Overview

In LimSim, the TrafficManager class is used for unified management, mainly responsible for the "prediction-decision-planning" (PDP) process of vehicles within the AOI range, and ultimately generates a reasonable, safe, and kinematic-constraint-compliant trajectory for each vehicle.

When using it, we need to first initialize the TrafficManager class, and the required parameters for initialization are as follows:

Parameter Name	Required/Optional	Description
model	Required	The simulation model containing Sumo, which should be either Model or ReplayModel class.
predictor	Optional	The predictor of the vehicle, which should be a subclass of AbstractPredictor.
ego_decision	Optional	The decision maker of the ego vehicle, which should be a subclass of AbstractEgoDecisionMaker.
ego_planner	Optional	The planner of the ego vehicle, which should be a subclass of AbstractEgoPlanner.
multi_decision	Optional	The joint decision maker for multiple vehicles, which should be a subclass of AbstractMultiDecisionMaker.
multi_veh_planner	Optional	The joint planner for multiple vehicles, which should be a subclass of AbstractMultiPlanner.
config_file_path	Optional	The configuration file path, which is responsible for storing some important configurable parameters in the PDP process.

LimSim has already implemented the method for the entire PDP process in advance, which means that users do not need to fill in any algorithms to run LimSim normally.

At the same time, LimSim also supports users to replace parts or all of the algorithms in the PDP process, only need to inherit the given base class and fill in the interface, so that LimSim can have a brand new performance.