Difference between revisions of "TraCI/Change Vehicle State"

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=='''change edge effort information (0x59)'''==
 
=='''change edge effort information (0x59)'''==

Revision as of 10:10, 5 December 2016

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. Setting the duration to 0 cancels an existing stop.
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 along the current route (3).
move to XY (0xb4) compound (edgeID, laneIndex, x, y, angle, keepRoute) (see below) Moves the vehicle to a new position after normal vehicle movements have taken place. Also forces the angle of the vehicle to the given value (navigational angle in degree). See below for additional details
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
height (0xbc) double Sets the vehicle's height 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.
  3. The specified lane must lie ahead of the vehicle on its current route. The next occurence is used. Intermediate edges will count the vehicle when entering and exiting.

compound message details

The message contents are as following:

stop (0x12)

byte integer byte string byte double byte byte byte int byte double byte int
value type compound item number (4 or 5) value type string Edge ID value type double end position value type byte Lane Index value type int Duration [ms] value type byte (optional) stop flags: (see below) value type double (optional) start position value type double (optional) start position value type int (optional) Until [ms]

The stop flags are a bitset with the following additive components

  • 1 : parking
  • 2 : triggered
  • 4 : containerTriggered
  • 8 : busStop (Edge ID is re-purposed as busStop ID)
  • 16 : containerStop (Edge ID is re-purposed as containerStop ID)

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]

move to (0x5c)

byte integer byte string byte double
value type compound item number (always 2) value type string Lane ID value type double Position along lane

The vehicle will be removed 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 a collisions or a situations leading to collision. 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.

Note:
This can also be used to force a vehicle into the network that has been loaded but could not depart due to having it's departure lane blocked.

move to XY (0xb4)

The vehicle is moved to the network position that best matches the given x,y network coordinates. The edgeID and laneIndex are compared against the original OpenDRIVE lane id when possible to resolve ambiguities. The optional keepRoute flag influences mapping as follows

  • keepRoute = 1: The vehicle is mapped to the closest edge within it's existing route. If no suitable position is found within 100m mapping fails with an error.
  • keepRoute = 0: The vehicle is mapped to the closest edge within the network. If that edge does not belong to the original route, the current route is replaced by a new route which consists of that edge only. If no suitable position is found within 100m mapping fails with an error.
  • keepRoute = 2: The vehicle is mapped to the exact position in the network. If that position lies outside the road network, the vehicle stops moving on it's own accord until it is placed back into the network with another TraCI command.
Note:
This can also be used to force a vehicle into the network that has been loaded but could not depart due to having it's departure lane blocked.
byte integer byte string byte double
value type compound item number (5 or 6) value type string edge ID (to resolve ambiguities, may be arbitrary) value type int lane index (to resolve ambiguities, may be arbitrary) value type double x Position (network coordinates) value type double y Position (network coordinates) value type double angle value type byte keepRoute (0 - 2)

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 ms) value type integer end time (in ms) 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)


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.

Examples:

all checks off -> [0 0 0 0 0] -> Speed Mode = 0

disable right of way check -> [1 0 1 1 1] -> Speed Mode = 23

all checks on -> [1 1 1 1 1] -> Speed Mode = 31


lane change mode (0xb6)

The laneChangeModel discriminates four reasons 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

During each simulation step the laneChangeModel computes an internal request to change the lane or to stay on the current lane.

If an external change lane command (0x13) command is in conflict with the internal request this is resolved by the current value of the vehicles lane change mode. The given integer is interpreted as 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 a negative departure time is set, one of the following fixed time settings will be used:

  • -1: DEPART_TRIGGERED
  • -2: DEPART_NOW (discards vehicle if it cannot be inserted immediately, net yet implemented, see [1])

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

If a negative departure position is set, one of the following position settings will be used:

  • -2: DEPART_POS_RANDOM
  • -3: DEPART_POS_FREE
  • -4: DEPART_POS_BASE
  • -5: DEPART_POS_PWAG_SIMPLE
  • -6: DEPART_POS_PWAG_GENERIC
  • -7: DEPART_POS_MAX_SPEED_GAP
  • -8: DEPART_POS_RANDOM_FREE

Please note that giving 0 as depart position will result in the vehicle starting with its front at the begin of lane (unlike the simulation default which is the vehicle placed completely on the lane == DEPART_POS_BASE)

If a negative departure lane is set, one of the following lane settings will be used:

  • -2: DEPART_LANE_RANDOM
  • -3: DEPART_LANE_FREE
  • -4: DEPART_LANE_ALLOWED_FREE
  • -5: DEPART_LANE_BEST_FREE

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