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TRACI4MATLAB - USER’S MANUAL
Project:
Acronym:
Web site:
Modelamiento y control de tráfico en la ciudad de
Medellı́n - Segunda Etapa
MOYCOT E2
www.moycot.org
UNIVERSIDAD NACIONAL DE COLOMBIA
Authors:
Andrés Acosta, Jorge Espinosa, Jairo Espinosa.
c Copyright Universidad Nacional de Colombia, Politécnico Jaime Isaza Cadavid
TraCI4Matlab - User’s Manual
Contents
Abstract
3
1 What is TraCI4Matlab?
1.1 Citing TraCI4Matlab . . . . . . . . . . . . . . . . . . . . . . . .
4
4
2 Installing TraCI4Matlab
2.1 Prerequisites . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Step 1: Setting up the environment . . . . . . . . . . . . .
2.2.2 Step 2: Getting TraCI4Matlab . . . . . . . . . . . . . . .
2.2.3 Step 3: Adding the additional dependencies to the Matlab’s
static Java path . . . . . . . . . . . . . . . . . . . . . . .
2.2.4 Step 4: Adding TraCI4Matlab to the Matlab’s path . . . .
2.2.5 Step 5: Testing TraCI4Matlab . . . . . . . . . . . . . . .
6
6
6
6
9
9
9
10
3 Using TraCI4Matlab
3.1 Building the simulation scenario in SUMO . . . . . . . . . . . . .
3.2 Developing the application in Matlab . . . . . . . . . . . . . . . .
3.2.1 Step 1: Executing SUMO in server mode from Matlab and
initializing the connection . . . . . . . . . . . . . . . . .
3.2.2 Step 2: Developing the application . . . . . . . . . . . . .
3.2.3 Step 3: Closing the connection . . . . . . . . . . . . . . .
13
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13
Bibliography
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TraCI4Matlab - User’s Manual
Abstract
This user’s manual describes the installation procedure of the TraCI4Matlab
package and a brief description of its usage. TraCI4Matlab is an implementation of the Traffic Control Interface (TraCI) for the Matlab R programming
language, which allows the interaction with the Simulation of Urban Mobility
(SUMO) microscopic road traffic simulator.
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Chapter 1
What is TraCI4Matlab?
TraCI4Matlab is an Application Programming Interface (API) developed in Matlab which allows the communication between any application developed in this language and the Simulation of Urban Mobility (SUMO) microscopic road traffic simulator. The functions comprising TraCI4Matlab implement the Traffic Control Interface (TraCI) application level protocol which is built on top of the TCP/IP stack,
so that the application developed in Matlab, which is the client, can access and
modify the simulation environment provided by the server (SUMO). TraCI4Matlab
allows controlling SUMO objects such as vehicles, traffic lights, junctions, etc, enabling applications like traffic lights predictive control, dynamic route assignment
and vehicular communications, among others.
1.1 Citing TraCI4Matlab
If you use TraCI4Matlab in your research reports, articles and conferences, please
use this book chapter [1] to cite it, as follows:
@incollection { acosta etal 2015 ,
t i t l e = {{ T raC I }4 M a t l a b : { E n a b l i n g } t h e
{ I n t e g r a t i o n } o f t h e {SUMO} { Road } { T r a f f i c }
{ S i m u l a t o r } and { M a t l a b } { T hrough } a
{ S o f t w a r e } {Re}− e n g i n e e r i n g { P r o c e s s } } ,
u r l = { h t t p : / / l i n k . s p r i n g e r . com /
10.1007/978 −3 −319 −15024 −6 9 } ,
u r l d a t e = {2017 −03 −06} ,
b o o k t i t l e = { M odeling { M o b i l i t y } w i t h {Open }
{ D ata } } ,
publisher = { Springer } ,
a u t h o r = { A costa , Andr \ ’ e s F . and E s p i n o s a ,
J o r g e E . and E s p i n o s a , J a i r o } ,
year = {2015} ,
p a g e s = {155−−170}
4
TraCI4Matlab - User’s Manual
}
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Chapter 2
Installing TraCI4Matlab
2.1 Prerequisites
• Operating System: Windows 7 or higher
• Matlab R R2012b or higher
• SUMO 0.19.0 or higher. Installation instructions of SUMO can be found
here
Note: TraCI4Matlab is designed to preserve the same syntax of the TraCI-Python
client, which is part of the SUMO suite. If you have little programming experience, we encourage you to get familiar with TraCI-Python before starting with
TraCI4Matlab.
2.2 Installation
2.2.1 Step 1: Setting up the environment
Set up the SUMO_HOME environment variable with system scope, with a value
corresponding to the root directory of the SUMO installation. For example, if
the SUMO version 0.27.1 was installed in C:, then the SUMO_HOME environment
variable would have a value of C:\sumo-0.27.1. Environment variables can
be configured as follows:
• Open the windows explorer, right click on “My computer” and click the
properties option, as showed in figure 2.2.
• On the left side of the window that opens, click in the link ”Advanced system configuration”, then click in the button “Environment variables” and in
the “System variables” field, click on the button “New”, configure the variable according to your SUMO installation, and click the “Accept” button, as
showed in figure 2.1.
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TraCI4Matlab - User’s Manual
• Again in the “System variables” field, look for the ”path” variable and add
the route to the bin directory of the SUMO installation. This can be accomplished in Windows 10 by double clicking the ”path” variable then selecting
the “New” button as shown in figure 2.3, or in Windows 7 by adding a semicolon to the current value and then the corresponding route. Finally, click on
the “Accept” button.
Figure 2.1: Creating the SUMO HOME variable.
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TraCI4Matlab - User’s Manual
Figure 2.2: Access to the system properties.
Figure 2.3: Editing the Windows path.
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TraCI4Matlab - User’s Manual
2.2.2 Step 2: Getting TraCI4Matlab
TraCI4Matlab can be obtained in three ways:
• TraCI4Matlab comes with the SUMO installation since version 0.20.0 and is
located in the SUMO_HOME/tools/contributed folder. This version
is obtained from the Github repository of TraCI4Matlab
• TraCI4Matlab is also in a Subversion repository, where there are the most
up-to-date versions. We recommend to use the TortoiseSVN client to obtain
TraCI4Matlab.
• Finally, a compressed zip with TraCI4Matlab can be obtained from Matlab
Central
2.2.3 Step 3: Adding the additional dependencies to the Matlab’s static
Java path
In your preferred text editor, create a text file containing the path to the traci4matlab.
jar file, as follows:
TRACI4MATLAB HOME / t r a c i 4 m a t l a b . j a r
Where TRACI4MATLAB_HOME is the path to the root folder of TraCI4Matlab obtained in the previous step. Now, save this file with the name javaclasspath.
txt in the preferences directory of Matlab, which can be identified using the
prefdir command.
Note: You must restart Matlab so that the new static Java path takes effect.
2.2.4 Step 4: Adding TraCI4Matlab to the Matlab’s path
In the Matlab command window, type the pathtool command, which opens a
new window. Click on the “Add folder . . . ” button and browse the TRACI4MATLAB_
HOME directory, then click the “Select folder” button, as showed in figure 2.4. Finally, click on the “Save” button to save the Matlab path.
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TraCI4Matlab - User’s Manual
Figure 2.4: Adding TraCI4Matlab to the Matlab path.
2.2.5 Step 5: Testing TraCI4Matlab
TraCI4Matlab includes three test examples for verifying its correct installation and
functioning. The following list describes these examples, starting from the most
simple:
• traci_test.m. This test script is located in TRACI4MATLAB_HOME/
examples and returns the SUMO and the TraCI versions. We recommend
to use this example in order to test the TraCI4Matlab installation.
• inter_palmas_actuated.m. This example is located in TRACI4MATLAB_
HOME/examples/inter_palmas/tls_actuated. This scenario shows
a pedestrian crossing with an actuated traffic lights system (TLS) that simulates pedestrians pushing a button for requesting the right of way using the
same algorithm of the TraCIPedCrossing tutorial. Once this script is executed, the Graphical User Interface of SUMO (sumo-gui) should open. By
clicking the “play” button, the simulation starts, as showed in figure 2.5.
When the simulation finishes, the number of pedestrians waiting on the sidewalks and the traffic lights phase for pedestrians are plotted, as showed in
figure 2.6.
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TraCI4Matlab - User’s Manual
Figure 2.5: TraCI4Matlab test in sumo-gui.
Figure 2.6: TraCI4Matlab test results in Matlab.
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TraCI4Matlab - User’s Manual
• traci_test2.m. This “advanced” example, located in TRACI4MATLAB_
HOME/examples, aims to test the majority of the TraCI4Matlab functions.
This scenario utilizes the TraCI4TrafficLights tutorial, which consists of an
intersection where “priority” vehicles going from North to South are guaranteed the right of way through an actuated TLS. Hence, an important prerequisite is that the user must run the TraCI4TrafficLights scenario using the
TraCI-Python client so that the routes file is generated.
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Chapter 3
Using TraCI4Matlab
3.1 Building the simulation scenario in SUMO
To use TraCI4Matlab, the first step is to set up a simulation scenario in SUMO.
The process for building a simulation scenario is out of the scope of this manual,
but an official tutorial can be found in the SUMO documentation.
3.2 Developing the application in Matlab
3.2.1 Step 1: Executing SUMO in server mode from Matlab and initializing the connection
Any application in Matlab that uses TraCI4Matlab must start by executing the
commands sumo if it is desired to execute the simulation without visualization
or sumo-gui if it is desired to execute SUMO in GUI mode, and specifying as a
parameter the path where the configuration file of the SUMO scenario obtained in
the previous step is located. This is achieved through the Matlab’s system command, as showed in the code listing 3.1. Furthermore, it is important to specify that
SUMO will run in server mode, using the --remote-port option followed by
an available TCP port. If you do not know how to automatically obtain an available
TCP port, you can use the ports 8813 or 8873.
Listing 3.1: Executing SUMO in server mode from Matlab
1
2
3
4
5
6
7
8
9
clear;
close(’all’);
clc;
import traci.constants
% Launch SUMO in server mode and initialize the TraCI connection
system([’sumo-gui -c ’ ’"’ scenarioPath ’"’ ’ --remote-port 8873
--start&’]);
traci.init();
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TraCI4Matlab - User’s Manual
Optionally, the command in line 5 can be added to facilitate referencing the TraCI
constants in case that TraCI subscriptions are made. Thus, for instance, to reference the command LAST_STEP_VEHICLE_NUMBER of the TraCI constants,
it’s enough to write constants.LAST_STEP_VEHICLE_NUMBER instead of
traci.constants.LAST_STEP_VEHICLE_NUMBER.
After initializing SUMO in server mode, the connection must be established with
the function traci.init(). If the SUMO server was configured to use the
8873 port, this function does not need additional parameters, otherwise the port
must be specified as a parameter. Additional parameters of the traci.init()
function are described in the function documentation, which can be accessed by
typing help traci.init in the Matlab command window.
3.2.2 Step 2: Developing the application
Often, TraCI4Matlab applications include a main loop in which the simulation
is executed iteratively through the traci.simulationStep command. In
this loop, the attributes of the objects in the SUMO simulation are accessed and
modified. The SUMO objects are grouped in fifteen domains: areal, edge, gui,
inductionloop, junction, lane, multientryexit, person, poi, polygon, route, simulation, trafficlights, vehicle and vehicletype. the general structure for accessing or
modifying a SUMO object is: traci..,
where domain can take any of the domains listed previously and get/set_
wrapper() are the functions for accessing the values (get) or modifying (set)
the attributes of the object of interest. For example, if the value of the velocity
of the vehicle with ID veh_1 in the current time step is required, the following
command can be executed:
current_speed_veh1 = traci.vehicle.getSpeed(’veh_1’)
To obtain a list of all the commands related to a specific domain, type help traci.
in the Matlab command window, where domain can take any of the
values listed previously. Figure 3.1 shows an example in the case of the lane domain. Further help regarding a function can be obtained by clicking it.
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TraCI4Matlab - User’s Manual
Figure 3.1: Obtaining a list of the functions related to a SUMO object.
The main loop of the application can be executed using a fixed time or a condition
such as until all vehicles of the simulation have arrived to their destinations. In the
second case, the traci.simulation.getMinExpectedNumber function
can be used, as showed in the following code listing, where the main loop has been
highlighted:
1
2
3
4
5
6
7
while traci.simulation.getMinExpectedNumber()>0
traci.simulationStep();
programPointer = min(programPointer+1, length(PROGRAM));
% Get the number of vehicles that passed through the induction
% loop in the last simulation step
numPriorityVehicles = traci.inductionloop.
getLastStepVehicleNumber(’0’);
8
9
10
11
12
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15
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21
% Change the phase of the traffic light if a vehicle passed
% through the induction loop
if numPriorityVehicles > 0
if programPointer == length(PROGRAM)
programPointer = 1;
elseif ˜strcmp(PROGRAM(programPointer), WEYELLOW)
programPointer = 4;
end
end
traci.trafficlights.setRedYellowGreenState(’0’, PROGRAM{...
programPointer});
end
TraCI4Matlab includes functions for making TraCI subscriptions. TraCI subscriptions allow retrieving several attributes of a SUMO object using a single command.
To use TraCI subscriptions it is necessary to know the TraCI constants containing
the codes of the different attributes related to a TraCI subscription. These constants can be found by typing edit traci.constants in the Matlab comPage 15/17
TraCI4Matlab - User’s Manual
mand window and locating the VARIABLE TYPES field. For example, suppose
that it is desired to make a TraCI subscription to access the values of the attributes
LAST_STEP_VEHICLE_NUMBER and LAST_STEP_MEAN_SPEED of the induction loop with ID ’0’. In this case, the following command can be used:
traci.inductionloop.subscribe(’0’, {constants.
LAST_STEP_VEHICLE_NUMBER, constants.LAST_STEP_MEAN_SPEED});
Note that thanks to the command import traci.constants at the beginning
of the script, as explained in the previous step, the subsequent commands can be
shorter.
The following commands allow accessing the values related to the TraCI subscription:
indloopSubsResults = traci.inductionloop.getSubscriptionResults(’0
’);
numVehicles = indloopSubsResults(constants.
LAST_STEP_VEHICLE_NUMBER);
lsms = indloopSubsResults(constants.LAST_STEP_MEAN_SPEED);
Note that the results are stored in a handle variable indloopSubsResults
which is indexed with the TraCI constants to which the subscription was made.
Note also that, using the getter commands of TraCI4Matlab in the the main loop
of the Matlab application, the user can collect variables of interest in vectors or
other Matlab arrays for plotting, analyzing and storing them later. Furthermore,
many Matlab routines can be used inside the main loop in order to make decisions
related to the routing of vehicles, the traffic lights states or the vehicular wireless
network protocols.
3.2.3 Step 3: Closing the connection
Finally, the connection to the SUMO server is closed using the traci.close()
command.
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Bibliography
[1] A. F. Acosta, J. E. Espinosa, and J. Espinosa, “TraCI4matlab: Enabling the Integration of the SUMO Road Traffic Simulator and Matlab R Through a Software Re-engineering Process,” in Modeling Mobility with Open Data, pp. 155–
170, Springer, 2015.
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