Objective
I want to use predefined speed vectors for individual vehicles to move them in SUMO simulation.
Data and files
There are 3 vehicles in the simulation. For 2 of those vehicles, I want to specify the speeds. The speed data is created in Python as follows:
import numpy as np
import pandas as pd
from pandas import Series, DataFrame
data = {'ADO_name':['car1','car1','car1','car2','car2','car2'],
'Time_sec':[0,1,2,0,1,2],
'Speed.kph':[50,51,52,0,0,52]}
dframe = DataFrame(data)
The route, network and configuration files for this simulation are available in a folder here: https://1drv.ms/f/s!AsMFpkDhWcnw61EI5wR6hPaaRBJI
I have also put the code in a Script.py file in the same folder.
What I tried
Following is the code that I've been trying to use, along with the error:
#start sumo
sumoBinary = "C:/Users/Quinton/Desktop/Documents/Sumo/bin/sumo-gui"
sumoCmd = [sumoBinary, "-c", "C:/Users/Quinton/Desktop/Example2/example2.sumocfg"]
#importing libraries
import traci
import traci.constants as tc
traci.start(sumoCmd)
#subscribing to variables that we want to be printed once the copy has run
traci.vehicle.subscribe("car1", (tc.VAR_SPEED, tc.VAR_ROAD_ID, tc.VAR_LANE_ID, tc.VAR_LANEPOSITION))
traci.vehicle.subscribe("car2", (tc.VAR_SPEED, tc.VAR_ROAD_ID, tc.VAR_LANE_ID, tc.VAR_LANEPOSITION))
traci.vehicle.subscribe("car3", (tc.VAR_SPEED, tc.VAR_ROAD_ID, tc.VAR_LANE_ID, tc.VAR_LANEPOSITION))
#using traci.movetoXY to position car1 and car2 on network
traci.vehicle.moveToXY(vehID="car1", edgeID="highway1.1", lane=0, x=1000, y=-3.3, keepRoute=0)
traci.vehicle.moveToXY(vehID="car2", edgeID="highway1.1", lane=1, x=700, y=3.3, keepRoute=0)
#disallows car1 and car2 from changing lanes during simulation
traci.vehicle.setLaneChangeMode(vehID="car1", lcm=512)
traci.vehicle.setLaneChangeMode(vehID="car2", lcm=512)
#importing python modules
import numpy as np
import pandas as pd
from pandas import Series, DataFrame
#creating speed data
data = {'ADO_name':['car1','car1','car1','car2','car2','car2'],
'Time_sec':[0,1,2,0,1,2],
'Speed.kph':[50,51,52,0,0,52]}
dframe = DataFrame(data)
#print(dframe)
step = 0
#running traci
for ado in dframe.groupby('ADO_name'):
ado_name = ado[1]["ADO_name"]
adoID = ado_name.unique()
while step <= 2:
traci.simulationStep()
traci.vehicle.setSpeed(adoID, ado[1][ado[1].Time_sec == step]['Speed.kph'])
print (traci.vehicle.getSubscriptionResults("car1"), traci.vehicle.getSubscriptionResults("car2"))
step += 1
Error:
Traceback (most recent call last):
File "C:\Users\Quinton\AppData\Local\Temp\Rtmp6jCqR4\chunk-code-16888822790.txt", line 41, in <module>
traci.vehicle.setSpeed(adoID, ado[1][ado[1].Time_sec == step]['Speed.kph'])
File "C:\Program Files (x86)\DLR\Sumo\tools\traci\_vehicle.py", line 927, in setSpeed
tc.CMD_SET_VEHICLE_VARIABLE, tc.VAR_SPEED, vehID, speed)
File "C:\Program Files (x86)\DLR\Sumo\tools\traci\connection.py", line 139, in _sendDoubleCmd
self._beginMessage(cmdID, varID, objID, 1 + 8)
File "C:\Program Files (x86)\DLR\Sumo\tools\traci\connection.py", line 127, in _beginMessage
self._packString(objID, varID)
File "C:\Program Files (x86)\DLR\Sumo\tools\traci\connection.py", line 66, in _packString
self._string += struct.pack("!Bi", pre, len(s)) + s.encode("latin1")
AttributeError: 'numpy.ndarray' object has no attribute 'encode'
Notes
From my understanding, the problem is somewhere in #running traci section of the code. I tested this code without invoking TraCI and using print() instead of traci.vehicle.setSpeed() and got no error. So, it seems that Python side of things are fine. Could you please help me fixing this problem
