Difference between revisions of "TraCI/Change Vehicle State"

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(documenting default lane change mode)
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** 11 = respect the speed / brake gaps of others when changing lanes, no speed adaption
 
** 11 = respect the speed / brake gaps of others when changing lanes, no speed adaption
  
 +
The default lane change mode is 0b1001010101 = 597 which means that the laneChangeModel may execute all changes unless in conflict with TraCI. Requests from TraCI are handled urgently but with full consideration for safety constraints.
  
 
'''add (0x80)'''
 
'''add (0x80)'''

Revision as of 08:34, 8 April 2014

Command 0xc4: Change Vehicle State

ubyte string ubyte <value_type>
Variable Vehicle ID Type of the value New Value

Changes the state of a vehicle. Because it is possible to change different values of a vehicle, the number of parameter to supply and their types differ between commands. The following values can be changed, the parameter which must be given are also shown in the table. Furthermore it is possible to change all values mentioned in TraCI/Change_VehicleType_State. If you do so, the vehicle gets a new type (named "typeid@vehid") and won't be affected by further changes to the original type.

Overview Changeable Vehicle Variables
Variable ValueType Description
stop (0x12) compound (string, double, byte, double), see below Lets the vehicle stop at the given edge, at the given position and lane. The vehicle will stop for the given duration. Re-issuing a stop command with the same lane and position allows changing the duration.
change lane (0x13) compound (byte, int), see below Forces a lane change to the lane with the given index; if successful, the lane will be chosen for the given amount of time (in ms).
slow down (0x14) compound (double, int), see below Changes the speed smoothly to the given value over the given amount of time in ms (can also be used to increase speed).
resume (0x19) compound (), see below Resumes from a stop
change target (0x31) string (destination edge id) The vehicle's destination edge is set to the given. The route is rebuilt.
speed (0x40) double (new speed) Sets the vehicle speed to the given value. The speed will be followed until a new is given. If -1 is given, the vehicle follows the car-following rules again.
color (0x45) ubyte,ubyte,ubyte,ubyte (RGBA) Sets the vehicle's color.
change route by id (0x53) string (route id) Assigns the named route to the vehicle, assuming a) the named route exists, and b) it starts on the edge the vehicle is currently at(1)(2).
change route (0x57) stringList (ids of edges to pass) Assigns the list of edges as the vehicle's new route assuming the first edge given is the one the vehicle is curently at(1)(2).
change edge travel time information (0x58) compound (begin time, end time, edgeID, value), see below Inserts the information about the travel time of edge "edgeID" valid from begin time to end time into the vehicle's internal edge weights container.
change edge effort information (0x59) compound (begin time, end time, edgeID, value), see below Inserts the information about the effort of edge "edgeID" valid from begin time to end time into the vehicle's internal edge weights container.
signal states (0x5b) int Sets a new state of signals, please see the comments on TraCI/Vehicle Signalling for more information.
move to (0x5c) compound (lane ID, position along lane) Moves the vehicle to a new position, see comments below.
reroute (compute new route) by travel time (0x90) compound (<empty>), see below Computes a new route using the vehicle's internal and the global edge travel time information. Replaces the current route by the found(2).
reroute (compute new route) by effort (0x91) compound (<empty>), see below Computes a new route using the vehicle's internal and the global edge effort information. Replaces the current route by the found(2).
speed mode (0xb3) int bitset (see below) Sets how the values set by speed (0x40) and slowdown (0x14) shall be treated. Also allows to configure the behavior at junctions. See below.
lane change mode (0xb6) int bitset (see below) Sets how lane changing in general and lane changing requests by TraCI are performed. See below.
add (0x80) complex (see below) Adds the defined vehicle. See below.
add_full (0x85) complex (see below) Adds the defined vehicle. See below.
remove (0x81) complex (see below) Removes the defined vehicle. See below.
length (0x44) double Sets the vehicle's length to the given value
max speed (0x41) double Sets the vehicle's maximum speed to the given value
vehicle class (0x49) string Sets the vehicle's vehicle class to the given value
speed factor (0x5e) double Sets the vehicle's speed factor to the given value
emission class (0x4a) string Sets the vehicle's emission class to the given value
width (0x4d) double Sets the vehicle's width to the given value
min gap (0x4c) double Sets the vehicle's minimum headway gap to the given value
shape class (0x4b) string Sets the vehicle's shape class to the given value
acceleration (0x46) double Sets the vehicle's wished maximum acceleration to the given value
deceleration (0x47) double Sets the vehicle's wished maximum deceleration to the given value
imperfection (0x5d) double Sets the vehicle's driver imperfection (sigma) to the given value
tau (0x48) double Sets the vehicle's wished headway time to the given value

Please note:

(1): The first occurrence of the edge is currently at is searched within the new route; the vehicle continues the route from this point in the route from. If the edge the vehicle is currently does not exist within the new route, an error is generated. (2): changing the route works only if the vehicle is not within an intersection.

The message contents are as following:

stop (0x12)

byte integer byte string byte double byte byte byte int
value type compound item number (4 or 5) value type string Edge ID value type double Position value type byte Lane Index value type int Duration [ms] value type byte (optional) stop flags: 1 for parking, 2 for triggered, 3 for both

change lane (0x13)

byte integer byte byte byte int
value type compound item number (always 2) value type byte Lane Index value type int Duration [ms]

slow down (0x14)

byte integer byte double byte int
value type compound item number (always 2) value type double Speed value type int Duration [ms]


resume (0x19)

byte integer
value type compound item number (always 0)

change target (0x31)

byte string
value type string Edge ID


change route by id (0x54)

byte string
value type string Route ID


change route (0x57)

byte int string
value type string list number of elements Edge ID


change edge travel time information (0x58)

This command can be sent using 4, 2, or 1 parameters. In the first form, it adds a new override of edge information to the list of existing overrides for the given vehicle, valid from begin time to end time. In the second form, it adds a new override that is valid throughout the simulation, replacing an earlier one for the same edge. In the third form, it removes as earlier override for the given edge, valid throughout the simulation.

byte int byte int byte int byte string byte double
value type compound number of elements (always=4) value type integer begin time (in s) value type integer end time (in s) value type string edge id value type double travel time value (in s)
byte int byte string byte double
value type compound number of elements (always=2) value type string edge id value type double travel time value (in s)
byte int byte string
value type compound number of elements (always=1) value type string edge id


change edge effort information (0x59)

This command can be sent using 4, 2, or 1 parameters. In the first form, it adds a new override of edge information to the list of existing overrides for the given vehicle, valid from begin time to end time. In the second form, it adds a new override that is valid throughout the simulation, replacing an earlier one for the same edge. In the third form, it removes as earlier override for the given edge, valid throughout the simulation.

byte int byte int byte int byte string byte double
value type compound number of elements (always=4) value type integer begin time (in s) value type integer end time (in s) value type string edge id value type double effort value (abstract)
byte int byte string byte double
value type compound number of elements (always=2) value type string edge id value type double effort value (abstract)
byte int byte string
value type compound number of elements (always=1) value type string edge id

reroute (compute new route) by travel time (0x90)

byte int
value type compound number of elements (always=0)

reroute (compute new route) by effort (0x91)

byte int
value type compound number of elements (always=0)


reroute (compute new route) by effort (0x91)

byte int byte string byte double
value type compound number of elements (always=2) value type string lane ID value type double Position along the lane.

The vehicle will be renamed from its lane and moved to the given position on the given lane. No collision checks are done, this means that moving the vehicle may cause in collisions or in situations yielding in such. The vehicle keeps its speed - in the next time step it is at given position + speed. Note that the lane must be a part of the following route, this means it must be either a part of the edge the vehicle is currently on or a part of an edge the vehicle will pass in future; setting a new route before moving the vehicle if needed should work.


speed mode (0xb3)

Per default, the vehicle is using the given speed regarding the safe gap, the maximum acceleration, and the maximum deceleration. Furthermore, vehicles follow the right-of-way rules when approaching an intersection and if necessary they brake hard to avoid driving across a red light. One can control this behavior using the speed mode (0xb3) command, the given integer is a bitset (bit0 is the least significant bit) with the following fields:

  • bit0: Regard safe speed
  • bit1: Regard maximum acceleration
  • bit2: Regard maximum deceleration
  • bit3: Regard right of way at intersections
  • bit4: Brake hard to avoid passing a red light

Setting the bit enables the check (the according value is regarded), keeping the bit==zero disables the check.


lane change mode (0xb6)

The lane change model knows five reasons to change lanes:

  • strategic (change lanes to continue the route)
  • cooperative (change in order to allow others to change)
  • speed gain (the other lane allows for faster driving)
  • obligation to drive on the right
  • External request (TraCI)

One can control this behavior using the lane change mode (0xb6) command, the given integer is a bitset (bit0 is the least significant bit) with the following fields:

  • bit1, bit0: 00 = do no strategic changes; 01 = do strategic changes if not in conflict with a TraCI request; 10 = do strategic change even if overriding TraCI request
  • bit3, bit2: 00 = do no cooperative changes; 01 = do cooperative changes if not in conflict with a TraCI request; 10 = do cooperative change even if overriding TraCI request
  • bit5, bit4: 00 = do no changes; 01 = do speed gain changes if not in conflict with a TraCI request; 10 = do speed gain change even if overriding TraCI request
  • bit7, bit6: 00 = do no right drive changes; 01 = do right drive changes if not in conflict with a TraCI request; 10 = do right drive change even if overriding TraCI request
  • bit9, bit8:
    • 00 = do not respect other drivers when following TraCI requests, adapt speed to fulfill request
    • 01 = avoid immediate collisions when following a TraCI request, adapt speed to fulfill request
    • 10 = respect the speed / brake gaps of others when changing lanes, adapt speed to fulfill request
    • 11 = respect the speed / brake gaps of others when changing lanes, no speed adaption

The default lane change mode is 0b1001010101 = 597 which means that the laneChangeModel may execute all changes unless in conflict with TraCI. Requests from TraCI are handled urgently but with full consideration for safety constraints.

add (0x80)

byte int byte string byte string byte int byte double byte double byte byte
value type compound number of elements (always=6) value type string vehicle type ID (must exist) value type string route ID (must exist) value type integer depart time value type double depart position value type double depart speed value type byte depart lane
Note:
Please note that the values are not checked in a very elaborated way. Make sure they are correct before sending.

If zero or a negative departure speed is set, one of the following fixed speed settings will be used:

*  0: DEPART_SPEED_DEFAULT
* -2: DEPART_SPEED_RANDOM
* -3: DEPART_SPEED_MAX

add_full (0x85)

byte int byte string byte string byte string byte string byte string byte string byte string byte string byte string byte string byte string byte string byte int byte int
value type compound number of elements (always=14) value type string route ID (must exist) value type string vehicle type ID (must exist) value type string depart time value type string depart lane value type string depart position value type string depart speed value type string arrival lane value type string arrival position value type string arrival speed value type string from taz (origin district) value type string to taz (destination district) value type string line (for public ttansport) value type integer person capacity value type integer person number
Note:
Please note that the values are not checked in a very elaborated way. Make sure they are correct before sending.

remove (0x81)

byte byte
value type byte reason

The following reasons may be given:

  • 0: NOTIFICATION_TELEPORT
  • 1: NOTIFICATION_PARKING
  • 2: NOTIFICATION_ARRIVED
  • 3: NOTIFICATION_VAPORIZED
  • 4: NOTIFICATION_TELEPORT_ARRIVED