (0x55)	string	Returns the attribute by the given name for the stop of the given index (0 is the next stop, -1 is the previous stop etc) for the specified vehicle. If customParam is set to True (1), the user defined custom parameter will returned instead.	getStopParameter

The request message contents are as following:

edge travel time information (0x58)#

byte	int	byte	double	byte	string
value type compound	number of elements (always=2)	value type double	requested time (in s)	value type string	edge id

edge effort information (0x59)#

byte	int	byte	double	byte	string
value type compound	number of elements (always=2)	value type double	requested time (in s)	value type string	edge id

leader (0x68)#

byte	double
value type double	minimum look ahead distance (in m)

next TLS (0x70)#

byte	int	byte	int	byte	string	byte	int	byte	double	byte	byte
value type compound	number of elements	value type integer	number of traffic light links ahead	value type string	TLS id	value type int	TLS link index	value type double	distance to TLS	value type byte	link state

The last 4 items occur multiple times according to the number of traffic lights ahead (2nd return value)

change lane information (0x13)#

byte	int
value type compound	change direction (-1:right, 0:sublane-change within current lane or 1:left)

The result consists of two integer values. The first value returns the state as computed by the lane change model and the second value returns the state after requests where incorporated (see changeLane, setLaneChangeMode). Each value is a bitset with the following meaning:

• 2^0: stay
• 2^1: left
• 2^2: right
• 2^3: strategic
• 2^4: cooperative
• 2^5: speedGain
• 2^6: keepRight
• 2^7: TraCI
• 2^8: urgent
• 2^9: blocked by left leader
• 2^10: blocked by left follower
• 2^11: blocked by right leader
• 2^12: blocked by right follower
• 2^13: overlapping
• 2^14: insufficient space
• 2^15: sublane
• 2^28: insufficient speed
• 2^30: undetermined

neighboring vehicles (0xbf)#

byte	ubyte
value type ubyte	mode (bitset)

The mode's bits specify which neighboring vehicles should be returned:

• 2^0: right neighbors (else: left)
• 2^1: neighbors ahead (else: behind)
• 2^2: only neighbors blocking a potential lane change (else: all)

The returned string list contains the IDs of all corresponding neighboring vehicles.

followSpeed (0x1c)#

byte	int	double	double	double	double	string
value type compound	5	speed	gap	leaderSpeed	leaderMaxDecel	leaderID

The leaderID is optional. Only a few car follow models such as CACC may require the identity of the leader to return the correct value The returned value is the safe follow speed in m/s

secureGap (0x1e)#

byte	int	double	double	double	string
value type compound	4	speed	leaderSpeed	leaderMaxDecel	leaderID

The leaderID is optional. Only a few car follow models such as CACC may require the identity of the leader to return the correct value The returned value is the safe gap for following the given leader in m.

stopSpeed (0x1d)#

byte	int	double	double
value type compound	2	speed	gap

The returned value is the safe speed in m/s for stopping after gap when braking from the given speed.

junction foes (0x37)#

byte	double
value type double	lookahead distance in m

The returned value is the safe speed in m/s for stopping after gap when braking from the given speed.

stopParameter (0x55)#

byte	int	int	string	byte
value type compound	3	stopIndex	param	customParam

The stopIndex must be in range [-numberOfPassedStops, numberORemaingStops - 1]. The customParam is interpreted as a boolean and determines whether an attribute values or a user defined parameter is returned.

Device and LaneChangeModel Parameter Retrieval 0x7e#

Vehicles supports retrieval of device parameters using the generic parameter retrieval call.

Supported Device Parameters#

• device.battery.energyConsumed
• device.battery.energyCharged
• device.battery.chargeLevel
• device.battery.capacity
• device.battery.chargingStationId
• device.battery.totalEnergyConsumed
• device.battery.totalEnergyRegenerated
• device.battery.maximumChargeRate
• device.person.IDList
• device.container.IDList
• device.rerouting.period (returns individual rerouting period in seconds)
• device.rerouting.edge:EDGE_ID (returns assumed travel time for rerouting where EDGE_ID is the id of a network edge)
• device.driverstate.awareness
• device.driverstate.errorState
• device.driverstate.errorTimeScale
• device.driverstate.errorNoiseIntensity
• device.driverstate.minAwareness
• device.driverstate.initialAwareness
• device.driverstate.errorTimeScaleCoefficient
• device.driverstate.errorNoiseIntensityCoefficient
• device.driverstate.speedDifferenceErrorCoefficient
• device.driverstate.headwayErrorCoefficient
• device.driverstate.speedDifferenceChangePerceptionThreshold
• device.driverstate.headwayChangePerceptionThreshold
• device.driverstate.maximalReactionTime
• device.driverstate.originalReactionTime
• device.driverstate.actionStepLength
• device.stationfinder.chargingStation
• device.stationfinder.batteryNeed
• device.stationfinder.needToChargeLevel
• device.stationfinder.saturatedChargeLevel
• device.stationfinder.waitForCharge
• device.stationfinder.repeat
• device.stationfinder.radius
• device.stationfinder.reserveFactor
• device.taxi.state
• device.taxi.customers
• device.taxi.occupiedTime
• device.taxi.occupiedDistance
• device.taxi.currentCustomers
• device.tripinfo.waitingTime (total waiting time)
• device.tripinfo.waitingCount
• device.tripinfo.stopTime (total stopping time)
• device.tripinfo.arrivalTime (only retrievable after arrival with option --keep-after-arrival TIME)
• device.tripinfo.arrivalLane (only retrievable after arrival with option --keep-after-arrival TIME)
• device.tripinfo.arrivalPos (only retrievable after arrival with option --keep-after-arrival TIME)
• device.tripinfo.arrivalPosLat (only retrievable after arrival with option --keep-after-arrival TIME)
• device.tripinfo.arrivalSpeed (only retrievable after arrival with option --keep-after-arrival TIME)
• device.toc.state
• device.toc.holder
• device.toc.hasDynamicToC
• device.toc.manualType
• device.toc.automatedType
• device.toc.initialAwareness
• device.toc.lcAbstinence
• device.toc.currentAwareness
• device.toc.dynamicToCThreshold
• device.toc.dynamicMRMProbability
• device.toc.mrmKeepRight
• device.toc.mrmSafeSpot
• device.toc.mrmSafeSpotDuration
• device.toc.maxPreparationAccel
• device.toc.ogNewTimeHeadway
• device.toc.ogNewSpaceHeadway
• device.toc.ogChangeRate
• device.toc.ogMaxDecel
• device.example.customValue1 (return the value of option --device.example.parameter)
• device.example.customValue2 (return the value of vehicle parameter example)
• device.example.meaningOfLife (return 42)
• has.DEVICENAME.device (returns "true" or "false" depending on whether a device with DEVICENAME is equipped)

Supported LaneChangeModel Parameters#

• laneChangeModel.<ATTRNAME> (where <ATTRNAME> is one of the parameters supported by the laneChangeModel of the vehicle. i.e. lcStrategic)

Supported carFollowModel Parameters#

Some carFollowModels permit access to further vehicle-specific parameters.

• carFollowModel.caccCommunicationsOverride (only CACC)

Supported further Parameters#

• parking.rerouteCount: number of times vehicle rerouted to another parkingArea during the current search
• parking.memory.IDList: all parkingAreas considered so far
• parking.memory.score: latest scores for the list of considered parkingAreas (smaller is better)
• parking.memory.blockedAtTime: times for the list of considered parkingAreas indicating the last time the area was found to be blocked (possibly via remote information)
• parking.memory.blockedAtTimeLocal: times for the list of considered parkingAreas indicating the last time the area was found to be blocked (upon physically visiting that area)