| [sumo-user] use State Plain Coordinates to move vehicle (MoveToXY) |
Hello Mr. Behrisch<https://sourceforge.net/u/behrisch/> / Erdmann<https://sourceforge.net/u/namdre/>, I would like to know if there is a way in SUMO that I can directly use CA State Plane NAD83 coordinate in feet to move vehicles in a network with the moveToXY command, or do I need to do any transformations before hand? When I use this piece of code (I got from http://sumo.dlr.de/wiki/Tools/Sumolib#coordinate_transformations) I seem to get reasonable results for latitude and longitude, but the x and y resulting from conversion are not matching the network. When I run this code: x,y = df_dropped_1st_veh_instance['Local_X'].iloc[k], df_dropped_1st_veh_instance['Local_Y'].iloc[k] #x, y = traci.vehicle.getPosition(traci_veh) lon, lat = traci.simulation.convertGeo(x, y) x2, y2 = traci.simulation.convertGeo(lon, lat, fromGeo=True) #x, y = net.convertLonLatXY(lon, lat) print 'x=%4.6f y=%4.6f' % (x2, y2) the vehicle drives off the road network the whole time. In this case I am using the local coordinates (Local_X and Local_Y) which are described as: "Lateral (X) coordinate of the front center of the vehicle with respect to the left-most edge of the section in the direction of travel". When I use the Global coordinates (Global_X and Global_Y) my vehicle will just stand outside the network for the whole time, and those are the actual geo coordinates, described as such: "CA State Plane NAD83 coordinate". i know my network is in datum=WGS84, by the information given in the network xml file, and that it is shifted by the netOffset parameter. I wonder if that might be the problem? <location netOffset="-561583.51,-4188054.44" convBoundary="205.71,83.75,327.03,729.01" origBoundary="-122.300034,37.837827,-122.295689,37.846489" projParameter="+proj=utm +zone=10 +ellps=WGS84 +datum=WGS84 +units=m +no_defs"/> PS.: i need high accuracy and precision, the vehicles should move exactly according to my coordinates, provided in the data I have. The data is very big (more than 1Gb), so I am sending only a subset of it, which refers to one car only. And also my code and files to run the simulation, in case those are needed. Thank you in advance for your help, Thais
# import of functions, classes...
from scipy import *
import os
import sys
import numpy as np
sumo_path = os.getenv("SUMO_HOME")
traci_path = os.path.join(sumo_path, 'tools')
sys.path.append(traci_path)
import traci
from I80_functions import start_sumo, embed_traci, create_demand
from I80_data_processing import repositionX, repositionY, feet2meters, get_data
df = get_data()
#### Begin Initilization of Variables ####
gui_on = 1 # 1: SUMO starts with GUI | 0: SUMO starts without GUI
ctr = 0
demand_highway = [1]
demand_onramp = [1]
truck_share = [0]
demand = create_demand(demand_highway, demand_onramp, truck_share)
#### End Initilization of Variables ####
# Start of SUMO and TRACI
exe_name = start_sumo(gui_on)
embed_traci(exe_name)
#### begin main loop (simulation)
df_dropped_1st_veh_instance = df.query('Vehicle_ID == 2').reset_index()
###########df_dropped_1st_veh_instance = df[df.duplicated(subset="Vehicle_ID", keep='first')].query('Vehicle_ID == 2').reset_index()
start = df_dropped_1st_veh_instance["Global_Time"].min()
stop = df_dropped_1st_veh_instance["Global_Time"].max()
step_100 = 100
bins = np.arange(start, stop, step_100)
ind = np.digitize(df_dropped_1st_veh_instance["Global_Time"],bins)
df_dropped_1st_veh_instance = df_dropped_1st_veh_instance.groupby(ind).first().reset_index(drop=True)
k = 0
angles = []
sorted_angles_list = []
while k == 0 or k < df_dropped_1st_veh_instance.shape[0]:#60:
all_veh = traci.vehicle.getIDList()
for traci_veh in all_veh:
x,y = df_dropped_1st_veh_instance['Local_X'].iloc[k], df_dropped_1st_veh_instance['Local_Y'].iloc[k]
#x, y = traci.vehicle.getPosition(traci_veh)
lon, lat = traci.simulation.convertGeo(x, y)
x2, y2 = traci.simulation.convertGeo(lon, lat, fromGeo=True)
#x, y = net.convertLonLatXY(lon, lat)
print 'x=%4.6f y=%4.6f' % (x2, y2)
angle = traci.constants.INVALID_DOUBLE_VALUE
angleDegrees = 360 - traci.vehicle.getAngle(traci_veh)
angleRadians = math.radians(angleDegrees)
angles.append(angleRadians)
sorted_angles_list = sorted(set(angles))
edge_stretch = sorted_angles_list.index(angleRadians)
pos = traci.vehicle.getPosition(traci_veh)
print("traci pos: ", pos)
keepRoute = 2
# x2 = repositionX(feet2meters(df_dropped_1st_veh_instance['Local_X'].iloc[k]), feet2meters(df_dropped_1st_veh_instance['Local_Y'].iloc[k]), angleRadians, edge_stretch)#repositionX(feet2meters(row.Local_X), feet2meters(row.Local_Y))#
# y2 = repositionY(feet2meters(df_dropped_1st_veh_instance['Local_X'].iloc[k]), feet2meters(df_dropped_1st_veh_instance['Local_Y'].iloc[k]), angleRadians, edge_stretch)#repositionY(feet2meters(row.Local_X), feet2meters(row.Local_Y))#
# print "pandas vehID: %i | traci vehID: %s | k = %s" %(pd_vehID, traci_veh, k)
traci.vehicle.moveToXY(traci_veh, '', 0, x2, y2, angle, keepRoute) # , anglekeepRoute=2)#, angle=-1001.0, keepRoute=1);
k += 1
traci.simulationStep()
#### end main loop (simulation)
traci.close()
# -*- coding: utf-8 -*-
"""
Created on Thu Jun 07 19:49:54 2018
@author: Thais
"""
# import pandas as pd
import math
import pandas as pd
def get_data():
subset_vehID_2 = r'C:\Users\gama_\LRZ Sync+Share\semester_3\Study_project\Interstate80\subset_vehID_2.csv'
df = pd.read_csv(subset_vehID_2)
return df
def feet2meters(coordinate):
return coordinate * 0.3048
def repositionX(x, y, alpha, edge_stretch):
x0_SN_approach = 305.26
x1_SN_approach = 275.19
x0_SN_end = 258.03
x1_SN_end = 245.60
x2_SN_end = 223.47
half_lane_width = 1.85
if edge_stretch == 0:
x0 = x0_SN_approach
elif edge_stretch == 1:
x0 = x1_SN_approach
elif edge_stretch == 2:
x0 = x0_SN_end
elif edge_stretch == 3:
x0 = x1_SN_end
# else:
# x0 = x2_SN_end
#
#
a = x0 - half_lane_width * math.cos(alpha)
return round(math.cos(alpha), 5) * x - round(math.sin(alpha), 5) * y + a # 0.99*x - 0.15*y + 303.43;
def repositionY(x, y, alpha, edge_stretch):
y0_SN_approach = 82.35
y1_SN_approach = 279.37
y0_SN_end = 386.84
y1_SN_end = 463.18
y2_SN_end = 580.24
half_lane_width = 1.85
if edge_stretch == 0:
y0 = y0_SN_approach
elif edge_stretch == 1:
y0 = y1_SN_approach
elif edge_stretch == 2:
y0 = y0_SN_end
elif edge_stretch == 3:
y0 = y1_SN_end
b = y0 - half_lane_width * math.sin(alpha)
return round(math.sin(alpha), 5) * x + round(math.cos(alpha), 5) * y + b
def repositionY0(x, y):
return 0.15 * x + 0.99 * y + 82.08from numpy import *
import traci
from sumolib import checkBinary
import os, sys, time, subprocess
from I80_data_processing import *
from win32com.client import GetObject
df = get_data()
def start_sumo(gui_on):
if gui_on == 1:
exe_name = "sumo-gui"
else:
exe_name = "sumo"
########## SUMO BEI BEDARF SCHLIESSEN ################
proc_list = []
WMI = GetObject('winmgmts:')
processes = WMI.InstancesOf('Win32_Process')
for process in processes:
proc_list.append(process.Properties_('Name').Value)
if exe_name + ".exe" in proc_list:
os.system("TASKKILL.exe /F /IM %s.exe" % exe_name)
time.sleep(1)
########## SUMO BEI BEDARF SCHLIESSEN ################
return exe_name
def embed_traci(exe_name):
PORT = 8813
if not traci.isEmbedded():
sumoBinary = checkBinary(exe_name + '.exe')
sumoConfig = "I80_config.sumo.cfg"
if len(sys.argv) > 1:
retCode = subprocess.call(
"%s -c %s --python-script %s --time-to-teleport -1" % (sumoBinary, sumoConfig, __file__),
stdout=sys.stdout)
sys.exit(retCode)
else:
sumoProcess = subprocess.Popen("%s -c %s --time-to-teleport -1" % (sumoBinary, sumoConfig),
stdout=sys.stdout)
traci.init(PORT)
return 0
def create_demand(demand_highway, demand_onramp, truck_share):
if len(demand_highway) != len(demand_onramp) or len(demand_highway) != len(truck_share):
print("Demand cannot be created. Wrong length of lists given.")
return 0
routes = open("I80_routes.rou.xml", "w")
# hours=min(min(len(demand_highway),len(demand_highway)),len(truck_share))
print >> routes, """<routes>"""
print >> routes, """<vTypes>"""
print >> routes, """
<vType id="car1" accel="1.5" decel="8.0" sigma="0.5" tau="1.0" length="5" minGap="1.5" maxSpeed="45"
speedFactor="1.2" speedDev="0.1" guishape="passenger"/>
"""
print >> routes, """</vTypes>"""
print >> routes, """
<route id="motorway" color="1,1,0" edges="SN_approach SN_end"/>
<route id="ramp" color="1,1,0" edges="on_ramp SN_end"/>"""
print >> routes, "<flows>"
df_grouped = df.groupby(['Vehicle_ID']).first().query('Vehicle_ID == 2').reset_index() # take out query for all veh
for row in df_grouped.itertuples():
if row.Lane_ID == 7:
route = "ramp"
departLane = 0
else:
route = "motorway"
departLane = 6 % row.Lane_ID
veh = row.Vehicle_ID
##print 'veh ID functions: ', veh
depart = 0
##calculation of depart position
y = repositionY0(feet2meters(row.Local_X), feet2meters(row.Local_Y))
print 'y functions: ', y
#print >> routes, '<vehicle id="%s" route="%s" depart="%s" departPos="%s" departLane="%s" departSpeed="max"/>' % (veh, route, depart, y, departLane)
print >> routes, '<vehicle id="%s" route="%s" depart="%s" departLane="%s" departSpeed="max"/>'\
% (veh, route, depart, departLane)###WORKS!
print >> routes, "</flows>"
print >> routes, "</routes>"
routes.close()
return 1
Attachment:
data_subset_vehID_2
Description: data_subset_vehID_2
Attachment:
I80_config.sumo.cfg
Description: I80_config.sumo.cfg
<?xml version="1.0" encoding="UTF-8"?> <!-- generated on 06/10/18 11:31:19 by Eclipse SUMO netedit Version v0_32_0+1923-e445ac1d06 <configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"; xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd";> <input> <sumo-net-file value="C:\Users\Thais\LRZ%20Sync+Share\semester_3\Study_project\SUMO\I80_network_clean.net.xml"/> </input> <output> <output-file value="C:\Users\Thais\LRZ%20Sync+Share\semester_3\Study_project\SUMO\I80_network_clean.net.xml"/> </output> <processing> <no-turnarounds value="true"/> <offset.disable-normalization value="true"/> <lefthand value="false"/> <junctions.corner-detail value="0"/> <rectangular-lane-cut value="false"/> <walkingareas value="false"/> </processing> </configuration> --> <net version="0.27" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"; xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd";> <location netOffset="-561583.51,-4188054.44" convBoundary="205.71,83.75,327.03,729.01" origBoundary="-122.300034,37.837827,-122.295689,37.846489" projParameter="+proj=utm +zone=10 +ellps=WGS84 +datum=WGS84 +units=m +no_defs"/> <type id="highway.bridleway" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/> <type id="highway.bus_guideway" priority="1" numLanes="1" speed="8.33" allow="bus" oneway="1"/> <type id="highway.cycleway" priority="1" numLanes="1" speed="5.56" allow="bicycle" oneway="0" width="1.00"/> <type id="highway.footway" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/> <type id="highway.ford" priority="1" numLanes="1" speed="2.78" allow="army" oneway="0"/> <type id="highway.living_street" priority="3" numLanes="1" speed="2.78" disallow="tram rail_urban rail rail_electric ship" oneway="0"/> <type id="highway.motorway" priority="13" numLanes="2" speed="44.44" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" oneway="1"/> <type id="highway.motorway_link" priority="12" numLanes="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" oneway="1"/> <type id="highway.path" priority="1" numLanes="1" speed="2.78" allow="bicycle pedestrian" oneway="1" width="2.00"/> <type id="highway.pedestrian" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/> <type id="highway.primary" priority="9" numLanes="2" speed="27.78" disallow="tram rail_urban rail rail_electric ship" oneway="0"/> <type id="highway.primary_link" priority="8" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/> <type id="highway.raceway" priority="14" numLanes="2" speed="83.33" allow="vip" oneway="0"/> <type id="highway.residential" priority="4" numLanes="1" speed="13.89" disallow="tram rail_urban rail rail_electric ship" oneway="0"/> <type id="highway.secondary" priority="7" numLanes="2" speed="27.78" disallow="tram rail_urban rail rail_electric ship" oneway="0"/> <type id="highway.secondary_link" priority="6" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/> <type id="highway.service" priority="2" numLanes="1" speed="5.56" allow="delivery bicycle pedestrian" oneway="0"/> <type id="highway.services" priority="1" numLanes="1" speed="8.33" disallow="tram rail_urban rail rail_electric ship" oneway="0"/> <type id="highway.stairs" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/> <type id="highway.step" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/> <type id="highway.steps" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/> <type id="highway.tertiary" priority="6" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/> <type id="highway.tertiary_link" priority="5" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/> <type id="highway.track" priority="1" numLanes="1" speed="5.56" disallow="tram rail_urban rail rail_electric ship" oneway="0"/> <type id="highway.trunk" priority="11" numLanes="2" speed="27.78" disallow="tram rail_urban rail rail_electric bicycle pedestrian ship" oneway="0"/> <type id="highway.trunk_link" priority="10" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric bicycle pedestrian ship" oneway="0"/> <type id="highway.unclassified" priority="5" numLanes="1" speed="13.89" disallow="tram rail_urban rail rail_electric ship" oneway="0"/> <type id="highway.unsurfaced" priority="1" numLanes="1" speed="8.33" disallow="tram rail_urban rail rail_electric ship" oneway="0"/> <type id="railway.light_rail" priority="15" numLanes="1" speed="27.78" allow="rail_urban" oneway="1"/> <type id="railway.preserved" priority="15" numLanes="1" speed="27.78" allow="rail" oneway="1"/> <type id="railway.rail" priority="15" numLanes="1" speed="83.33" allow="rail rail_electric" oneway="1"/> <type id="railway.subway" priority="15" numLanes="1" speed="27.78" allow="rail_urban" oneway="1"/> <type id="railway.tram" priority="15" numLanes="1" speed="13.89" allow="tram" oneway="1"/> <edge id=":30364622_0" function="internal"> <lane id=":30364622_0_0" index="0" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="23.41" length="8.20" width="3.70" shape="268.41,382.25 276.29,389.81"/> <lane id=":30364622_0_1" index="1" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="23.41" length="8.20" width="3.70" shape="268.41,382.25 268.68,384.42 270.34,385.69 272.09,386.98 272.64,389.22"/> <lane id=":30364622_0_2" index="2" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="23.41" length="8.20" width="3.70" shape="268.41,382.25 268.19,384.10 268.55,385.40 268.98,386.73 268.98,388.62"/> <lane id=":30364622_0_3" index="3" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="23.41" length="8.20" width="3.70" shape="268.41,382.25 267.61,384.02 266.72,385.10 265.91,386.20 265.33,388.03"/> </edge> <edge id=":30364622_4" function="internal"> <lane id=":30364622_4_0" index="0" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="24.59" length="10.47" width="3.70" shape="277.30,383.52 276.29,389.81"/> <lane id=":30364622_4_1" index="1" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="24.59" length="10.47" width="3.70" shape="277.30,383.52 276.41,385.43 274.97,386.37 273.53,387.31 272.64,389.22"/> <lane id=":30364622_4_2" index="2" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="24.59" length="10.47" width="3.70" shape="277.30,383.52 275.79,385.67 273.15,386.07 270.51,386.47 268.98,388.62"/> <lane id=":30364622_4_3" index="3" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="24.59" length="10.47" width="3.70" shape="277.30,383.52 265.33,388.03"/> <lane id=":30364622_4_4" index="4" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="24.59" length="10.47" width="3.70" shape="277.30,383.52 261.68,387.43"/> <lane id=":30364622_4_5" index="5" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="24.59" length="10.47" width="3.70" shape="277.30,383.52 273.86,386.76 267.68,385.18 261.49,383.61 258.03,386.84"/> <lane id=":30364622_4_6" index="6" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="24.59" length="10.47" width="3.70" shape="273.64,383.00 273.89,385.08 274.97,386.41 276.04,387.73 276.29,389.81"/> <lane id=":30364622_4_7" index="7" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="24.59" length="10.47" width="3.70" shape="273.64,383.00 272.64,389.22"/> <lane id=":30364622_4_8" index="8" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="24.59" length="10.47" width="3.70" shape="273.64,383.00 272.75,384.89 271.32,385.81 269.88,386.73 268.98,388.62"/> <lane id=":30364622_4_9" index="9" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="24.59" length="10.47" width="3.70" shape="273.64,383.00 272.13,385.13 269.49,385.51 266.85,385.89 265.33,388.03"/> <lane id=":30364622_4_10" index="10" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="24.59" length="10.47" width="3.70" shape="273.64,383.00 261.68,387.43"/> <lane id=":30364622_4_11" index="11" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="24.59" length="10.47" width="3.70" shape="273.64,383.00 258.03,386.84"/> <lane id=":30364622_4_12" index="12" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="24.59" length="10.47" width="3.70" shape="269.98,382.47 270.75,384.96 273.14,386.14 275.52,387.32 276.29,389.81"/> <lane id=":30364622_4_13" index="13" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="24.59" length="10.47" width="3.70" shape="269.98,382.47 270.23,384.53 271.31,385.85 272.39,387.16 272.64,389.22"/> <lane id=":30364622_4_14" index="14" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="24.59" length="10.47" width="3.70" shape="269.98,382.47 268.98,388.62"/> <lane id=":30364622_4_15" index="15" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="24.59" length="10.47" width="3.70" shape="269.98,382.47 269.09,384.35 267.66,385.25 266.22,386.16 265.33,388.03"/> <lane id=":30364622_4_16" index="16" allow="private emergency authority 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from=":30364622_4" to="SN_end" fromLane="27" toLane="3" dir="s" state="M"/> <connection from=":30364622_4" to="SN_end" fromLane="28" toLane="4" dir="s" state="M"/> <connection from=":30364622_4" to="SN_end" fromLane="29" toLane="5" dir="s" state="M"/> <connection from=":30364622_4" to="SN_end" fromLane="30" toLane="0" dir="s" state="M"/> <connection from=":30364622_4" to="SN_end" fromLane="31" toLane="1" dir="s" state="M"/> <connection from=":30364622_4" to="SN_end" fromLane="32" toLane="2" dir="s" state="M"/> <connection from=":30364622_4" to="SN_end" fromLane="33" toLane="3" dir="s" state="M"/> <connection from=":30364622_4" to="SN_end" fromLane="34" toLane="4" dir="s" state="M"/> <connection from=":30364622_4" to="SN_end" fromLane="35" toLane="5" dir="s" state="M"/> </net>
<routes>
<vTypes>
<vType id="car1" accel="1.5" decel="8.0" sigma="0.5" tau="1.0" length="5" minGap="1.5" maxSpeed="45"
speedFactor="1.2" speedDev="0.1" guishape="passenger"/>
</vTypes>
<route id="motorway" color="1,1,0" edges="SN_approach SN_end"/>
<route id="ramp" color="1,1,0" edges="on_ramp SN_end"/>
<flows>
<vehicle id="2" route="motorway" depart="0" departLane="0" departSpeed="max"/>
</flows>
</routes>
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