sumocr.sumo_config package
Submodules
sumocr.sumo_config.default module
- class sumocr.sumo_config.default.DefaultConfig[source]
Bases:
object- add_lanelets_to_dyn_obstacles = False
- compute_orientation = True
- consistency_window = 4
- delta_steps = 1
- departure_interval_vehicles = <commonroad.common.util.Interval object>
- driving_params = {'impatience': <commonroad.common.util.Interval object>, 'lcCooperative': <commonroad.common.util.Interval object>, 'lcImpatience': <commonroad.common.util.Interval object>, 'lcMaxSpeedLatStanding': 0, 'lcSpeedGain': <commonroad.common.util.Interval object>, 'lcStrategic': <commonroad.common.util.Interval object>, 'sigma': <commonroad.common.util.Interval object>, 'speedDev': <commonroad.common.util.Interval object>, 'speedFactor': <commonroad.common.util.Interval object>}
- dt = 0.1
- ego_ids = []
-
ego_start_time:
int= 0
- ego_veh_length = 4.3
- ego_veh_width = 1.6
- field_of_view = 500
- figsize_x = 15
- figsize_y = 15
-
fringe_factor:
int= 1000000000
- lane_change_sync = False
- lane_change_tol = 0.0
- lanelet_check_time_window = 20
- lateral_resolution = 1.0
- logging_level = 'INFO'
-
max_veh_per_km:
int= 70
- n_ego_vehicles = 0
-
n_vehicles_max:
int= 30
- overwrite_speed_limit = 36.11111111111111
- plot_auto = True
- plot_x1 = 450
- plot_x2 = 550
- plot_y1 = 65
- plot_y2 = 1100
- presimulation_steps = 30
- protection_margin = 2.0
-
random_seed:
int= 1234
- scenario_name = '<scenario_name>'
- scenarios_path = None
- simulation_steps = 100
- unrestricted_max_speed_default = 33.333333333333336
- unrestricted_speed_limit_default = 36.11111111111111
- veh_distribution = {<ObstacleType.CAR: 'car'>: 4, <ObstacleType.TRUCK: 'truck'>: 0.8, <ObstacleType.BUS: 'bus'>: 0.3, <ObstacleType.BICYCLE: 'bicycle'>: 0.2, <ObstacleType.PEDESTRIAN: 'pedestrian'>: 0}
-
veh_params:
Dict[str,Dict[ObstacleType,Union[Interval,float]]] = {'accel': {<ObstacleType.CAR: 'car'>: <commonroad.common.util.Interval object>, <ObstacleType.TRUCK: 'truck'>: <commonroad.common.util.Interval object>, <ObstacleType.BUS: 'bus'>: <commonroad.common.util.Interval object>, <ObstacleType.BICYCLE: 'bicycle'>: <commonroad.common.util.Interval object>}, 'decel': {<ObstacleType.CAR: 'car'>: <commonroad.common.util.Interval object>, <ObstacleType.TRUCK: 'truck'>: <commonroad.common.util.Interval object>, <ObstacleType.BUS: 'bus'>: <commonroad.common.util.Interval object>, <ObstacleType.BICYCLE: 'bicycle'>: <commonroad.common.util.Interval object>}, 'length': {<ObstacleType.CAR: 'car'>: 5.0, <ObstacleType.TRUCK: 'truck'>: 7.5, <ObstacleType.BUS: 'bus'>: 12.4, <ObstacleType.BICYCLE: 'bicycle'>: 2.0, <ObstacleType.PEDESTRIAN: 'pedestrian'>: 0.415}, 'maxSpeed': {<ObstacleType.CAR: 'car'>: 50.0, <ObstacleType.TRUCK: 'truck'>: 36.11111111111111, <ObstacleType.BUS: 'bus'>: 23.61111111111111, <ObstacleType.BICYCLE: 'bicycle'>: 6.944444444444445}, 'minGap': {<ObstacleType.CAR: 'car'>: 2.5, <ObstacleType.TRUCK: 'truck'>: 2.5, <ObstacleType.BUS: 'bus'>: 2.5, <ObstacleType.BICYCLE: 'bicycle'>: 1.0, <ObstacleType.PEDESTRIAN: 'pedestrian'>: 0.25}, 'width': {<ObstacleType.CAR: 'car'>: 2.0, <ObstacleType.TRUCK: 'truck'>: 2.6, <ObstacleType.BUS: 'bus'>: 2.7, <ObstacleType.BICYCLE: 'bicycle'>: 0.68, <ObstacleType.PEDESTRIAN: 'pedestrian'>: 0.678}} See https://sumo.dlr.de/docs/Definition_of_Vehicles%2C_Vehicle_Types%2C_and_Routes.html for more details ‘minGap’: minimum gap between vehicles ‘accel’: maximum acceleration allowed ‘decel’: maximum deceleration allowed (absolute value) ‘maxSpeed’: maximum speed. sumo_default 55.55 m/s (200 km/h) ‘lcStrategic’: eagerness for performing strategic lane changing. Higher values result in earlier lane-changing. sumo_default: 1.0 ‘lcSpeedGain’: eagerness for performing lane changing to gain speed. Higher values result in more lane-changing. sumo_default: 1.0 ‘lcCooperative’: willingness for performing cooperative lane changing. Lower values result in reduced cooperation. sumo_default: 1.0 ‘sigma’: [0-1] driver imperfection (0 denotes perfect driving. sumo_default: 0.5 ‘speedDev’: [0-1] deviation of the speedFactor. sumo_default 0.1 ‘speedFactor’: [0-1] The vehicles expected multiplicator for lane speed limits. sumo_default 1.0 ‘lcMaxSpeedLatStanding’: max. lateral speed when vehicle is standing (avoids lateral sliding in standstill)
- veh_per_second = 50
- vehicle_length_interval = 0.4
- vehicle_width_interval = 0.2
- video_end = 100
- video_start = 1
- wait_pos_internal_junctions = -4.0
- window_height = 200
- window_width = 150
- with_sumo_gui = False
- class sumocr.sumo_config.default.InteractiveSumoConfigDefault[source]
Bases:
DefaultConfig- compute_orientation = True
- delta_steps = 1
- dt = 0.1
-
ego_start_time:
int= 0
- ego_veh_length = 4.298
- ego_veh_width = 1.674
- field_of_view = 400
- lateral_resolution = 1.0
- logging_level = 'INFO'
- presimulation_steps = 1
-
random_seed:
int= 0
- scenario_name = 1
- scenarios_path = None
- simulation_steps = 1
-
veh_params:
Dict[str,Dict[ObstacleType,Union[Interval,float]]] = 0 See https://sumo.dlr.de/docs/Definition_of_Vehicles%2C_Vehicle_Types%2C_and_Routes.html for more details ‘minGap’: minimum gap between vehicles ‘accel’: maximum acceleration allowed ‘decel’: maximum deceleration allowed (absolute value) ‘maxSpeed’: maximum speed. sumo_default 55.55 m/s (200 km/h) ‘lcStrategic’: eagerness for performing strategic lane changing. Higher values result in earlier lane-changing. sumo_default: 1.0 ‘lcSpeedGain’: eagerness for performing lane changing to gain speed. Higher values result in more lane-changing. sumo_default: 1.0 ‘lcCooperative’: willingness for performing cooperative lane changing. Lower values result in reduced cooperation. sumo_default: 1.0 ‘sigma’: [0-1] driver imperfection (0 denotes perfect driving. sumo_default: 0.5 ‘speedDev’: [0-1] deviation of the speedFactor. sumo_default 0.1 ‘speedFactor’: [0-1] The vehicles expected multiplicator for lane speed limits. sumo_default 1.0 ‘lcMaxSpeedLatStanding’: max. lateral speed when vehicle is standing (avoids lateral sliding in standstill)
- vehicle_length_interval = 0
- vehicle_width_interval = 0
sumocr.sumo_config.pathConfig module
Configuring paths for the sumo binaries