TraCI/Change Vehicle State
- 1 Command 0xc4: Change Vehicle State
- 2 compound message details
- 2.1 stop (0x12)
- 2.2 change lane (0x13)
- 2.3 slow down (0x14)
- 2.4 open gap (0x16)
- 2.5 move to (0x5c)
- 2.6 move to XY (0xb4)
- 2.7 resume (0x19)
- 2.8 change target (0x31)
- 2.9 change route by id (0x54)
- 2.10 change route (0x57)
- 2.11 change edge travel time information (0x58)
- 2.12 change edge effort information (0x59)
- 2.13 reroute (compute new route) by travel time (0x90)
- 2.14 reroute (compute new route) by effort (0x91)
- 2.15 speed mode (0xb3)
- 2.16 lane change mode (0xb6)
- 2.17 add (0x80)
- 2.18 add_full (0x85)
- 2.19 remove (0x81)
- 3 Setting Device and LaneChangeModel Parameters (0x7e)
- 4 Application order of traci commands and simulation step
Command 0xc4: Change Vehicle State
|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.
|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.||setStop |
|change lane (0x13)||compound (byte, double), 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 seconds).||changeLane|
|change sublane (0x15)||double (lateral distance)||Forces a lateral change by the given amount (negative values indicate changing to the right, positive to the left). This will override any other lane change motivations but conform to safety-constraints as configured by laneChangeMode.||changeSublane|
|slow down (0x14)||compound (double, double), see below||Changes the speed smoothly to the given value over the given amount of time in seconds (can also be used to increase speed).||slowDown|
|resume (0x19)||compound (), see below||Resumes from a stop||resume|
|change target (0x31)||string (destination edge id)||The vehicle's destination edge is set to the given. The route is rebuilt.||changeTarget|
|speed (0x40)||double (new speed)||Sets the vehicle speed to the given value. The speed will be followed according to the current speed mode. By default the vehicle may drive slower than the set speed according to the safety rules of the car-follow model. When sending a value of -1 the vehicle will revert to its original behavior (using the maxSpeed of its vehicle type and following all safety rules).||setSpeed|
|color (0x45)||ubyte,ubyte,ubyte,ubyte (RGBA)||Sets the vehicle's color.||setColor|
|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).||setRouteID|
|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).||setRoute|
|reroute parking area (0xc2)||string (parking area id)||Changes the next parking area in parkingAreaID, updates the vehicle route, and preserve consistency in case of passengers/containers on board.||rerouteParkingArea|
|change edge travel time information (0x58)||compound (begin time, end time, edgeID, value), see below||Inserts the information about the travel time (in seconds) of edge "edgeID" valid from begin time to end time (in seconds) into the vehicle's internal edge weights container.||setAdaptedTraveltime|
|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 (in seconds) into the vehicle's internal edge weights container.||setEffort|
|signal states (0x5b)||int||Sets a new state of signal. See TraCI/Vehicle Signalling for more information.||setSignals|
|routing mode (0x89)||int||Sets the routing mode (0: default, 1: aggregated)||setRoutingMode|
|move to (0x5c)||compound (lane ID, position along lane)||Moves the vehicle to a new position along the current route (3).||moveTo|
|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||moveToXY|
|reroute (compute new route) by travel time (0x90)||compound (<empty>), see below||Computes a new route to the current destination that minimizes travel time. The assumed values for each edge in the network can be customized in various ways. See Simulation/Routing#Travel-time_values_for_routing. Replaces the current route by the found(2).||rerouteTraveltime|
|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).||rerouteEffort|
|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.||setSpeedMode|
|speed factor (0x5e)||double||Sets the vehicle's speed factor to the given value||setSpeedFactor|
|max speed (0x41)||double||Sets the vehicle's maximum speed to the given value||setMaxSpeed|
|lane change mode (0xb6)||int bitset (see below)||Sets how lane changing in general and lane changing requests by TraCI are performed. See below.||setLaneChangeMode|
|update bestLanes (0x6a)||updates internal data structures for strategic lane choice. (e.g. after modifying access permissions).||updateBestLanes|
|add (0x80)||complex (see below)||Adds the defined vehicle. See below.||add|
|add_full (0x85)||complex (see below)||Adds the defined vehicle. See below.||addFull|
|remove (0x81)||complex (see below)||Removes the defined vehicle. See below.||remove|
|length (0x44)||double||Sets the vehicle's length to the given value||setLength|
|vehicle class (0x49)||string||Sets the vehicle's vehicle class to the given value||setVehicleClass|
|emission class (0x4a)||string||Sets the vehicle's emission class to the given value||setEmissionClass|
|width (0x4d)||double||Sets the vehicle's width to the given value||setWidth|
|height (0xbc)||double||Sets the vehicle's height to the given value||setHeight|
|min gap (0x4c)||double||Sets the vehicle's minimum headway gap to the given value||setMinGap|
|shape class (0x4b)||string||Sets the vehicle's shape class to the given value||setShapeClass|
|acceleration (0x46)||double||Sets the vehicle's wished maximum acceleration to the given value||setAccel|
|deceleration (0x47)||double||Sets the vehicle's wished maximum deceleration to the given value||setDecel|
|imperfection (0x5d)||double||Sets the vehicle's driver imperfection (sigma) to the given value||setImperfection|
|tau (0x48)||double||Sets the vehicle's wished headway time to the given value.||setTau|
|type (0x4f)||string||Sets the id of the type for the named vehicle.||setType|
|via (0xbe)||stringList||Changes the via edges to the given edges list (to be used during subsequent rerouting calls).||setVia|
|max lateral speed (0xba)||double||Sets the maximum lateral speed in m/s for this vehicle.||setMaxSpeedLat|
|lateral gap (0xbb)||double||Sets the minimum lateral gap of the vehicle at 50km/h in m.||setMinGapLat|
|lateral alignment (0xb9)||string||Sets the preferred lateral alignment for this vehicle.||setLateralAlignment|
|parameter (0x7e)||string, string||Sets the string value for the given string parameter||setParameter|
|action step length (0x7d)||double (new action step length), boolean (reset action offset)||Sets the current action step length for the vehicle in s. If the boolean value resetActionOffset is true, an action step is scheduled immediately for the vehicle.||setActionStepLength|
- 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.
- changing the route works only if the vehicle is not within an intersection.
- 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:
|value type compound||item number (4 to 7)||value type string||Edge ID||value type double||end position||value type byte||Lane Index||value type double||Duration in seconds||value type byte (optional)||stop flags: (see below)||value type double (optional)||start position||value type double (optional)||Until in seconds|
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)
- 32 : chargingStation (Edge ID is re-purposed as chargingStation ID)
- 64 : parkingArea (Edge ID is re-purposed as parkingArea ID)
change lane (0x13)
|value type compound||item number (2 or 3)||value type byte||Lane Index||value type double||Duration in seconds||value type byte (optional)||bool for relative lane change|
slow down (0x14)
|value type compound||item number (always 2)||value type double||Speed||value type double||Duration in seconds|
open gap (0x16)
|value type compound||item number (4 or 5)||value type double||Adapted time headway in seconds||value type double||Adapted space headway in seconds||value type double||Duration in seconds||value type double||changeRate||value type double (optional)||maxDecel|
This command induces a temporary increase of the vehicles desired time headway (car-following parameter tau) and specifies a minimal space headway to keep, as well. The execution is seperated into an adaptation phase, where the headways are gradually altered at the specified rate. As soon as the desired headways are established they are kept for the specified duration. Afterwards they are reset to the original value. Deactivation of the control can be achieved by sending newHeadway=duration=maxDecel=-1. The desired time headway of the vehicle is left unchanged if a value of -1 is send at the corresponding position. If -1 is sent for duration, the largest possible time is set.
move to (0x5c)
|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.
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. When using the sublane model the best lateral position that is fully within the lane will be used. Otherwise, the vehicle will drive in the center of the closest lane.
- keepRoute = 2: The vehicle is mapped to the exact position in the network (including the exact lateral position). 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.
The angle value is assumed to be in navigational degrees (between 0 and 360 with 0 at the top, going clockwise). The angle is used when scoring candidate mapping lanes to resolve ambiguities. Upon mapping the vehicle is angle set to the given value for purposes of drawing and all outputs. If the angle is set to the special TraCI constant INVALID_DOUBLE_VALUE, the angle will not be used for scoring and the vehicle will assume the angle of the best found lane. When mapping the vehicle outside the road network, the angle will be computed from the previous and the new position instead.
|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)|
|value type compound||item number (always 0)|
change target (0x31)
|value type string||Edge ID|
change route by id (0x54)
|value type string||Route ID|
change route (0x57)
|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.
|value type compound||number of elements (always=4)||value type double||begin time (in seconds)||value type double||end time (in seconds)||value type string||edge id||value type double||travel time value (in s)|
|value type compound||number of elements (always=2)||value type string||edge id||value type double||travel time value (in s)|
|value type compound||number of elements (always=1)||value type string||edge id|
change edge effort information (0x59)
|value type compound||number of elements (always=4)||value type double||begin time (in seconds)||value type double||end time (in seconds)||value type string||edge id||value type double||effort value (abstract)|
|value type compound||number of elements (always=2)||value type string||edge id||value type double||effort value (abstract)|
|value type compound||number of elements (always=1)||value type string||edge id|
reroute (compute new route) by travel time (0x90)
|value type compound||number of elements (always=0)|
reroute (compute new route) by effort (0x91)
|value type compound||number of elements (always=0)|
speed mode (0xb3)
This command controls how speeds set with the command setSpeed (0x40) and slowDown (0x14) are used. Per default, the vehicle may only drive slower than the speed that is deemed safe by the car following model and it may not exceed the bounds on acceleration and 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.
- 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
- run a red light [0 0 1 1 1] = 7 (also requires setSpeed or slowDown)
lane change mode (0xb6)
The laneChangeModel discriminates four 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
- bit11, bit10: 00 = do no sublane changes; 01 = do sublane changes if not in conflict with a TraCI request; 10 = do sublane change even if overriding TraCI request
The default lane change mode is 0b011001010101 = 1621 which means that the laneChangeModel may execute all changes unless in conflict with TraCI. Requests from TraCI are handled urgently (with cooperative speed adaptations by the ego vehicle and surrounding traffic) but with full consideration for safety constraints.
To disable all autonomous changing but still handle safety checks in the simulation, either one of the modes 256 (collision avoidance) or 512 (collision avoidance and safety-gap enforcement) may be used.
|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 (ms)||value type double||depart position||value type double||depart speed||value type byte||depart lane|
If a negative departure time is set, one of the following fixed time settings will be used:
- -1: "triggered"
- -2: "containerTriggered"
If a negative departure speed is set, one of the following fixed speed settings will be used:
- -2: "random"
- -3: "max"
If a negative departure position is set, one of the following position settings will be used:
- -2: "random"
- -3: "free"
- -4: "base"
- -5: "last"
- -6: "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 "base")
If a negative departure lane is set, one of the following lane settings will be used:
- -2: "random"
- -3: "free"
- -4: "allowed"
- -5: "best"
- -6: "first"
If an empty routeID is given, the vehicle will be placed on an route that consists of a single arbitrary edge (with suitalbe vClass permissions). This can be used to simply the initialization of remote controlled vehicle (moveToXY).
|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|
|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
Setting Device and LaneChangeModel Parameters (0x7e)
Vehicles supports setting of device parameters using the generic parameter setting call.
Supported Device Parameters
- device.battery.actualBatteryCapacity (double literal)
- device.battery.maximumBatteryCapacity (double literal)
- device.battery.vehicleMass (double literal)
- device.rerouting.period (double literal, set rerouting period in seconds)
- device.rerouting.edge:EDGE_ID (double literal, set assumed travel time for rerouting for all vehicles (where EDGE_ID is the id if a network edge). This value is overwritten at the next update interval (--device.rerouting.adaptation-interval).
- device.example.customValue1 (double literal)
- has.rerouting.device ("true"): can be used to dynamically enable automatic rerouting
Supported LaneChangeModel Parameters
- laneChangeModel.<ATTRNAME> , (double literal): <ATTRNAME> must be one of the parameters supported by the laneChangeModel of the vehicle. i.e. lcStrategic)
Application order of traci commands and simulation step
- traci.vehicle.getPosition and traci.vehicle.getSpeed show the values from step n-1
- when calling traci.vehicle.moveTo the vehicle is instantly placed (and still moves in this step)
- vNext (the speed for this step) is computed based on the values of the previous step (traci.vehicle.setSpeed overrides this)
- vehicle position is updated based on vNext (either by adding vNext or by adding (vPrev + vNext) / 2 depending on the value of option --step-method.ballistic)
- the value given to traci.vehicle.moveToXY overrides the previously computed position
- GUI is updated to show final state of step n, outputs like fcd-output also show this state for step n
This means, that the position given to moveToXY in step n will be visible in the outputs for step n whereas traci.vehicle.getPosition will always show the value from the previous step.
When a vehicle is added using method add or addFull it is not immediately inserted into the network. Only after the next call to simulationStep does the simulation try to insert it (and this may fail when in conflict with other traffic). The result of getIDList only contains vehicles that have been inserted into the network which means the vehicle will not be listed immediately. You can force a vehicle to be inserted instantly by calling the function vehicle.moveTo or vehicle.moveToXY after adding it to the simulation.