Navigation in Applications

The navigation of vehicles (i.e. calculation of routes) is handled completely by the Application Simulator . Each vehicle is equipped with a navigation system which provides all required information and functions for navigational purposes:

  • Retrieve the current position and heading of the vehicle.
  • Get the target of the vehicle.
  • Calculate various routes from the current position to an arbitrary target.
  • Choose a suitable route out of existing ones from the current position to an arbitrary target.
  • Switch onto a specific route.

In order to provide routing functionality, a map model based on Open Street Map data is used, which needs to be transformed before the simulation using scenario-convert (see Create a New Scenario ). The map data including initial routes for vehicles is provided with the database file which needs to be located in mosaic/scenarios/<scenario_name>/application/<scenario_name>.db

To enable non-moving entities (i.e. RSUs, Servers, …) to access routing capabilities the IRoutingModule can be implemented which omits operations likes route switching.

Configuration

If the database needs to be located somewhere else, the path can be specified in mosaic/scenarios/<scenario_name>/application/application_config.json:

{
    ...
    "navigationConfiguration": {
        "databaseFile": "path/to/scenario.db"
    }
}

Note: Different from other modules bundled with the application simulator the navigation module doesn’t need to be explicitly enabled.

Usage

The following snippet shows, how the navigation system can be used within an application:

//get navigation module
INavigationModule navigationModule = getOs().getNavigationModule();

//choose current target as target position
RoutingPosition targetPosition = new RoutingPosition(navigationModule.getTargetPosition());

//set routing parameters to fastest route search
RoutingParameters params = new RoutingParameters().costFunction(IRoutingCostFunction.Fastest);

//calculate routes
RoutingResponse response = navigationModule.calculateRoutes(targetPosition, params);

//switch to best route
if (response.getBestRoute() != null) {
    boolean routeSwitched = navigationModule.switchRoute(response.getBestRoute());
    ...
}