SUMO ego vehicles keep right lane after a while

Question

I'm using Webots to simulate an autonomous vehicle. I created the net files and sumo.rou.xml, but after starting the simulation, all ego vehicles will keep their right lane. I want to have traffic in all lanes. Is there anybody here to tell me how can I force the ego vehicles to change their lane during the simulation?

Best, MZ

Answer 1

This is most probably because their models are too close, ideally if you want some vehicles to overtake you should define some of the vehicles slower than the other. This can be set with the 'maxSpeed' parameter of the vehicle type. You may also want to change the Car-following model (https://sumo.dlr.de/wiki/Definition_of_Vehicles,_Vehicle_Types,_and_Routes#Car-Following_Models) and its parameters ('sigma' and 'tau').

You can find all the parameters of the vehicle type here: https://sumo.dlr.de/wiki/Definition_of_Vehicles,_Vehicle_Types,_and_Routes#Vehicle_Types

Note also that by default vehicles in SUMO will not use the opposite lane to overtake, please refer to the SUMO documentation to enable opposite direction driving: https://sumo.dlr.de/wiki/Simulation/OppositeDirectionDriving