Module examples.xodr.highway_bridge_example

scenariogeneration https://github.com/pyoscx/scenariogeneration

This Source Code Form is subject to the terms of the Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with this file, You can obtain one at https://mozilla.org/MPL/2.0/.

Copyright (c) 2022 The scenariogeneration Authors.

Example of how to create a highway with a bridge using DirectJunctionCreator, and CommonJunctionCreator

Some features used:

  • create_road

  • add_successor/add_predecessor with and without the lane_offset option, and the direct_junction input

  • DirectJunctionCreator

  • CommonJunctionCreator

Expand source code 
"""
  scenariogeneration
  https://github.com/pyoscx/scenariogeneration

  This Source Code Form is subject to the terms of the Mozilla Public
  License, v. 2.0. If a copy of the MPL was not distributed with this
  file, You can obtain one at https://mozilla.org/MPL/2.0/.

  Copyright (c) 2022 The scenariogeneration Authors.

    Example of how to create a highway with a bridge using DirectJunctionCreator, and CommonJunctionCreator

    Some features used:

    - create_road

    - add_successor/add_predecessor with and without the lane_offset option, and the direct_junction input

    - DirectJunctionCreator

    - CommonJunctionCreator
"""


from scenariogeneration import xodr, prettyprint, ScenarioGenerator
import numpy as np


class Scenario(ScenarioGenerator):
    def __init__(self):
        super().__init__()

    def road(self, **kwargs):
        # create two CommonJunctionCreators for junctions connecting the bridge

        junction_creator_right = xodr.CommonJunctionCreator(
            id=100, name="right_junction", startnum=100
        )
        junction_creator_left = xodr.CommonJunctionCreator(
            id=200, name="left_junction", startnum=200
        )

        # create two DirectJunctionCreators for the highway connections

        junction_creator_direct_first = xodr.DirectJunctionCreator(
            id=300, name="first_highway_connection"
        )
        junction_creator_direct_second = xodr.DirectJunctionCreator(
            id=400, name="second_highway_connection"
        )

        # create the highway roads

        road_highway_1 = xodr.create_road(
            xodr.Spiral(0.001, 0.000001, 300), 1, right_lanes=3, left_lanes=3
        )
        road_highway_2 = xodr.create_road(
            xodr.Line(140), 2, right_lanes=2, left_lanes=2
        )
        road_highway_3 = xodr.create_road(
            xodr.Line(200), 3, right_lanes=3, left_lanes=3
        )

        # create the entry and exit roads

        exit_road1 = xodr.create_road(
            [xodr.Arc(-0.05, angle=np.pi / 2), xodr.Arc(0.05, angle=np.pi / 2)],
            10,
            right_lanes=0,
            left_lanes=1,
        )
        exit_road1.add_elevation(0, 10, -10 / (40 * np.pi / 2), 0, 0)

        entry_road1 = xodr.create_road(
            [xodr.Arc(0.05, angle=np.pi / 2), xodr.Arc(-0.05, angle=np.pi / 2)],
            20,
            left_lanes=1,
            right_lanes=0,
        )
        entry_road1.add_elevation(0, 0, 10 / (40 * np.pi / 2), 0, 0)

        exit_road2 = xodr.create_road(
            [xodr.Arc(-0.05, angle=np.pi / 2), xodr.Arc(0.05, angle=np.pi / 2)],
            60,
            right_lanes=0,
            left_lanes=1,
        )
        exit_road2.add_elevation(0, 10, -10 / (40 * np.pi / 2), 0, 0)

        entry_road2 = xodr.create_road(
            [xodr.Arc(0.05, angle=np.pi / 2), xodr.Arc(-0.05, angle=np.pi / 2)],
            70,
            left_lanes=0,
            right_lanes=1,
        )
        entry_road2.add_elevation(0, 10, -10 / (40 * np.pi / 2), 0, 0)

        # create the bridge and conneting roads to it
        over_road = xodr.create_road(xodr.Line(12), 30, left_lanes=1, right_lanes=1)
        over_road.add_elevation(0, 10, 0, 0, 0)

        right_road = xodr.create_road(xodr.Line(100), 40, left_lanes=1, right_lanes=1)
        right_road.add_elevation(0, 10, 0, 0, 0)

        left_road = xodr.create_road(xodr.Line(100), 50, left_lanes=1, right_lanes=1)
        left_road.add_elevation(0, 10, 0, 0, 0)

        # add the the roads to the right junction

        junction_creator_right.add_incoming_road_cartesian_geometry(
            exit_road1, 0, 0, 0, "predecessor"
        )
        junction_creator_right.add_incoming_road_cartesian_geometry(
            over_road, 30, 40, -np.pi / 2, "predecessor"
        )
        junction_creator_right.add_incoming_road_cartesian_geometry(
            right_road, 30, -40, 1.001 * np.pi / 2, "predecessor"
        )
        junction_creator_right.add_incoming_road_cartesian_geometry(
            entry_road2, 60, 0, -np.pi, "predecessor"
        )

        # add connections and elevations to the created roads

        junction_creator_right.add_connection(10, 30)
        junction_creator_right.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)
        junction_creator_right.add_connection(40, 30)
        junction_creator_right.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)
        junction_creator_right.add_connection(10, 40)
        junction_creator_right.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)
        junction_creator_right.add_connection(30, 70)
        junction_creator_right.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)
        junction_creator_right.add_connection(40, 70)
        junction_creator_right.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)

        # add the roads to the left junction

        junction_creator_left.add_incoming_road_cartesian_geometry(
            entry_road1, 0, 0, 0, "successor"
        )
        junction_creator_left.add_incoming_road_cartesian_geometry(
            over_road, 30, -40, np.pi / 2, "successor"
        )
        junction_creator_left.add_incoming_road_cartesian_geometry(
            left_road, 30, 40, -1.001 * np.pi / 2, "successor"
        )
        junction_creator_left.add_incoming_road_cartesian_geometry(
            exit_road2, 60, 0, -np.pi, "predecessor"
        )

        # add connections and elevations to the created roads

        junction_creator_left.add_connection(20, 30)
        junction_creator_left.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)
        junction_creator_left.add_connection(20, 50)
        junction_creator_left.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)
        junction_creator_left.add_connection(30, 50)
        junction_creator_left.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)
        junction_creator_left.add_connection(30, 60)
        junction_creator_left.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)
        junction_creator_left.add_connection(60, 50)
        junction_creator_left.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)

        # add successors/predecessors to the first direct junction

        road_highway_1.add_successor(xodr.ElementType.junction, 300)
        road_highway_2.add_predecessor(xodr.ElementType.junction, 300)
        exit_road1.add_successor(xodr.ElementType.junction, 300)
        entry_road1.add_predecessor(xodr.ElementType.junction, 300)

        # add the connections in the first direct junction

        junction_creator_direct_first.add_connection(road_highway_1, road_highway_2)
        junction_creator_direct_first.add_connection(road_highway_1, exit_road1, -3, 1)
        junction_creator_direct_first.add_connection(road_highway_1, entry_road1, 3, 1)

        # add successors/predecessors to the second direct junction

        road_highway_2.add_successor(xodr.ElementType.junction, 400)
        road_highway_3.add_predecessor(xodr.ElementType.junction, 400)
        entry_road2.add_successor(xodr.ElementType.junction, 400)
        exit_road2.add_successor(xodr.ElementType.junction, 400)

        # add the connections in the second direct junction

        junction_creator_direct_second.add_connection(road_highway_2, road_highway_3)
        junction_creator_direct_second.add_connection(
            entry_road2, road_highway_3, -1, -3
        )
        junction_creator_direct_second.add_connection(road_highway_3, exit_road2, 3, 1)

        # add all the roads
        odr = xodr.OpenDrive("highway bridge")
        odr.add_road(road_highway_1)
        odr.add_road(road_highway_2)
        odr.add_road(road_highway_3)
        odr.add_road(exit_road1)
        odr.add_road(entry_road1)
        odr.add_road(over_road)
        odr.add_road(right_road)
        odr.add_road(left_road)
        odr.add_road(entry_road2)
        odr.add_road(exit_road2)

        # add the junction creators

        odr.add_junction_creator(junction_creator_direct_first)
        odr.add_junction_creator(junction_creator_right)
        odr.add_junction_creator(junction_creator_left)
        odr.add_junction_creator(junction_creator_direct_second)

        # adjust the roads and lanes

        odr.adjust_roads_and_lanes()

        # write the OpenDRIVE file as xodr using current script name

        return odr


if __name__ == "__main__":
    sce = Scenario()
    # Print the resulting xml
    prettyprint(sce.road().get_element())

    # write the OpenDRIVE file as xosc using current script name
    sce.generate(".")

    # uncomment the following lines to display the scenario using esmini
    # from scenariogeneration import esmini
    # esmini(sce,os.path.join('esmini'))

Classes

class Scenario

ScenarioTemplate is a class that should be inherited by a Scenario class in order to generate xodr and xosc files based on pyoscx and pyodrx

Two main uses, in your generation class define self.parameters as either as - a dict of lists, where the lists are the values you want to sweep over, all permutations of these sets will be generated - a list of dicts, where the dicts are identical and each element in the list is one scenario

Attributes

road_file (str): name of the roadfile

parameters (dict of lists, or list of dicts): parameter sets to be used

naming (str): two options "numerical" or "parameter"

generate_all_roads (bool): will only generate unique roads

number_of_parallel_writings (int): parallelize the writing of the xml files
    Default: 1 (no parallelization)

basename (str): basename of the scenariofiles,
    Default: name of file

encoding (str): encoding of the outputs
    Default:
Expand source code 
class Scenario(ScenarioGenerator):
    def __init__(self):
        super().__init__()

    def road(self, **kwargs):
        # create two CommonJunctionCreators for junctions connecting the bridge

        junction_creator_right = xodr.CommonJunctionCreator(
            id=100, name="right_junction", startnum=100
        )
        junction_creator_left = xodr.CommonJunctionCreator(
            id=200, name="left_junction", startnum=200
        )

        # create two DirectJunctionCreators for the highway connections

        junction_creator_direct_first = xodr.DirectJunctionCreator(
            id=300, name="first_highway_connection"
        )
        junction_creator_direct_second = xodr.DirectJunctionCreator(
            id=400, name="second_highway_connection"
        )

        # create the highway roads

        road_highway_1 = xodr.create_road(
            xodr.Spiral(0.001, 0.000001, 300), 1, right_lanes=3, left_lanes=3
        )
        road_highway_2 = xodr.create_road(
            xodr.Line(140), 2, right_lanes=2, left_lanes=2
        )
        road_highway_3 = xodr.create_road(
            xodr.Line(200), 3, right_lanes=3, left_lanes=3
        )

        # create the entry and exit roads

        exit_road1 = xodr.create_road(
            [xodr.Arc(-0.05, angle=np.pi / 2), xodr.Arc(0.05, angle=np.pi / 2)],
            10,
            right_lanes=0,
            left_lanes=1,
        )
        exit_road1.add_elevation(0, 10, -10 / (40 * np.pi / 2), 0, 0)

        entry_road1 = xodr.create_road(
            [xodr.Arc(0.05, angle=np.pi / 2), xodr.Arc(-0.05, angle=np.pi / 2)],
            20,
            left_lanes=1,
            right_lanes=0,
        )
        entry_road1.add_elevation(0, 0, 10 / (40 * np.pi / 2), 0, 0)

        exit_road2 = xodr.create_road(
            [xodr.Arc(-0.05, angle=np.pi / 2), xodr.Arc(0.05, angle=np.pi / 2)],
            60,
            right_lanes=0,
            left_lanes=1,
        )
        exit_road2.add_elevation(0, 10, -10 / (40 * np.pi / 2), 0, 0)

        entry_road2 = xodr.create_road(
            [xodr.Arc(0.05, angle=np.pi / 2), xodr.Arc(-0.05, angle=np.pi / 2)],
            70,
            left_lanes=0,
            right_lanes=1,
        )
        entry_road2.add_elevation(0, 10, -10 / (40 * np.pi / 2), 0, 0)

        # create the bridge and conneting roads to it
        over_road = xodr.create_road(xodr.Line(12), 30, left_lanes=1, right_lanes=1)
        over_road.add_elevation(0, 10, 0, 0, 0)

        right_road = xodr.create_road(xodr.Line(100), 40, left_lanes=1, right_lanes=1)
        right_road.add_elevation(0, 10, 0, 0, 0)

        left_road = xodr.create_road(xodr.Line(100), 50, left_lanes=1, right_lanes=1)
        left_road.add_elevation(0, 10, 0, 0, 0)

        # add the the roads to the right junction

        junction_creator_right.add_incoming_road_cartesian_geometry(
            exit_road1, 0, 0, 0, "predecessor"
        )
        junction_creator_right.add_incoming_road_cartesian_geometry(
            over_road, 30, 40, -np.pi / 2, "predecessor"
        )
        junction_creator_right.add_incoming_road_cartesian_geometry(
            right_road, 30, -40, 1.001 * np.pi / 2, "predecessor"
        )
        junction_creator_right.add_incoming_road_cartesian_geometry(
            entry_road2, 60, 0, -np.pi, "predecessor"
        )

        # add connections and elevations to the created roads

        junction_creator_right.add_connection(10, 30)
        junction_creator_right.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)
        junction_creator_right.add_connection(40, 30)
        junction_creator_right.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)
        junction_creator_right.add_connection(10, 40)
        junction_creator_right.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)
        junction_creator_right.add_connection(30, 70)
        junction_creator_right.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)
        junction_creator_right.add_connection(40, 70)
        junction_creator_right.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)

        # add the roads to the left junction

        junction_creator_left.add_incoming_road_cartesian_geometry(
            entry_road1, 0, 0, 0, "successor"
        )
        junction_creator_left.add_incoming_road_cartesian_geometry(
            over_road, 30, -40, np.pi / 2, "successor"
        )
        junction_creator_left.add_incoming_road_cartesian_geometry(
            left_road, 30, 40, -1.001 * np.pi / 2, "successor"
        )
        junction_creator_left.add_incoming_road_cartesian_geometry(
            exit_road2, 60, 0, -np.pi, "predecessor"
        )

        # add connections and elevations to the created roads

        junction_creator_left.add_connection(20, 30)
        junction_creator_left.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)
        junction_creator_left.add_connection(20, 50)
        junction_creator_left.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)
        junction_creator_left.add_connection(30, 50)
        junction_creator_left.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)
        junction_creator_left.add_connection(30, 60)
        junction_creator_left.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)
        junction_creator_left.add_connection(60, 50)
        junction_creator_left.get_connecting_roads()[-1].add_elevation(0, 10, 0, 0, 0)

        # add successors/predecessors to the first direct junction

        road_highway_1.add_successor(xodr.ElementType.junction, 300)
        road_highway_2.add_predecessor(xodr.ElementType.junction, 300)
        exit_road1.add_successor(xodr.ElementType.junction, 300)
        entry_road1.add_predecessor(xodr.ElementType.junction, 300)

        # add the connections in the first direct junction

        junction_creator_direct_first.add_connection(road_highway_1, road_highway_2)
        junction_creator_direct_first.add_connection(road_highway_1, exit_road1, -3, 1)
        junction_creator_direct_first.add_connection(road_highway_1, entry_road1, 3, 1)

        # add successors/predecessors to the second direct junction

        road_highway_2.add_successor(xodr.ElementType.junction, 400)
        road_highway_3.add_predecessor(xodr.ElementType.junction, 400)
        entry_road2.add_successor(xodr.ElementType.junction, 400)
        exit_road2.add_successor(xodr.ElementType.junction, 400)

        # add the connections in the second direct junction

        junction_creator_direct_second.add_connection(road_highway_2, road_highway_3)
        junction_creator_direct_second.add_connection(
            entry_road2, road_highway_3, -1, -3
        )
        junction_creator_direct_second.add_connection(road_highway_3, exit_road2, 3, 1)

        # add all the roads
        odr = xodr.OpenDrive("highway bridge")
        odr.add_road(road_highway_1)
        odr.add_road(road_highway_2)
        odr.add_road(road_highway_3)
        odr.add_road(exit_road1)
        odr.add_road(entry_road1)
        odr.add_road(over_road)
        odr.add_road(right_road)
        odr.add_road(left_road)
        odr.add_road(entry_road2)
        odr.add_road(exit_road2)

        # add the junction creators

        odr.add_junction_creator(junction_creator_direct_first)
        odr.add_junction_creator(junction_creator_right)
        odr.add_junction_creator(junction_creator_left)
        odr.add_junction_creator(junction_creator_direct_second)

        # adjust the roads and lanes

        odr.adjust_roads_and_lanes()

        # write the OpenDRIVE file as xodr using current script name

        return odr

Ancestors

Inherited members