在不同时间改变车辆的速度
Changing the speeds of vehicles at different times
我正在使用 Omnet++ 5.0 和 SUMO 0.25.0，我正在尝试在特定时间更改车辆的速度。例如，我试图将交叉路口附近车辆的速度设置为 0.0，但过了一会儿我想移动，所以我正在改变速度。同一条路的车辆应该可以通行，但只有低车道对车速变化有反应，进入路口过路，箭头所示的高车道则不能在所有移动。
我试图监控较高车道上第一辆车（其 ID 为 20）的速度，它显示速度一直在最小化，而不是使用 setSpeed() 进行更改。
第一张图是设置速度为0.0时的代码。
将速度设置为 13.89 时的第二张图片
第三张图片显示车辆，右侧道路的较低车道正在响应第二个命令（13.89），与较高车道不同
圈出的车辆为20
Vehicle ID 20
Lane ID -171270025#1_0
Speed 10.2666
Speed after setSpeed(13.89) 10.2666
Vehicle 20 Speed:9.97035
Vehicle 20 Speed:9.65099
Vehicle 20 Speed:9.33599
Vehicle 20 Speed:9.02479
Vehicle 20 Speed:8.71445
Vehicle 20 Speed:8.40909
...
它一直在最小化，直到达到这一点
Vehicle 20 Speed:0.000168397
Vehicle 20 Speed:0.000151557
Vehicle 20 Speed:0.000136401
Vehicle 20 Speed:0.000122761
Vehicle 20 Speed:0.000110485
Vehicle 20 Speed:9.94365e-005
Vehicle 20 Speed:8.94929e-005
你能提出一些可以帮助我解决这个问题的建议吗？谢谢！
更新：
这些是TraCIDemo中车辆端使用的功能
为了缩短距离，车辆请求 RSU 允许通过交叉路口。车辆虽然得到许可，但有些车辆不改变速度，而是通过路口。
void MyTraCIDemo11p::onDataCross(CrossFromControllerMessage* csm) { // this is the function that is used when receiving the permission to cross, and changes the speed.
int n = 0;
std::string vehichleId = mobility->getExternalId();
for (int i=0 ; i < csm->getVehiclesListArraySize();i++) // this is a list received from the RSU to notify which vehicle to cross the intersection
{
vehicleList.push_back(std::string(csm->getVehiclesList(i)));
}
std::list<std::string>::iterator ttry1;
ttry1 = std::find(vehicleList.begin(), vehicleList.end(), vehichleId);
if (vehichleId == *ttry1){
n = 1;
}
if (state == WAITING && n == 1 ){
findHost()->bubble("Received");
state = QUEUING;
stateToString(state);
traciVehicle->setSpeed(13.89);
}
}
这是句柄位置函数。它根据车辆的位置管理车辆的状态，并与 RSU 交换消息。
车辆状态变化如下 Idle-> Waiting-> Queuing-> crossing-> Idle
void MyTraCIDemo11p::handlePositionUpdate(cObject* obj) {
BaseWaveApplLayer::handlePositionUpdate(obj);
vehiclePosition= mobility->getCurrentPosition();
junctionPosition = traci->junction("1823290733").getPosition();
if ( vehiclePosition.distance(junctionPosition) < 10) // this cas when the vehicle is inside the intersection
{
state = CROSSING;
stateToString(state);
} else if (vehiclePosition.distance(junctionPosition) < 30 && vehiclePosition.distance(junctionPosition) > 10 && state == IDLE && !sentRequestMessage ) // this case when the vehicle just reached the intersection
{
traciVehicle->setSpeed(0.0);
sendRequestMessage(mobility->getExternalId(),traciVehicle->getLaneId()); // it sends a message to the RSU to allow it to cross the intersection
state = WAITING;
stateToString(state);
} else if ((state == CROSSING) && vehiclePosition.distance(junctionPosition) < 9) // this case when the vehicle is passing the intersection
{
findHost()->bubble("i'm crossing");
state = CROSSED;
stateToString(state);
}else if (state == CROSSED) // this case when the vehicle crossed the intersection completely
{
if (!sentCrossedMessage){
sendCrossedMessage(mobility->getExternalId()); //it sends a message to the RSU that it crossed
state = IDLE;
stateToString(state);
}
}else if (state==QUEUING){ // this is when the vehicle is still at the intersection but received the persmission from the RSU to pass the intersection
traciVehicle->setSpeed(13.89);
}
}
}
}
}
//这个是句柄位置用到的stateToString函数
virtual std::string stateToString(State state) const {
std::string s ;
switch(state)
{
case IDLE:
s = "IDLE";
break;
case WAITING:
s = "WAITING";
break;
case QUEUING:
s = "QUEUING";
break;
case CROSSING:
s = "CROSSING";
break;
case CROSSED:
s = "CROSSED";
break;
}
return s;
}
我将在下面包含地图 xml
这是 erlangen.net.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated on 12/22/2016 12:09:17 AM by Netedit Version 0.25.0
<?xml version="1.0" encoding="UTF-8"?>
<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netedit.exeConfiguration.xsd">
<input>
<sumo-net-file value="C:\Users\user\Desktop\MAP\map.net.xml"/>
</input>
<output>
<output-file value="C:\Users\user\Desktop\MAP\map.net.xml"/>
</output>
<processing>
<no-turnarounds value="true"/>
<offset.disable-normalization value="true"/>
<lefthand value="false"/>
<junctions.corner-detail value="0"/>
</processing>
</configuration>
-->
<net version="0.25" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
<location netOffset="-239463.70,-2703699.84" convBoundary="0.00,0.00,484.43,238.03" origBoundary="54.430493,24.425071,54.435282,24.427224" projParameter="+proj=utm +zone=40 +ellps=WGS84 +datum=WGS84 +units=m +no_defs"/>
<edge id=":1823286480_0" function="internal">
<lane id=":1823286480_0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="4.82" shape="362.07,237.77 361.45,239.12 360.70,239.66 359.82,239.38 358.81,238.29"/>
</edge>
<edge id=":1823289120_0" function="internal">
<lane id=":1823289120_0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="4.82" shape="484.14,100.03 485.51,100.63 486.06,101.37 485.79,102.26 484.72,103.29"/>
</edge>
<edge id=":1823289179_0" function="internal">
<lane id=":1823289179_0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="4.82" shape="0.28,186.90 -1.08,186.29 -1.63,185.55 -1.36,184.67 -0.28,183.64"/>
</edge>
<edge id=":1823290733_0" function="internal">
<lane id=":1823290733_0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="16.31" shape="339.27,135.29 338.52,130.51 338.01,127.23 337.49,123.96 336.74,119.18"/>
</edge>
<edge id=":1823290733_1" function="internal">
<lane id=":1823290733_1_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="10.91" shape="342.53,134.78 342.47,130.45 343.81,127.12 346.09,125.17"/>
</edge>
<edge id=":1823290733_8" function="internal">
<lane id=":1823290733_8_0" index="0" speed="13.89" length="4.93" shape="346.09,125.17 346.54,124.79 350.66,123.44"/>
</edge>
<edge id=":1823290733_2" function="internal">
<lane id=":1823290733_2_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="16.33" shape="351.80,129.94 347.03,130.78 343.76,131.35 340.49,131.91 335.71,132.73"/>
</edge>
<edge id=":1823290733_3" function="internal">
<lane id=":1823290733_3_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="15.80" shape="351.23,126.69 346.89,126.83 343.57,125.54 341.28,122.82 340.00,118.67"/>
</edge>
<edge id=":1823290733_4" function="internal">
<lane id=":1823290733_4_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="16.31" shape="346.52,117.64 347.27,122.43 347.79,125.70 348.30,128.97 349.05,133.75"/>
</edge>
<edge id=":1823290733_5" function="internal">
<lane id=":1823290733_5_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="10.93" shape="343.26,118.15 343.33,122.49 342.00,125.82 339.71,127.78"/>
</edge>
<edge id=":1823290733_9" function="internal">
<lane id=":1823290733_9_0" index="0" speed="13.89" length="4.91" shape="339.71,127.78 339.27,128.16 335.15,129.48"/>
</edge>
<edge id=":1823290733_6" function="internal">
<lane id=":1823290733_6_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="16.29" shape="334.04,122.98 338.81,122.16 342.07,121.60 345.33,121.03 350.09,120.19"/>
</edge>
<edge id=":1823290733_7" function="internal">
<lane id=":1823290733_7_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="15.77" shape="334.60,126.23 338.92,126.11 342.23,127.41 344.52,130.13 345.79,134.27"/>
</edge>
<edge id=":1823291283_0" function="internal">
<lane id=":1823291283_0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="4.82" shape="321.39,0.26 322.01,-1.09 322.76,-1.63 323.64,-1.35 324.65,-0.26"/>
</edge>
<edge id="-171270025#0" from="1823290733" to="1823289179" priority="4" type="highway.residential">
<lane id="-171270025#0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="339.76" shape="335.71,132.73 0.84,190.15"/>
<lane id="-171270025#0_1" index="1" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="339.76" shape="335.15,129.48 0.28,186.90"/>
</edge>
<edge id="-171270025#1" from="1823289120" to="1823290733" priority="4" type="highway.residential">
<lane id="-171270025#1_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="135.52" shape="485.29,106.54 351.80,129.94"/>
<lane id="-171270025#1_1" index="1" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="135.52" shape="484.72,103.29 351.23,126.69"/>
</edge>
<edge id="-171270266#0" from="1823290733" to="1823286480" priority="4" type="highway.residential">
<lane id="-171270266#0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="104.78" shape="349.05,133.75 365.33,237.26"/>
<lane id="-171270266#0_1" index="1" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="104.78" shape="345.79,134.27 362.07,237.77"/>
</edge>
<edge id="-171270266#1" from="1823291283" to="1823290733" priority="4" type="highway.residential" shape="323.02,0.00 325.45,15.47 328.84,37.02 339.41,104.25 342.90,126.48">
<lane id="-171270266#1_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="119.86" shape="327.91,-0.77 330.34,14.70 333.73,36.25 344.30,103.48 346.52,117.64"/>
<lane id="-171270266#1_1" index="1" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="119.86" shape="324.65,-0.26 327.08,15.21 330.47,36.76 341.04,103.99 343.26,118.15"/>
</edge>
<edge id="171270025#0" from="1823289179" to="1823290733" priority="4" type="highway.residential">
<lane id="171270025#0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="339.76" shape="-0.84,180.39 334.04,122.98"/>
<lane id="171270025#0_1" index="1" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="339.76" shape="-0.28,183.64 334.60,126.23"/>
</edge>
<edge id="171270025#1" from="1823290733" to="1823289120" priority="4" type="highway.residential">
<lane id="171270025#1_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="135.52" shape="350.09,120.19 483.57,96.78"/>
<lane id="171270025#1_1" index="1" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="135.52" shape="350.66,123.44 484.14,100.03"/>
</edge>
<edge id="171270266#0" from="1823286480" to="1823290733" priority="4" type="highway.residential">
<lane id="171270266#0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="104.78" shape="355.55,238.80 339.27,135.29"/>
<lane id="171270266#0_1" index="1" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="104.78" shape="358.81,238.29 342.53,134.78"/>
</edge>
<edge id="171270266#1" from="1823290733" to="1823291283" priority="4" type="highway.residential" shape="342.90,126.48 339.41,104.25 328.84,37.02 325.45,15.47 323.02,0.00">
<lane id="171270266#1_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="119.86" shape="336.74,119.18 334.52,105.02 323.95,37.79 320.56,16.24 318.13,0.77"/>
<lane id="171270266#1_1" index="1" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="119.86" shape="340.00,118.67 337.78,104.51 327.21,37.28 323.82,15.73 321.39,0.26"/>
</edge>
<junction id="1823286480" type="priority" x="360.44" y="238.03" incLanes="-171270266#0_0 -171270266#0_1" intLanes=":1823286480_0_0" shape="360.39,238.04 353.97,239.05 366.91,237.01 360.49,238.02">
<request index="0" response="0" foes="0" cont="0"/>
</junction>
<junction id="1823289120" type="priority" x="484.43" y="101.66" incLanes="171270025#1_0 171270025#1_1" intLanes=":1823289120_0_0" shape="484.44,101.71 485.56,108.11 483.30,95.21 484.42,101.61">
<request index="0" response="0" foes="0" cont="0"/>
</junction>
<junction id="1823289179" type="priority" x="0.00" y="185.27" incLanes="-171270025#0_0 -171270025#0_1" intLanes=":1823289179_0_0" shape="-0.01,185.22 -1.11,178.81 1.11,191.73 0.01,185.32">
<request index="0" response="0" foes="0" cont="0"/>
</junction>
<junction id="1823290733" type="priority" x="342.90" y="126.48" incLanes="171270266#0_0 171270266#0_1 -171270025#1_0 -171270025#1_1 -171270266#1_0 -171270266#1_1 171270025#0_0 171270025#0_1" intLanes=":1823290733_0_0 :1823290733_8_0 :1823290733_2_0 :1823290733_3_0 :1823290733_4_0 :1823290733_9_0 :1823290733_6_0 :1823290733_7_0" shape="337.69,135.54 350.64,133.51 352.08,131.52 349.81,118.62 348.10,117.39 335.16,119.43 333.77,121.40 335.98,134.31">
<request index="0" response="00000000" foes="11100100" cont="0"/>
<request index="1" response="00010000" foes="10011100" cont="1"/>
<request index="2" response="00010011" foes="10010011" cont="0"/>
<request index="3" response="01110010" foes="01110010" cont="0"/>
<request index="4" response="00000000" foes="01001110" cont="0"/>
<request index="5" response="00000001" foes="11001001" cont="1"/>
<request index="6" response="00110001" foes="00111001" cont="0"/>
<request index="7" response="00100111" foes="00100111" cont="0"/>
</junction>
<junction id="1823291283" type="priority" x="323.02" y="0.00" incLanes="171270266#1_0 171270266#1_1" intLanes=":1823291283_0_0" shape="323.07,-0.01 329.49,-1.02 316.55,1.02 322.97,0.01">
<request index="0" response="0" foes="0" cont="0"/>
</junction>
<junction id=":1823290733_8_0" type="internal" x="346.09" y="125.17" incLanes=":1823290733_1_0 -171270266#1_0" intLanes=":1823290733_2_0 :1823290733_3_0 :1823290733_4_0 :1823290733_7_0"/>
<junction id=":1823290733_9_0" type="internal" x="339.71" y="127.78" incLanes=":1823290733_5_0 171270266#0_0" intLanes=":1823290733_0_0 :1823290733_3_0 :1823290733_6_0 :1823290733_7_0"/>
<connection from="-171270025#0" to="171270025#0" fromLane="1" toLane="1" via=":1823289179_0_0" dir="t" state="M"/>
<connection from="-171270025#1" to="-171270025#0" fromLane="0" toLane="0" via=":1823290733_2_0" dir="s" state="m"/>
<connection from="-171270025#1" to="171270266#1" fromLane="1" toLane="1" via=":1823290733_3_0" dir="l" state="m"/>
<connection from="-171270266#0" to="171270266#0" fromLane="1" toLane="1" via=":1823286480_0_0" dir="t" state="M"/>
<connection from="-171270266#1" to="-171270266#0" fromLane="0" toLane="0" via=":1823290733_4_0" dir="s" state="M"/>
<connection from="-171270266#1" to="-171270025#0" fromLane="1" toLane="1" via=":1823290733_5_0" dir="l" state="m"/>
<connection from="171270025#0" to="171270025#1" fromLane="0" toLane="0" via=":1823290733_6_0" dir="s" state="m"/>
<connection from="171270025#0" to="-171270266#0" fromLane="1" toLane="1" via=":1823290733_7_0" dir="l" state="m"/>
<connection from="171270025#1" to="-171270025#1" fromLane="1" toLane="1" via=":1823289120_0_0" dir="t" state="M"/>
<connection from="171270266#0" to="171270266#1" fromLane="0" toLane="0" via=":1823290733_0_0" dir="s" state="M"/>
<connection from="171270266#0" to="171270025#1" fromLane="1" toLane="1" via=":1823290733_1_0" dir="l" state="m"/>
<connection from="171270266#1" to="-171270266#1" fromLane="1" toLane="1" via=":1823291283_0_0" dir="t" state="M"/>
<connection from=":1823286480_0" to="171270266#0" fromLane="0" toLane="1" dir="s" state="M"/>
<connection from=":1823289120_0" to="-171270025#1" fromLane="0" toLane="1" dir="s" state="M"/>
<connection from=":1823289179_0" to="171270025#0" fromLane="0" toLane="1" dir="s" state="M"/>
<connection from=":1823290733_0" to="171270266#1" fromLane="0" toLane="0" dir="s" state="M"/>
<connection from=":1823290733_1" to="171270025#1" fromLane="0" toLane="1" via=":1823290733_8_0" dir="s" state="m"/>
<connection from=":1823290733_8" to="171270025#1" fromLane="0" toLane="1" dir="s" state="M"/>
<connection from=":1823290733_2" to="-171270025#0" fromLane="0" toLane="0" dir="s" state="M"/>
<connection from=":1823290733_3" to="171270266#1" fromLane="0" toLane="1" dir="s" state="M"/>
<connection from=":1823290733_4" to="-171270266#0" fromLane="0" toLane="0" dir="s" state="M"/>
<connection from=":1823290733_5" to="-171270025#0" fromLane="0" toLane="1" via=":1823290733_9_0" dir="s" state="m"/>
<connection from=":1823290733_9" to="-171270025#0" fromLane="0" toLane="1" dir="s" state="M"/>
<connection from=":1823290733_6" to="171270025#1" fromLane="0" toLane="0" dir="s" state="M"/>
<connection from=":1823290733_7" to="-171270266#0" fromLane="0" toLane="1" dir="s" state="M"/>
<connection from=":1823291283_0" to="-171270266#1" fromLane="0" toLane="1" dir="s" state="M"/>
</net>
这是erlangen.poly.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated on 12/22/16 00:09:29 by SUMO polyconvert Version 0.25.0
<?xml version="1.0" encoding="UTF-8"?>
<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/polyconvertConfiguration.xsd">
<input>
<net-file value="map.net.xml"/>
<osm-files value="map.osm"/>
<type-file value="typemap.xml"/>
</input>
<output>
<output-file value="map.poly.xml"/>
</output>
<processing>
<poi-layer-offset value="5"/>
</processing>
</configuration>
-->
<additional xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/additional_file.xsd">
<location netOffset="-239463.70,-2703699.84" convBoundary="-0.00,0.00,484.43,241.92" origBoundary="54.430493,24.425071,54.435282,24.427244" projParameter="+proj=utm +zone=40 +ellps=WGS84 +datum=WGS84 +units=m +no_defs"/>
<poly id="171270235" type="parking" color="184,184,179" fill="1" layer="-1.00" shape="328.55,111.49 336.20,110.20 323.37,34.75 315.71,36.04 328.55,111.49"/>
<poly id="171270768" type="parking" color="184,184,179" fill="1" layer="-1.00" shape="349.14,225.19 369.11,221.68 353.65,134.84 333.69,138.36 349.14,225.19"/>
<poly id="231986403" type="building" color="255,230,230" fill="1" layer="-1.00" shape="393.78,103.22 362.66,108.50 360.32,94.90 355.82,95.67 353.28,80.84 357.82,80.07 357.56,78.56 354.20,79.13 352.62,69.93 382.34,64.88 382.67,66.83 387.40,66.02 391.60,90.49 393.78,103.22"/>
<poly id="397635254" type="natural" color="140,196,107" fill="1" layer="-4.00" shape="269.58,241.92 252.16,146.52 334.19,131.69 337.75,132.71 339.70,135.37 332.44,136.52 346.79,227.28 354.13,226.13 354.80,230.38 353.77,233.64 339.69,236.19 338.46,229.47 269.58,241.92"/>
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SUMO 生成的文件已损坏，因此生成一个新文件解决了问题。
我正在使用 Omnet++ 5.0 和 SUMO 0.25.0，我正在尝试在特定时间更改车辆的速度。例如，我试图将交叉路口附近车辆的速度设置为 0.0，但过了一会儿我想移动，所以我正在改变速度。同一条路的车辆应该可以通行，但只有低车道对车速变化有反应，进入路口过路，箭头所示的高车道则不能在所有移动。 我试图监控较高车道上第一辆车（其 ID 为 20）的速度，它显示速度一直在最小化，而不是使用 setSpeed() 进行更改。
第一张图是设置速度为0.0时的代码。 将速度设置为 13.89 时的第二张图片 第三张图片显示车辆，右侧道路的较低车道正在响应第二个命令（13.89），与较高车道不同 圈出的车辆为20
Vehicle ID 20
Lane ID -171270025#1_0
Speed 10.2666
Speed after setSpeed(13.89) 10.2666
Vehicle 20 Speed:9.97035
Vehicle 20 Speed:9.65099
Vehicle 20 Speed:9.33599
Vehicle 20 Speed:9.02479
Vehicle 20 Speed:8.71445
Vehicle 20 Speed:8.40909
...
它一直在最小化，直到达到这一点
Vehicle 20 Speed:0.000168397
Vehicle 20 Speed:0.000151557
Vehicle 20 Speed:0.000136401
Vehicle 20 Speed:0.000122761
Vehicle 20 Speed:0.000110485
Vehicle 20 Speed:9.94365e-005
Vehicle 20 Speed:8.94929e-005
你能提出一些可以帮助我解决这个问题的建议吗？谢谢！
更新： 这些是TraCIDemo中车辆端使用的功能 为了缩短距离，车辆请求 RSU 允许通过交叉路口。车辆虽然得到许可，但有些车辆不改变速度，而是通过路口。
void MyTraCIDemo11p::onDataCross(CrossFromControllerMessage* csm) { // this is the function that is used when receiving the permission to cross, and changes the speed.
int n = 0;
std::string vehichleId = mobility->getExternalId();
for (int i=0 ; i < csm->getVehiclesListArraySize();i++) // this is a list received from the RSU to notify which vehicle to cross the intersection
{
vehicleList.push_back(std::string(csm->getVehiclesList(i)));
}
std::list<std::string>::iterator ttry1;
ttry1 = std::find(vehicleList.begin(), vehicleList.end(), vehichleId);
if (vehichleId == *ttry1){
n = 1;
}
if (state == WAITING && n == 1 ){
findHost()->bubble("Received");
state = QUEUING;
stateToString(state);
traciVehicle->setSpeed(13.89);
}
}
这是句柄位置函数。它根据车辆的位置管理车辆的状态，并与 RSU 交换消息。 车辆状态变化如下 Idle-> Waiting-> Queuing-> crossing-> Idle
void MyTraCIDemo11p::handlePositionUpdate(cObject* obj) {
BaseWaveApplLayer::handlePositionUpdate(obj);
vehiclePosition= mobility->getCurrentPosition();
junctionPosition = traci->junction("1823290733").getPosition();
if ( vehiclePosition.distance(junctionPosition) < 10) // this cas when the vehicle is inside the intersection
{
state = CROSSING;
stateToString(state);
} else if (vehiclePosition.distance(junctionPosition) < 30 && vehiclePosition.distance(junctionPosition) > 10 && state == IDLE && !sentRequestMessage ) // this case when the vehicle just reached the intersection
{
traciVehicle->setSpeed(0.0);
sendRequestMessage(mobility->getExternalId(),traciVehicle->getLaneId()); // it sends a message to the RSU to allow it to cross the intersection
state = WAITING;
stateToString(state);
} else if ((state == CROSSING) && vehiclePosition.distance(junctionPosition) < 9) // this case when the vehicle is passing the intersection
{
findHost()->bubble("i'm crossing");
state = CROSSED;
stateToString(state);
}else if (state == CROSSED) // this case when the vehicle crossed the intersection completely
{
if (!sentCrossedMessage){
sendCrossedMessage(mobility->getExternalId()); //it sends a message to the RSU that it crossed
state = IDLE;
stateToString(state);
}
}else if (state==QUEUING){ // this is when the vehicle is still at the intersection but received the persmission from the RSU to pass the intersection
traciVehicle->setSpeed(13.89);
}
}
}
}
}
//这个是句柄位置用到的stateToString函数
virtual std::string stateToString(State state) const {
std::string s ;
switch(state)
{
case IDLE:
s = "IDLE";
break;
case WAITING:
s = "WAITING";
break;
case QUEUING:
s = "QUEUING";
break;
case CROSSING:
s = "CROSSING";
break;
case CROSSED:
s = "CROSSED";
break;
}
return s;
}
我将在下面包含地图 xml 这是 erlangen.net.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated on 12/22/2016 12:09:17 AM by Netedit Version 0.25.0
<?xml version="1.0" encoding="UTF-8"?>
<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netedit.exeConfiguration.xsd">
<input>
<sumo-net-file value="C:\Users\user\Desktop\MAP\map.net.xml"/>
</input>
<output>
<output-file value="C:\Users\user\Desktop\MAP\map.net.xml"/>
</output>
<processing>
<no-turnarounds value="true"/>
<offset.disable-normalization value="true"/>
<lefthand value="false"/>
<junctions.corner-detail value="0"/>
</processing>
</configuration>
-->
<net version="0.25" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
<location netOffset="-239463.70,-2703699.84" convBoundary="0.00,0.00,484.43,238.03" origBoundary="54.430493,24.425071,54.435282,24.427224" projParameter="+proj=utm +zone=40 +ellps=WGS84 +datum=WGS84 +units=m +no_defs"/>
<edge id=":1823286480_0" function="internal">
<lane id=":1823286480_0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="4.82" shape="362.07,237.77 361.45,239.12 360.70,239.66 359.82,239.38 358.81,238.29"/>
</edge>
<edge id=":1823289120_0" function="internal">
<lane id=":1823289120_0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="4.82" shape="484.14,100.03 485.51,100.63 486.06,101.37 485.79,102.26 484.72,103.29"/>
</edge>
<edge id=":1823289179_0" function="internal">
<lane id=":1823289179_0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="4.82" shape="0.28,186.90 -1.08,186.29 -1.63,185.55 -1.36,184.67 -0.28,183.64"/>
</edge>
<edge id=":1823290733_0" function="internal">
<lane id=":1823290733_0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="16.31" shape="339.27,135.29 338.52,130.51 338.01,127.23 337.49,123.96 336.74,119.18"/>
</edge>
<edge id=":1823290733_1" function="internal">
<lane id=":1823290733_1_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="10.91" shape="342.53,134.78 342.47,130.45 343.81,127.12 346.09,125.17"/>
</edge>
<edge id=":1823290733_8" function="internal">
<lane id=":1823290733_8_0" index="0" speed="13.89" length="4.93" shape="346.09,125.17 346.54,124.79 350.66,123.44"/>
</edge>
<edge id=":1823290733_2" function="internal">
<lane id=":1823290733_2_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="16.33" shape="351.80,129.94 347.03,130.78 343.76,131.35 340.49,131.91 335.71,132.73"/>
</edge>
<edge id=":1823290733_3" function="internal">
<lane id=":1823290733_3_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="15.80" shape="351.23,126.69 346.89,126.83 343.57,125.54 341.28,122.82 340.00,118.67"/>
</edge>
<edge id=":1823290733_4" function="internal">
<lane id=":1823290733_4_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="16.31" shape="346.52,117.64 347.27,122.43 347.79,125.70 348.30,128.97 349.05,133.75"/>
</edge>
<edge id=":1823290733_5" function="internal">
<lane id=":1823290733_5_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="10.93" shape="343.26,118.15 343.33,122.49 342.00,125.82 339.71,127.78"/>
</edge>
<edge id=":1823290733_9" function="internal">
<lane id=":1823290733_9_0" index="0" speed="13.89" length="4.91" shape="339.71,127.78 339.27,128.16 335.15,129.48"/>
</edge>
<edge id=":1823290733_6" function="internal">
<lane id=":1823290733_6_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="16.29" shape="334.04,122.98 338.81,122.16 342.07,121.60 345.33,121.03 350.09,120.19"/>
</edge>
<edge id=":1823290733_7" function="internal">
<lane id=":1823290733_7_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="15.77" shape="334.60,126.23 338.92,126.11 342.23,127.41 344.52,130.13 345.79,134.27"/>
</edge>
<edge id=":1823291283_0" function="internal">
<lane id=":1823291283_0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="4.82" shape="321.39,0.26 322.01,-1.09 322.76,-1.63 323.64,-1.35 324.65,-0.26"/>
</edge>
<edge id="-171270025#0" from="1823290733" to="1823289179" priority="4" type="highway.residential">
<lane id="-171270025#0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="339.76" shape="335.71,132.73 0.84,190.15"/>
<lane id="-171270025#0_1" index="1" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="339.76" shape="335.15,129.48 0.28,186.90"/>
</edge>
<edge id="-171270025#1" from="1823289120" to="1823290733" priority="4" type="highway.residential">
<lane id="-171270025#1_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="135.52" shape="485.29,106.54 351.80,129.94"/>
<lane id="-171270025#1_1" index="1" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="135.52" shape="484.72,103.29 351.23,126.69"/>
</edge>
<edge id="-171270266#0" from="1823290733" to="1823286480" priority="4" type="highway.residential">
<lane id="-171270266#0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="104.78" shape="349.05,133.75 365.33,237.26"/>
<lane id="-171270266#0_1" index="1" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="104.78" shape="345.79,134.27 362.07,237.77"/>
</edge>
<edge id="-171270266#1" from="1823291283" to="1823290733" priority="4" type="highway.residential" shape="323.02,0.00 325.45,15.47 328.84,37.02 339.41,104.25 342.90,126.48">
<lane id="-171270266#1_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="119.86" shape="327.91,-0.77 330.34,14.70 333.73,36.25 344.30,103.48 346.52,117.64"/>
<lane id="-171270266#1_1" index="1" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="119.86" shape="324.65,-0.26 327.08,15.21 330.47,36.76 341.04,103.99 343.26,118.15"/>
</edge>
<edge id="171270025#0" from="1823289179" to="1823290733" priority="4" type="highway.residential">
<lane id="171270025#0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="339.76" shape="-0.84,180.39 334.04,122.98"/>
<lane id="171270025#0_1" index="1" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="339.76" shape="-0.28,183.64 334.60,126.23"/>
</edge>
<edge id="171270025#1" from="1823290733" to="1823289120" priority="4" type="highway.residential">
<lane id="171270025#1_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="135.52" shape="350.09,120.19 483.57,96.78"/>
<lane id="171270025#1_1" index="1" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="135.52" shape="350.66,123.44 484.14,100.03"/>
</edge>
<edge id="171270266#0" from="1823286480" to="1823290733" priority="4" type="highway.residential">
<lane id="171270266#0_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="104.78" shape="355.55,238.80 339.27,135.29"/>
<lane id="171270266#0_1" index="1" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="104.78" shape="358.81,238.29 342.53,134.78"/>
</edge>
<edge id="171270266#1" from="1823290733" to="1823291283" priority="4" type="highway.residential" shape="342.90,126.48 339.41,104.25 328.84,37.02 325.45,15.47 323.02,0.00">
<lane id="171270266#1_0" index="0" disallow="tram rail_urban rail rail_electric ship" speed="13.89" length="119.86" shape="336.74,119.18 334.52,105.02 323.95,37.79 320.56,16.24 318.13,0.77"/>
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</edge>
<junction id="1823286480" type="priority" x="360.44" y="238.03" incLanes="-171270266#0_0 -171270266#0_1" intLanes=":1823286480_0_0" shape="360.39,238.04 353.97,239.05 366.91,237.01 360.49,238.02">
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</junction>
<junction id="1823289120" type="priority" x="484.43" y="101.66" incLanes="171270025#1_0 171270025#1_1" intLanes=":1823289120_0_0" shape="484.44,101.71 485.56,108.11 483.30,95.21 484.42,101.61">
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</junction>
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</junction>
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<request index="1" response="00010000" foes="10011100" cont="1"/>
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</junction>
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</junction>
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<connection from=":1823290733_2" to="-171270025#0" fromLane="0" toLane="0" dir="s" state="M"/>
<connection from=":1823290733_3" to="171270266#1" fromLane="0" toLane="1" dir="s" state="M"/>
<connection from=":1823290733_4" to="-171270266#0" fromLane="0" toLane="0" dir="s" state="M"/>
<connection from=":1823290733_5" to="-171270025#0" fromLane="0" toLane="1" via=":1823290733_9_0" dir="s" state="m"/>
<connection from=":1823290733_9" to="-171270025#0" fromLane="0" toLane="1" dir="s" state="M"/>
<connection from=":1823290733_6" to="171270025#1" fromLane="0" toLane="0" dir="s" state="M"/>
<connection from=":1823290733_7" to="-171270266#0" fromLane="0" toLane="1" dir="s" state="M"/>
<connection from=":1823291283_0" to="-171270266#1" fromLane="0" toLane="1" dir="s" state="M"/>
</net>
这是erlangen.poly.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated on 12/22/16 00:09:29 by SUMO polyconvert Version 0.25.0
<?xml version="1.0" encoding="UTF-8"?>
<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/polyconvertConfiguration.xsd">
<input>
<net-file value="map.net.xml"/>
<osm-files value="map.osm"/>
<type-file value="typemap.xml"/>
</input>
<output>
<output-file value="map.poly.xml"/>
</output>
<processing>
<poi-layer-offset value="5"/>
</processing>
</configuration>
-->
<additional xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/additional_file.xsd">
<location netOffset="-239463.70,-2703699.84" convBoundary="-0.00,0.00,484.43,241.92" origBoundary="54.430493,24.425071,54.435282,24.427244" projParameter="+proj=utm +zone=40 +ellps=WGS84 +datum=WGS84 +units=m +no_defs"/>
<poly id="171270235" type="parking" color="184,184,179" fill="1" layer="-1.00" shape="328.55,111.49 336.20,110.20 323.37,34.75 315.71,36.04 328.55,111.49"/>
<poly id="171270768" type="parking" color="184,184,179" fill="1" layer="-1.00" shape="349.14,225.19 369.11,221.68 353.65,134.84 333.69,138.36 349.14,225.19"/>
<poly id="231986403" type="building" color="255,230,230" fill="1" layer="-1.00" shape="393.78,103.22 362.66,108.50 360.32,94.90 355.82,95.67 353.28,80.84 357.82,80.07 357.56,78.56 354.20,79.13 352.62,69.93 382.34,64.88 382.67,66.83 387.40,66.02 391.60,90.49 393.78,103.22"/>
<poly id="397635254" type="natural" color="140,196,107" fill="1" layer="-4.00" shape="269.58,241.92 252.16,146.52 334.19,131.69 337.75,132.71 339.70,135.37 332.44,136.52 346.79,227.28 354.13,226.13 354.80,230.38 353.77,233.64 339.69,236.19 338.46,229.47 269.58,241.92"/>
<poly id="397652904" type="landuse" color="194,194,130" fill="1" layer="-3.00" shape="373.54,198.63 362.71,132.40 373.75,130.61 376.42,146.92 379.08,163.20 381.61,178.69 381.83,180.01 377.02,180.80 379.76,197.62 373.54,198.63"/>
<poly id="397656745" type="natural" color="140,196,107" fill="1" layer="-4.00" shape="346.63,134.59 346.94,132.62 348.39,130.57 351.23,129.43 481.72,107.10 482.29,110.29 481.38,110.18 362.02,131.61 373.34,198.77 379.76,197.62 382.03,212.19 376.62,213.14 377.75,219.58 377.27,221.69 378.50,229.38 366.98,231.49 363.69,230.33 361.74,228.21 361.13,224.69 370.09,223.04 354.40,133.34 346.63,134.59"/>
<poly id="397658254" type="landuse" color="194,194,130" fill="1" layer="-3.00" shape="391.60,90.49 400.82,81.96 405.76,108.70 360.25,116.76 355.82,95.67 360.32,94.90 362.66,108.50 393.78,103.22 391.60,90.49"/>
<poly id="397658256" type="landuse" color="194,194,130" fill="1" layer="-3.00" shape="350.68,118.49 358.39,117.15 351.86,79.91 353.01,79.71 351.15,69.14 363.31,67.02 344.15,35.03 342.90,33.70 338.47,7.10 335.18,4.47 332.18,3.84 326.92,4.76 325.90,7.16 331.93,41.50 337.00,40.62 350.68,118.49"/>
<poly id="397658423" type="parking" color="184,184,179" fill="1" layer="-1.00" shape="341.63,118.05 349.28,116.75 336.45,41.30 328.79,42.59 341.63,118.05"/>
<poly id="397772846" type="landuse" color="194,194,130" fill="1" layer="-3.00" shape="294.28,115.99 296.13,127.03 318.16,123.38 317.45,119.17 320.63,118.65 323.51,112.37 318.79,84.17 304.52,86.53 305.15,90.31 312.71,89.06 315.88,108.05 301.81,110.38 302.51,114.63 294.28,115.99"/>
<poly id="397773661" type="landuse" color="194,194,130" fill="1" layer="-3.00" shape="323.47,118.55 334.65,116.57 335.25,119.88 324.07,121.86 323.47,118.55"/>
</additional>
SUMO 生成的文件已损坏，因此生成一个新文件解决了问题。