Module examples.xodr.highway_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.

An example, using the generators, showing how to create a simple highway with exits and entries

Shows how to patch created roads together with successor/predecessor, together with the lane_offset option

Some features used:

  • create_road

  • add_successor/add_predecessor with and without the lane_offset option

  • create_junction

Classes

class Scenario
Expand source code 
class Scenario(ScenarioGenerator):
    def __init__(self):
        super().__init__()

    def road(self, **kwargs):
        # create some simple roads
        roads = []
        # start road
        roads.append(
            xodr.create_road(
                [
                    xodr.Spiral(-0.004, 0.00001, 100),
                    xodr.Spiral(0.00001, 0.005, 50),
                    xodr.Arc(0.005, 50),
                ],
                id=0,
                left_lanes=3,
                right_lanes=4,
            )
        )
        # intermittent road
        roads.append(
            xodr.create_road(
                [
                    xodr.Spiral(0.0001, 0.003, 65),
                    xodr.Spiral(0.003, 0.00001, 50),
                ],
                id=1,
                left_lanes=3,
                right_lanes=3,
            )
        )

        # exit road
        roads.append(
            xodr.create_road(xodr.Line(50), id=2, left_lanes=0, right_lanes=1)
        )
        # junctions for exit
        roads.append(
            xodr.create_road(
                xodr.Spiral(0.005, 0.0001, 50),
                id=3,
                left_lanes=3,
                right_lanes=3,
                road_type=1,
            )
        )  # continue
        roads.append(
            xodr.create_road(
                xodr.Spiral(0.005, -0.02, 100),
                id=4,
                left_lanes=0,
                right_lanes=1,
                road_type=1,
            )
        )  # exit

        # final road
        roads.append(
            xodr.create_road(
                [xodr.Spiral(-0.00001, -0.003, 45), xodr.Arc(-0.003, 60)],
                id=5,
                left_lanes=2,
                right_lanes=3,
            )
        )

        # entry junction
        roads.append(
            xodr.create_road(
                [xodr.Line(30)], id=6, left_lanes=2, right_lanes=3, road_type=2
            )
        )  # continue
        roads.append(
            xodr.create_road(
                [xodr.Spiral(0.004, 0.000001, 50)],
                id=7,
                left_lanes=1,
                right_lanes=0,
                road_type=2,
            )
        )  # entry

        # entry road
        roads.append(
            xodr.create_road(
                xodr.Arc(0.004, 60), id=8, left_lanes=1, right_lanes=0
            )
        )

        # add predecessors and succesors to the non junction roads
        roads[0].add_successor(xodr.ElementType.junction, 1)
        roads[1].add_predecessor(xodr.ElementType.junction, 1)
        roads[1].add_successor(xodr.ElementType.junction, 2)
        roads[2].add_predecessor(xodr.ElementType.junction, 1)

        # add connections to the first junction road
        roads[3].add_predecessor(
            xodr.ElementType.road, 0, xodr.ContactPoint.end
        )
        roads[3].add_successor(
            xodr.ElementType.road, 1, xodr.ContactPoint.start
        )

        # add connections to the second junction road, the exit
        roads[4].add_predecessor(
            xodr.ElementType.road, 0, xodr.ContactPoint.end, lane_offset=-3
        )
        roads[4].add_successor(
            xodr.ElementType.road, 2, xodr.ContactPoint.start
        )

        # add connections to the final road
        roads[5].add_predecessor(xodr.ElementType.junction, 2)

        # add connections to the junctionroad that continues
        roads[6].add_predecessor(
            xodr.ElementType.road, 1, xodr.ContactPoint.end
        )
        roads[6].add_successor(
            xodr.ElementType.road, 5, xodr.ContactPoint.start
        )

        # add connections to the entry junction road
        roads[7].add_predecessor(
            xodr.ElementType.road, 1, xodr.ContactPoint.end, lane_offset=2
        )
        roads[7].add_successor(
            xodr.ElementType.road, 8, xodr.ContactPoint.start
        )

        # add connection to the entry road
        roads[8].add_predecessor(xodr.ElementType.junction, 2)

        # create the junction struct
        exit_junction = xodr.create_junction(roads[3:5], 1, roads[0:3])
        entry_junction = xodr.create_junction(
            roads[6:8], 2, [roads[x] for x in [1, 5, 8]]
        )
        # create the opendrive
        odr = xodr.OpenDrive("myroad")
        for r in roads:
            odr.add_road(r)
        odr.adjust_roads_and_lanes()
        odr.add_junction(exit_junction)
        odr.add_junction(entry_junction)

        return odr

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

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[list], list[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
basename : str
basename of the scenariofiles, default: name of file
encoding : str
encoding of the outputs, default: utf-8

Ancestors

Inherited members