This is an implementation of ATNE on Python 3, Networkx, and Traci. The system generates vehicle trajectories based on a set of computed nash equilibrium values. The vehicles acts as individual players in a non-cooperative game to derive the optimal strategy for all players in the system.
The repository includes:
- Approximated Trajectory Nash Equilibrium
- Open street map to SUMO Conversion
- Street Discretization
Download SUMO from HERE and set up system environment variable.
pip install dependencies
pip install -r requirements.txt
start sample simulation
python main.py
The project is implemented using the traffic simulator SUMO, which meets our qualifications for an ideal traffic simulator. The perks of SUMO include, all of the tools necessary to build a road map model from scratch using SUMO's NETEDIT tool or import a real-life road map model from OpenStreetMaps (OSM). Furthermore, SUMO may be interfaced using Python 3.0 and TraCI which allows for management of the traffic simulation at an atomic level. In addition, the Python 3.0 interface of SUMO and TraCI allows for the use of custom Python 3.0 modules that extend the functionality of SUMO.
Top , Essential Files , Tools
Sumo Essentials , *.net.xml , *.rou.xml , *.settings.xml , *.sumoconfig
Every SUMO project must have a few essential Files.
1. *.net.xml <-- Contains the map. Generated by netconvert or netedit.
2. *.rou.xml <-- Contains the routes and vehicles.
3. *.sumoconfig <-- Points SUMO to the neccesary files.
4. *.settings.xml <-- (optional) Settings defined for the SUMO-GUI.
The *.net.xml contains all of the neccesary nodes, edges, junctions, intersections etc. that make up the map. This file is generated by combining a *.nod.xml and a *.edg.xml together using netconvert, or automatically when using netedit to create a map. These files are always auto-generated (i.e. by netconvert or netedit).
Essential Files , netconvert , netedit
By convention, these files have the extension .rou.xml but are recoginzed by the tag <routes> within the file. The basic structure of a *.rou.xml file looks like:
<routes>
<vType ... />
^ One or more vehicle types.
<route ... />
^ One or more routes.
<vehicle ... />
or
<flow .../>
^ Either a <vehicle> or <flow> to link the <vType> and <route> together.
</routes>
By convention, sumo-gui configuration files are named with the .settings.xml extension. This file is used along with the *.sumoconfig file to define settings for a graphical SUMO simulation. Below we look the graphical configuration file for my_first_project.
<viewsettings>
<viewport y="0" x="100" zoom="100" /> <-- Where the visible area begins whent he simulation starts.
<delay value="100" /> <-- The time between steps. (50+ is reccomended.)
</viewsettings>
Essential Files , *.sumoconfig
By convention, the SUMO configuration files are named with the .sumoconfig extension but are recognized by the tag <configuration> within the file. This file is an XML file with pointers to other essential files and settings for running the simulation without the graphical user interface. Below we look a the coniguration file for my_first_project.
<configuration>
<input>
<net-file value="mfp.net.xml" /> <-- The map.
<route-files value="mfp.rou.xml /> <--- The route the cars travel.
<gui-settings-file value="mfp.settings.xml" /> <-- Settings for sumo-gui
</input>
^ We must point to the critical files here.
<time>
<begin value="0" /> <-- Start time of the simulation.
<end value="10000" /> <-- end time of the simulation.
</time>
</configuration>
Essential Files , *.net.xml , *.rou.xml , *.settings.xml
Sumo Essentials , netconvert , netedit , sumo-gui
This section covers the various tools that are provided by the SUMO software.
Quentin: The official documentation for netconvert can be found on the NETCONVERT page of the SUMO wiki.
The purpose of netconvert is the create *.net.xml files, which are the map files SUMO uses for it's simulations.
The filepath for netconvert is:
~/src/sumo-0.30.0/bin/netconvert
Additionally, netconvert may be called from anywhere in the command line by using:
netconvert
Below is an example of how we created the mfp.net.xml file in the my_first_project project.
netconvert --node-files=mfp.nod.xml --edge-files=mfp.edg.xml --output-file=mfp.net.xml
Quentin: The official documention for netedit can be found on the NETEDIT page of the SUMO wiki.
netedit is a graphical map creator for SUMO. It's user interface shares much of the same functionality and shortcuts of sumo-gui. Netconvert is incorporated into netedit. By convention, netedit files should be saved with the extension of .net.xml.
The filepath for netedit is:
~/src/sumo-0.30.0/bin/netedit
Additionally, netedit may be called from anywhere in the command line by using:
netedit
When opening a map in netedit from the command line, point it to the *.net.xml file like below when used to open intersection_1.net.xml:
netedit interesection_1.net.xml
sumo-gui is the grahical user interface used for running SUMO simulations. It shares much of the same functionality and shortcuts of netedit.
The filepath for sumo-gui is:
~/src/sumo-0.30.0/bin/sumo-gui
Additionally, sumo-gui may be called from anywhere in the command line by using:
sumo-gui
We can open any SUMO simulation directly from the command line by pointing sumo-gui to the *.sumoconfig file with the -c flag