如何通过TraCI结合Pandas DataFrame在SUMO中设置车辆车速？

Hey there! Let's walk through how to control specific vehicles in your SUMO simulation using predefined speed vectors generated with Python. Since you've got 3 total vehicles and need to set custom speeds for 2 of them, here's a tailored step-by-step guide:

First, create a Python script to generate your desired speed vectors. You can define speeds by simulation timesteps, real-world time, or even based on road segments. For example:

# speed_generator.py
def generate_speed_profiles():
    # Key: vehicle ID, Value: list of speeds (one per simulation step)
    speed_data = {
        "target_veh_1": [11.1, 13.9, 15.6, 15.6, 13.9],  # ~25, 31, 35, 35, 31 mph
        "target_veh_2": [8.9, 10.0, 11.1, 11.1, 10.0]   # ~20, 22, 25, 25, 22 mph
    }
    return speed_data

# Save to a JSON file if you want to reuse it across simulations
import json
with open("speed_profiles.json", "w") as f:
    json.dump(generate_speed_profiles(), f)

Update your existing Script.py to load the speed profiles and enforce them on your target vehicles. The key here is using traci.vehicle.setSpeed() and disabling SUMO's default car-following behavior with setSpeedMode(0) so vehicles strictly follow your predefined speeds:

# Script.py
import traci
import sumolib
import json

# Load your pre-generated speed profiles
with open("speed_profiles.json", "r") as f:
    speed_profiles = json.load(f)

# Initialize SUMO connection
sumo_binary = sumolib.checkBinary("sumo-gui")  # Use "sumo" for headless mode
traci.start([sumo_binary, "-c", "your_config.sumocfg"])

current_step = 0
max_steps = max(len(speeds) for speeds in speed_profiles.values())

while current_step < max_steps:
    traci.simulationStep()
    
    # Apply speed to each target vehicle
    for veh_id, speeds in speed_profiles.items():
        # Make sure the vehicle is already in the simulation
        if veh_id in traci.vehicle.getIDList():
            # Disable default speed control (0 = ignore all safety/flow rules)
            traci.vehicle.setSpeedMode(veh_id, 0)
            # Set the speed for the current timestep
            if current_step < len(speeds):
                traci.vehicle.setSpeed(veh_id, speeds[current_step])
    
    current_step += 1

traci.close()

Double-check that the vehicle IDs you're targeting in your Python script exactly match the IDs defined in your route file (*.rou.xml). For example, in your route file:

<routes>
    <vType id="default_car" accel="2.6" decel="4.5" sigma="0.5" length="5" maxSpeed="70"/>
    <vehicle id="target_veh_1" type="default_car" route="route_1" depart="0"/>
    <vehicle id="target_veh_2" type="default_car" route="route_2" depart="0"/>
    <vehicle id="regular_veh_3" type="default_car" route="route_3" depart="1"/>
</routes>

• If vehicles aren't following your speeds: Make sure you've set setSpeedMode(0)—without this, SUMO's car-following model will override your settings.
• If you get "vehicle not found" errors: Add a small delay or check if the vehicle has departed before trying to set its speed (use traci.vehicle.getDepartureTime(veh_id) to verify).
• For continuous speed changes: Instead of fixed steps, use traci.simulation.getTime() to map speeds to real simulation time and interpolate values if needed.

内容的提问来源于stack exchange，提问作者umair durrani