Send Angle/Heading Command

[gabpalmieri99]

Hello everyone,

I am trying to simulate a highway overtaking maneuver with a vehicle fully controlled by me using Eclipse Mosaic in collaboration with SUMO. I send commands to the simulated vehicle via the VehicleOperatingSystem interface.

First of all, I would like to know if it is possible to send heading or steering angle commands to make the vehicle turn. I need to simulate a planning and tracking algorithm using MPC that outputs desired speeds and angles to follow a trajectory.

However, looking at the documentation of the interface, for lateral movement I only found the ChangeLane command. Therefore, I am trying to use this command, but I am having difficulties overriding ChangeLane commands to abort a lane change maneuver and return to the original lane.

Is it possible, for example, during a lane change maneuver lasting 3 seconds, to send a new lane change command back to the original lane 1 second before the first lane change completes? Or more generally, is there any other way to send steering commands to the vehicle?

Thank you in advance for your help!

[schwepmo]

First of all, I would like to know if it is possible to send heading or steering angle commands to make the vehicle turn.

AFAIK no, as SUMO is a traffic simulator and not a vehicle simulator, direct control input is not available. This is because the movement of vehicles is controlled by the car-following-model and the lane-change-model. Values like the position, heading, acceleration, etc. are then results of these function rather than the input.

Is it possible, for example, during a lane change maneuver lasting 3 seconds, to send a new lane change command back to the original lane 1 second before the first lane change completes?

I'm not sure if SUMO allows overwriting of lane change commands. It's probably best to consult the SUMO documentation.

Or more generally, is there any other way to send steering commands to the vehicle?

I think, using SUMO may be the wrong solution for the problem you're trying to tackle. Typically, vehicle simulators such as PHABMACS or Carla are deployed for such use cases.
We have a beta version of a Carla-coupling to MOSAIC, which we could provide to you on an educational license. However, on your side this would require a) a reasonably performant PC and b) some work on sending the control signals to Carla, as this only AFAIK only works rudimentary.

[yibork]

Hello I would like to have access to Carla coupling to mosaic. How can I request the access?

[kschrab]

@yibork Please send us an e-mail with some information about you (are you student? researcher?) and your project (what is it about? what targets to you follow? how would Carla help there?) to mosaic@fokus.fraunhofer.de