matlab-cosimulate-sumo-simulink

What it does

Guides the construction of a Simulink model that runs a synchronized co-simulation with Eclipse SUMO. It uses the SumoInterfaceLibrary blocks to implement a SUMO Server and Client, connect to SUMO via TraCI, and manage Readers, Writers, and Actor blocks for vehicle state, traffic generation, and ego-vehicle control. It covers spawning/removing vehicles, random traffic, and SUMO file creation and configuration, including using SumoInterfaceLibrary blocks for visualization, and handling SUMO files like .sumocfg and .rou.xml when connected to an external traffic simulator.

How it works

• Establishes a SUMO Server block configured with ServerFile (.sumocfg), ServerPort, ServerNumClients, EnablePacing, PacingRate, and SampleTime; and a SUMO Client block with ClientAddress, ClientPort, ClientOrder, and SampleTime. The ClientPort must match the ServerPort, and pacing should be enabled to keep the simulation in sync.
• Provides a preferred construction path using SATK (if available) to auto-layout and reference newly-added blocks; otherwise, it falls back to add_block/add_line operations expressed in a single JSON payload.
• Guides preparing SUMO scenario files: prompts for a .sumocfg, optionally generates a basic network.net.xml with netgenerate, and explains minimal route file rules and OpenDRIVE import via netconvert.
• Describes patterns for adding Readers, Writers, and Actors inside Enabled Subsystems, including gating for delayed-spawn vehicles and ensuring vehicle existence before reading/writing vehicle topics.
• Details the block parameters for various topics (Vehicle, Simulation, Visualization) and how to wire them (e.g., Speed, Position, ID lists, Track Vehicle visualization).
• Provides examples for single-shot triggers, ego-vehicle control approaches, dynamic spawning with distinct routes, and spawn-then-teleport workarounds for Position-based spawning.
• Documents known issues and workarounds, notably SUMO_HOME trailing separator handling and SpawnMethod='Position' edge-case handling.

When to use it

• When building a Simulink model that connects to Eclipse SUMO.
• When setting up traffic co-simulation for ADAS/AD controller testing.
• When reading vehicle states from SUMO into Simulink or sending control commands from Simulink to SUMO.
• When spawning/removing vehicles dynamically and generating random traffic without route files.

What it can touch

• SUMO Server and Client blocks from Sum oInterfaceLibrary
• Reader and Writer blocks for vehicle topics (Speed, Position, Position3D, Acceleration, Angle, ID lists, etc.)
• Visualization Writer blocks (e.g., Track Vehicle, Schema) with one-shot Enabled Subsystems
• Actor blocks for spawning vehicles with attributes like departLane, departSpeed, and routeID
• MATLAB commands for preparing SUMO scenarios and model-building steps

Caveats

• SUMO-related actions assume prerequisites: Eclipse SUMO installed with SUMO_HOME set, and the Automated Driving Toolbox Interface for Eclipse SUMO Traffic Simulator support package installed.
• Writers/Readers crash if the target vehicle does not exist; gate them in Enabled Subsystems for delayed-spawn vehicles.
• SpawnMethod='Position' is reported as broken; workaround provided via a spawn-then-teleport pattern.
• The knowledge notes that a trailing separator on SUMO_HOME is required on Windows to avoid launch failures.