這裏,SUMO的軟件安裝就貼教程了,其實網上有很多教程,簡單的說一下:
sudo add-apt-repository ppa:sumo/stable
sudo apt-get update
sudo apt-get install sumo sumo-tools sumo-doc
使用上面三行即可安裝好SUMO,特別是使用深度學習環境的同學,安裝完這個就可以跑代碼了,是不是很快。如果運行SUMO提示:
Warning: Environment variable SUMO_HOME is not set, schema resolution will use slow website lookups.
不要着急,設置環境變量即可。
首先:
vi ~/.bashrc
在最後一行增加:
export SUMO_HOME=/usr/share/sumo
然後使用“:wq”保持退出,最後
source ~/.bashrc
到這裏,SUMO環境就安裝完了。
這裏,給大家介紹快速上手SUMO的5步,就可以仿真:
第一步:設置node點文件:
如我建立hello.node.xml,代碼如下:
<?xml version="1.0" encoding="UTF-8"?>
<nodes xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/nodes_file.xsd">
<node id="0" x="0.0" y="0.0" type="traffic_light"/>
<node id="1" x="-500.0" y="0.0" type="priority"/>
<node id="2" x="+500.0" y="0.0" type="priority"/>
<node id="3" x="0.0" y="-500.0" type="priority"/>
<node id="4" x="0.0" y="+500.0" type="priority"/>
<node id="51" x="-510.0" y="0.0" type="priority"/>
<node id="52" x="+510.0" y="0.0" type="priority"/>
<node id="53" x="0.0" y="-510.0" type="priority"/>
<node id="54" x="0.0" y="+510.0" type="priority"/>
</nodes>
第二步:建立edge文件
我建立hello.edge.xml,代碼如下:
<?xml version="1.0" encoding="UTF-8"?>
<edges xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/edges_file.xsd">
<edge id="1i" from="1" to="0" priority="78" numLanes="1" speed="19.444" />
<edge id="1o" from="0" to="1" priority="46" numLanes="1" speed="11.111" />
<edge id="2i" from="2" to="0" priority="78" numLanes="1" speed="19.444" />
<edge id="2o" from="0" to="2" priority="46" numLanes="1" speed="11.111" />
<edge id="3i" from="3" to="0" priority="78" numLanes="1" speed="19.444" />
<edge id="3o" from="0" to="3" priority="46" numLanes="1" speed="11.111" />
<edge id="4i" from="4" to="0" priority="78" numLanes="1" speed="19.444" />
<edge id="4o" from="0" to="4" priority="46" numLanes="1" speed="11.111" />
<edge id="51i" from="1" to="51" priority="78" numLanes="1" speed="19.444" />
<edge id="51o" from="51" to="1" priority="46" numLanes="1" speed="11.111" />
<edge id="52i" from="2" to="52" priority="78" numLanes="1" speed="19.444" />
<edge id="52o" from="52" to="2" priority="46" numLanes="1" speed="11.111" />
<edge id="53i" from="3" to="53" priority="78" numLanes="1" speed="19.444" />
<edge id="53o" from="53" to="3" priority="46" numLanes="1" speed="11.111" />
<edge id="54i" from="4" to="54" priority="78" numLanes="1" speed="19.444" />
<edge id="54o" from="54" to="4" priority="46" numLanes="1" speed="11.111" />
</edges>
第三步:把hello.node.xml文件和hello.edge.xml文件轉換爲網絡,可以看見多了hello.net.xml文件
netconvert --node-files=hello.node.xml --edge-files=hello.edge.xml --output-file=hello.net.xml
第四步:建立路徑與車文件:
我的是hello.route.xml,代碼如下:
<routes>
<vType id="typeWE" accel="0.8" decel="4.5" sigma="0.5" length="5" minGap="2.5" maxSpeed="16.67" guiShape="passenger"/>
<vType id="typeNS" accel="0.8" decel="4.5" sigma="0.5" length="7" minGap="3" maxSpeed="25" guiShape="bus"/>
<route id="right" edges="51o 1i 2o 52i" />
<route id="left" edges="52o 2i 1o 51i" />
<route id="down" edges="54o 4i 3o 53i" />
<vehicle id="left_0" type="typeWE" route="left" depart="0" />
<vehicle id="left_1" type="typeWE" route="left" depart="2" />
</routes>
第五步:建立配置文件,hello.sumocfg,就是負責加載hello.net.xml與hello.route.xml文件,內容如下:
<?xml version="1.0" encoding="UTF-8"?>
<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/sumoConfiguration.xsd">
<input>
<net-file value="hello.net.xml"/>
<route-files value="hello.route.xml"/>
</input>
<time>
<begin value="0"/>
<end value="1000"/>
</time>
</configuration>
到這裏,就可以實現仿真了,使用sumo-gui去加載,指令如下:
sumo-gui hello.sumocfg
界面如下:
如果,你想寫一個腳本運行,如下,我建立了一個start.py調用這些:
import os, sys
if 'SUMO_HOME' in os.environ:
tools = os.path.join(os.environ['SUMO_HOME'], 'tools')
sys.path.append(tools)
else:
sys.exit("please declare environment variable 'SUMO_HOME'")
from sumolib import checkBinary # noqa
import traci # noqa
if __name__ == "__main__":
sumoBinary = checkBinary('sumo-gui')
traci.start([sumoBinary, "-c", "./hello.sumocfg","--tripinfo-output","tripinfo.xml"])
step = 0
while step < 1000:
traci.simulationStep()
step += 1
traci.close()
到這裏,一個基本的SUMO就可以運行實現仿真了。這裏的交通等是四個相位變化的,下次專門針對紅綠燈的設置展開講解。