/ki4robofleet

基于 SUMO 的仿真环境，用于分析城市自动驾驶车辆的场景

Primary LanguagePythonMIT LicenseMIT

KI4RoboFleet (SUMO4AV)

KI4RoboFleet

The KI4RoboFleet (SUMO4AV) is a Simulation Environment based on SUMO to analyze Scenarios for autonomous driving vehicles in Cities

Link to the Overview-Page: KI4RoboFleet

Video Tutorial

Simulation Demo
Overview Video
Setup a new SUMO Model from scratch using OsmWebWizard
Technical Presentation at the SUMO Conference 2021

Reqirements to run the Simulation:

  • ubuntu 20.04
  • Python 3.8.5 or higher (Hint: Python 3.11 faces some issues and is not recommended)
  • Eclipse SUMO Version 1.9.0 or higher (Download from https://www.eclipse.org/sumo/)

SUMO installation:

sudo add-apt-repository ppa:sumo/stable
sudo apt-get update
sudo apt-get install sumo sumo-tools sumo-doc

open ~/.bashrc and add following entry (or similar path to your SUMO Installation):

export SUMO_HOME="/usr/share/sumo"

Clone the ki4robofleet Repo:

git clone https://github.com/keim-hs-esslingen/ki4robofleet
cd ki4robofleet

Some Python Packages need to be installed:

sudo pip3 install -r requirements.txt
sudo apt-get install python3-lxml

The latest SUMO Tools Version has to be installed otherwise routing errors could arise:

sudo apt-get dist-upgrade

Probably you need to perforn a pyqt5 upgrade if some pyqt related Errors arise:

python3 -m pip install pyqt5 --upgrade

Test the Setup with the provided Scipt to see if SUMO is working properly

./testRun.sh

Getting Started:

python KI4RoboFleetUI.py

or

python3 KI4RoboFleetUI.py

During the Simulation the Status is displayed on the Web Interface

http://localhost:8080/index.html

Hints:

  • The current state of the Project ist still very prototypical and contains still many weak points which easily lead to errors.

  • The Manual pages are not up to date and need some rework

  • If the following Error arises: DijkstraRouter spent ... answering queries ..." the following bash command may help:

sudo apt-get dist-upgrade

Setting up your own Model:

  • The easiest way is to use the files from the folder "SimpleTestScenario"
  • Replace the osm.poly.xml File with your own file
  • Replace the osm.net.xml File with your own file (make sure that your osm.net.xml file contains lanes which allow taxis and lanes which allow pedestrians (sidewalks) at your Points of Interest, otherwise the Points of Interest can not be reached either by pedestrians or by taxis)
  • make sure, that you edit the referenceEdge.xml File by entering an edge id (ideally of the center) of you model