Command 0xc4: Change Vehicle State

Changes the state of a vehicle. Because it is possible to change different values of a vehicle, the number of parameter to supply and their types differ between commands. The following values can be changed, the parameter which must be given are also shown in the table. Furthermore it is possible to change all values mentioned in TraCI/Change_VehicleType_State. If you do so, the vehicle gets a new type (named "typeid@vehid") and won't be affected by further changes to the original type.

Please note:

1. The first occurrence of the edge is currently at is searched within the new route; the vehicle continues the route from this point in the route from. If the edge the vehicle is currently does not exist within the new route, an error is generated.
2. changing the route works only if the vehicle is not within an intersection.
3. The specified lane must lie ahead of the vehicle on its current route. The next occurence is used. Intermediate edges will count the vehicle when entering and exiting.

compound message details

The message contents are as following:

stop (0x12)

The stop flags are a bitset with the following additive components

• 1 : parking
• 2 : triggered
• 4 : containerTriggered
• 8 : busStop (Edge ID is re-purposed as busStop ID)
• 16 : containerStop (Edge ID is re-purposed as containerStop ID)
• 32 : chargingStation (Edge ID is re-purposed as chargingStation ID)
• 64 : parkingArea (Edge ID is re-purposed as parkingArea ID)

change lane (0x13)

slow down (0x14)

move to (0x5c)

The vehicle will be removed from its lane and moved to the given position on the given lane. No collision checks are done, this means that moving the vehicle may cause a collisions or a situations leading to collision. The vehicle keeps its speed - in the next time step it is at given position + speed. Note that the lane must be a part of the following route, this means it must be either a part of the edge the vehicle is currently on or a part of an edge the vehicle will pass in future; setting a new route before moving the vehicle if needed should work.

move to XY (0xb4)

The vehicle is moved to the network position that best matches the given x,y network coordinates. The edgeID and laneIndex are compared against the original OpenDRIVE lane id when possible to resolve ambiguities. The optional keepRoute flag influences mapping as follows

• keepRoute = 1: The vehicle is mapped to the closest edge within it's existing route. If no suitable position is found within 100m mapping fails with an error.
• keepRoute = 0: The vehicle is mapped to the closest edge within the network. If that edge does not belong to the original route, the current route is replaced by a new route which consists of that edge only. If no suitable position is found within 100m mapping fails with an error. When using the sublane model the best lateral position that is fully within the lane will be used. Otherwise, the vehicle will drive in the center of the closest lane.
• keepRoute = 2: The vehicle is mapped to the exact position in the network (including the exact lateral position). If that position lies outside the road network, the vehicle stops moving on it's own accord until it is placed back into the network with another TraCI command.

The angle value is assumed to be in navigational degrees (between 0 and 360 with 0 at the top, going clockwise). The angle is used when scoring candidate mapping lanes to resolve ambiguities. Upon mapping the vehicle is angle set to the given value for purposes of drawing and all outputs. If the angle is set to the special TraCI constant INVALID_DOUBLE_VALUE, the angle will not be used for scoring and the vehicle will assume the angle of the best found lane. When mapping the vehicle outside the road network, the angle will be computed from the previous and the new position instead.

resume (0x19)

change target (0x31)

change route by id (0x54)

change route (0x57)

change edge travel time information (0x58)

This command can be sent using 4, 2, or 1 parameters. In the first form, it adds a new override of edge information to the list of existing overrides for the given vehicle, valid from begin time to end time. In the second form, it adds a new override that is valid throughout the simulation, replacing an earlier one for the same edge. In the third form, it removes as earlier override for the given edge, valid throughout the simulation.

change edge effort information (0x59)

This command can be sent using 4, 2, or 1 parameters. In the first form, it adds a new override of edge information to the list of existing overrides for the given vehicle, valid from begin time to end time. In the second form, it adds a new override that is valid throughout the simulation, replacing an earlier one for the same edge. In the third form, it removes as earlier override for the given edge, valid throughout the simulation.

reroute (compute new route) by travel time (0x90)

reroute (compute new route) by effort (0x91)

speed mode (0xb3)

This command controls how speeds set with the speed command (0x40) are used. Per default, the vehicle may drive lower than the set speed for regarding the safe gap, the maximum acceleration and the maximum deceleration. Furthermore, vehicles follow the right-of-way rules when approaching an intersection and if necessary they brake hard to avoid driving across a red light. One can control this behavior using the speed mode (0xb3) command. The given integer is a bitset (bit0 is the least significant bit) with the following fields:

• bit0: Regard safe speed
• bit1: Regard maximum acceleration
• bit2: Regard maximum deceleration
• bit3: Regard right of way at intersections
• bit4: Brake hard to avoid passing a red light

Setting the bit enables the check (the according value is regarded), keeping the bit==zero disables the check.

Examples:

• all checks off -> [0 0 0 0 0] -> Speed Mode = 0
• disable right of way check -> [1 0 1 1 1] -> Speed Mode = 23
• all checks on -> [1 1 1 1 1] -> Speed Mode = 31
• run a red light [0 0 1 1 1] = 7 (also requires setSpeed or slowDown)

lane change mode (0xb6)

The laneChangeModel discriminates four reasons reasons to change lanes:

• strategic (change lanes to continue the route)
• cooperative (change in order to allow others to change)
• speed gain (the other lane allows for faster driving)
• obligation to drive on the right

During each simulation step the laneChangeModel computes an internal request to change the lane or to stay on the current lane.

If an external change lane command (0x13) command is in conflict with the internal request this is resolved by the current value of the vehicles lane change mode. The given integer is interpreted as a bitset (bit0 is the least significant bit) with the following fields:

• bit1, bit0: 00 = do no strategic changes; 01 = do strategic changes if not in conflict with a TraCI request; 10 = do strategic change even if overriding TraCI request
• bit3, bit2: 00 = do no cooperative changes; 01 = do cooperative changes if not in conflict with a TraCI request; 10 = do cooperative change even if overriding TraCI request
• bit5, bit4: 00 = do no changes; 01 = do speed gain changes if not in conflict with a TraCI request; 10 = do speed gain change even if overriding TraCI request
• bit7, bit6: 00 = do no right drive changes; 01 = do right drive changes if not in conflict with a TraCI request; 10 = do right drive change even if overriding TraCI request

• bit9, bit8:
  • 00 = do not respect other drivers when following TraCI requests, adapt speed to fulfill request
  • 01 = avoid immediate collisions when following a TraCI request, adapt speed to fulfill request
  • 10 = respect the speed / brake gaps of others when changing lanes, adapt speed to fulfill request
  • 11 = respect the speed / brake gaps of others when changing lanes, no speed adaption

The default lane change mode is 0b1001010101 = 597 which means that the laneChangeModel may execute all changes unless in conflict with TraCI. Requests from TraCI are handled urgently but with full consideration for safety constraints.

To disable all autonomous changing but still handle safety checks in the simulation, either one of the modes 256 (collision avoidance) or 512 (collision avoidance and safety-gap enforcement) may be used.

add (0x80)

If a negative departure time is set, one of the following fixed time settings will be used:

• -1: "triggered"
• -2: "containerTriggered"

If a negative departure speed is set, one of the following fixed speed settings will be used:

• -2: "random"
• -3: "max"

If a negative departure position is set, one of the following position settings will be used:

• -2: "random"
• -3: "free"
• -4: "base"
• -5: "last"
• -6: "random_free"

Please note that giving 0 as depart position will result in the vehicle starting with its front at the begin of lane (unlike the simulation default which is the vehicle placed completely on the lane "base")

If a negative departure lane is set, one of the following lane settings will be used:

• -2: "random"
• -3: "free"
• -4: "allowed"
• -5: "best"
• -6: "first"

add_full (0x85)

remove (0x81)

The following reasons may be given:

• 0: NOTIFICATION_TELEPORT
• 1: NOTIFICATION_PARKING
• 2: NOTIFICATION_ARRIVED
• 3: NOTIFICATION_VAPORIZED
• 4: NOTIFICATION_TELEPORT_ARRIVED

Setting Device and LaneChangeModel Parameters (0x7e)

Vehicles supports setting of device parameters using the generic parameter setting call.

Supported Device Parameters

• device.battery.actualBatteryCapacity (double literal)
• device.battery.maximumBatteryCapacity (double literal)
• device.rerouting.period (double literal, set rerouting period in seconds)
• device.rerouting.edge:EDGE_ID (double literal, set assumed travel time for rerouting for all vehicles (where EDGE_ID is the id if a network edge). This value is overwritten at the next update interval (--device.rerouting.adaptation-interval).
• has.rerouting.device ("true"): can be used to dynamically enable automatic rerouting

Supported LaneChangeModel Parameters

• laneChangeModel.<ATTRNAME> , (double literal): <ATTRNAME> must be one of the parameters supported by the laneChangeModel of the vehicle. i.e. lcStrategic)