Module examples.xodr.junction_with_varying_lane_widths

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

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Copyright (c) 2022 The scenariogeneration Authors.

Example how to create a more customized junction with different widths of lanes, using basic classes

Some features used

  • CommonJunctionCreator

  • Lane

Classes

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

    def road(self, **kwargs):
        # create road_1
        road_1_geo = xodr.Line(60.0)
        road_1_pv = xodr.PlanView(x_start=0.0, y_start=0.0, h_start=0.0)
        road_1_pv.add_geometry(road_1_geo)

        road_1_left_lane_1 = xodr.Lane(a=4.0)
        road_1_right_lane_1 = xodr.Lane(a=2.0)
        road_1_right_lane_2 = xodr.Lane(a=4.0)
        road_1_center_lane = xodr.Lane()

        road_1_lane_section = xodr.LaneSection(0.0, road_1_center_lane)
        road_1_lane_section.add_left_lane(road_1_left_lane_1)
        road_1_lane_section.add_right_lane(road_1_right_lane_1)
        road_1_lane_section.add_right_lane(road_1_right_lane_2)

        road_1_lanes = xodr.Lanes()
        road_1_lanes.add_lanesection(road_1_lane_section)

        road_1 = xodr.Road(road_id=1, planview=road_1_pv, lanes=road_1_lanes)

        # create road_2
        road_2_geo = xodr.Line(60.0)
        road_2_pv = xodr.PlanView(
            x_start=100.0, y_start=-40.0, h_start=-np.pi / 2
        )
        road_2_pv.add_geometry(road_2_geo)

        road_2_left_lane_1 = xodr.Lane(a=1.0)
        road_2_right_lane_1 = xodr.Lane(a=5.0)
        road_2_right_lane_2 = xodr.Lane(a=8.0)
        road_2_center_lane = xodr.Lane()

        road_2_lane_section = xodr.LaneSection(0.0, road_2_center_lane)
        road_2_lane_section.add_left_lane(road_2_left_lane_1)
        road_2_lane_section.add_right_lane(road_2_right_lane_1)
        road_2_lane_section.add_right_lane(road_2_right_lane_2)

        road_2_lanes = xodr.Lanes()
        road_2_lanes.add_lanesection(road_2_lane_section)

        road_2 = xodr.Road(road_id=2, planview=road_2_pv, lanes=road_2_lanes)

        # add the roads to odr class
        odr = xodr.OpenDrive("myroad")
        odr.add_road(road_1)
        odr.add_road(road_2)

        # create junction
        junction_creator = xodr.CommonJunctionCreator(
            id=1,
            name="junction_1",
            startnum=3,
        )
        junction_creator.add_incoming_road_cartesian_geometry(
            road_1, x=0.0, y=0.0, heading=0.0, road_connection="successor"
        )
        junction_creator.add_incoming_road_cartesian_geometry(
            road_2,
            x=40.0,
            y=-40.0,
            heading=np.pi / 2,
            road_connection="predecessor",
        )
        # create connections
        junction_creator.add_connection(
            road_one_id=1, road_two_id=2, lane_one_id=1, lane_two_id=1
        )
        junction_creator.add_connection(
            road_one_id=1, road_two_id=2, lane_one_id=-1, lane_two_id=-1
        )
        junction_creator.add_connection(
            road_one_id=1, road_two_id=2, lane_one_id=-2, lane_two_id=-2
        )
        # add the junction creator
        odr.add_junction_creator(junction_creator)
        odr.adjust_roads_and_lanes()

        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