Development history

  • September 20th, 2019 to October 3rd, 2019 Project got funded by the US DOE. Prepared to move from A-RESCUE to EV simulation.

  • October 11th, 2019 to November 11th, 2019 Implemented the charging station and electric vehicle classes.

  • November 11th, 2019 to December 11th, 2019 Added bus class and bus charging behaviors.

  • December 12th, 2019 to February 11th, 2020 Conducted energy model profiling.

  • February 11th, 2020 to March11th, 2020 Addressed ConcurrentModificationException.

  • March 11, 2020 to June 2, 2020 Developed the HPC framework and implemented the multi-arm bandit online routing algorithm.

  • June 3, 2020 to September, 2020 Implemented eco-routing for electric buses.

  • September 3, 2020 to January 2021 Transferred HPC module from JAVA to Python.

  • January 2021 to October 2021 Transferred online opertional algorithms from Java to Python.

  • October 2021 to February 2022 Moved the project to Github. DOE project ended.

  • February 2022 to May 2023 General bug fixing and code cleaning, added traffic light/signal supports

  • May 2023 to January 2024 Project got funded by the US DOT. Created SUMO network loader.

  • January 2024 to March 2024 Introduced Kafka for a more realistic data stream modeling.

  • March 2024 to April 2024 Added the support of simulating private vehicles’ trip chains.

  • April, 2024 to June 2024 Reimplemented the synchronized mode by adding interactive APIs and co-simulation runner with CARLA.

  • July 2024–February 2025 Built the Docker image for METS-R SIM, enabling its use within the METS-R HPC program.

  • February 2025–March 2025 Majorly refactored the METS-R HPC module. Switched from a custom launcher to Docker-based execution for more scalable and portable simulation management. Debugged all existing interactive APIs and released a comprehensive interactive_example.ipynb tutorial notebook covering step, query, and control workflows. Added taxi dispatch and transit control APIs in the Python client.

  • March 2025 In METS-R SIM: removed legacy eco-routing and dynamic bus scheduling code (moved to the HPC layer). Changed trip generation behavior so that requests for unavailable vehicles are queued rather than silently dropped.

  • April 2025 Replaced the NYC shapefile-based road network with a higher-accuracy SUMO .net.xml file, adding smooth transition curves within intersections and refined lane-changing behavior. Added a pre-charging heuristic for private EVs before long-distance trips. Expanded CARLA co-simulation map support to all 10 CARLA Towns. Added charger type preselection (L2/DCFC). Updated EV utility functions based on the latest EV survey data. Added security attack example notebooks to METS-R HPC. Improved the efficiency of the neighboring graph construction.

  • May 2025–June 2025 Overhauled co-simulation vehicle handling: added exitCoSimRegion API, updated vehicle waypoint reporting in query_coSimVehicle, and revised teleportation behavior. Added vehicle bearing updates when entering new lanes. Refactored private EV charging behavior and reorganized charging preference control logic. Improved runtime speed for vehicle relocation.

  • July 2025 Major revision of the electric bus module: added add_bus_route, add_bus_run, insert_bus_stop, and remove_bus_stop control APIs for dynamic bus route management; updated query_bus_route and query_route_bus query APIs. Added exception handling for routing failures on dead-end roads. Improved simulation performance by disabling the mode-split model as default.

  • September 2025 Added dynamic EV charging price support. EV agents now prioritize low-price chargers during charging decisions. New update_charging_prices control API enables real-time price manipulation. Added a charging price attack scenario to the HPC security examples.

  • October-December 2025 Implemented comprehensive traffic signal control APIs: update_signal, update_signal_timing, set_signal_phase_plan, and set_signal_phase_plan_ticks. Extended query_road to include downstream road information.

  • February 2026 Added query_centerline API for lane-level geometry retrieval and query_signal_group API for full phase plan queries. Fixed traffic signal timing inconsistencies. Improved co-simulation vehicle entry handling and revised query_vehicle to correctly report vehicles located within intersections. Ensured full simulation reproducibility across all new features.

  • March 2026 Added save/load APIs for complete simulation checkpointing and deterministic replay. Resolved a data corruption issue caused by lane changing on curved roads. Fixed a race condition in the rerouting logic. Fixed duplicated vehicle IDs after calling reset().