Module examples.xodr.highway_exit_with_lane_types

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

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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

  • LaneDef

  • LaneType

  • DirectJunctionCreator

Classes

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

    def road(self, **kwargs):
        # create a road with an exit lane (three lane sections will be created)
        first_road = xodr.create_road(
            xodr.Spiral(0.001, 0, 300),
            1,
            left_lanes=2,
            right_lanes=[xodr.LaneDef(100, 200, 2, 3, -3)],
        )

        # add the type of lane to the exit and offramp
        first_road.lanes.lanesections[1].rightlanes[
            2
        ].lane_type = xodr.LaneType.exit
        first_road.lanes.lanesections[2].rightlanes[
            2
        ].lane_type = xodr.LaneType.exit

        continuation_road = xodr.create_road(
            xodr.Spiral(0.00001, 0.001, 200), 2, left_lanes=2, right_lanes=2
        )
        exit_road = xodr.create_road(
            [
                xodr.Spiral(0, -0.01, length=50),
                xodr.Arc(-0.01, length=30),
                xodr.Spiral(-0.01, 0, length=50),
            ],
            3,
            0,
            1,
        )
        exit_road.lanes.lanesections[0].rightlanes[
            0
        ].lane_type = xodr.LaneType.offRamp

        # add successors and predecessors as a direct junction
        first_road.add_successor(xodr.ElementType.junction, 100)
        continuation_road.add_predecessor(xodr.ElementType.junction, 100)
        exit_road.add_predecessor(xodr.ElementType.junction, 100)

        # create the junction struct
        direct_junction = xodr.DirectJunctionCreator(100, "my exit")
        direct_junction.add_connection(first_road, continuation_road)
        direct_junction.add_connection(first_road, exit_road, -3, -1)

        # create the opendrive
        odr = xodr.OpenDrive("myroad")
        odr.add_road(first_road)
        odr.add_road(continuation_road)
        odr.add_road(exit_road)

        # adjust the roads and lanes properly
        odr.adjust_roads_and_lanes()
        odr.add_junction_creator(direct_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