Module examples.xodr.lane_number_change_merge

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 how to create a road with a lanemerge.

Simple cases can automated with create_road and LaneDef, but for complex cases this example shows how to do it from scratch. This example makes use of the LaneLinker class that is not part of OpenDRIVE but a helper class for the xodr module

Some features used:

  • PlanView

  • RoadMark

  • Lane

  • LaneSection

  • Lanes

  • LaneLinker

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 how to create a road with a lanemerge.

    Simple cases can automated with create_road and LaneDef, but for complex cases this example shows how to do it from scratch.
    This example makes use of the LaneLinker class that is not part of OpenDRIVE but a helper class for the xodr module

    Some features used:

    - PlanView

    - RoadMark

    - Lane

    - LaneSection

    - Lanes

    - LaneLinker
"""


from scenariogeneration import xodr, prettyprint, ScenarioGenerator
import os


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

    def road(self, **kwargs):
        # create the planview and the geometry
        planview = xodr.PlanView()

        planview.add_geometry(xodr.Line(500))

        # create two different roadmarkings
        rm_solid = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2)
        rm_dashed = xodr.RoadMark(xodr.RoadMarkType.broken, 0.2)

        # create a centerlane (same centerlane can be used since no linking is needed for this)
        centerlane = xodr.Lane(a=2)
        centerlane.add_roadmark(rm_solid)

        # create the first lanesection with two lanes
        lanesec1 = xodr.LaneSection(0, centerlane)
        lane1 = xodr.Lane(a=3)
        lane1.add_roadmark(rm_dashed)

        lane2 = xodr.Lane(a=3)
        lane2.add_roadmark(rm_solid)

        lanesec1.add_right_lane(lane1)
        lanesec1.add_right_lane(lane2)

        # create the second lanesection with one lane merging
        lanesec2 = xodr.LaneSection(250, centerlane)
        lane3 = xodr.Lane(a=3)
        lane3.add_roadmark(rm_dashed)

        lane4 = xodr.Lane(a=3, b=-0.1)
        lane4.add_roadmark(rm_solid)

        lanesec2.add_right_lane(lane3)
        lanesec2.add_right_lane(lane4)

        # create the last lanesection with one lane
        lanesec3 = xodr.LaneSection(280, centerlane)

        lane5 = xodr.Lane(a=3)
        lane5.add_roadmark(rm_solid)

        lanesec3.add_right_lane(lane5)

        # create the lane links
        lanelinker = xodr.LaneLinker()
        lanelinker.add_link(predlane=lane1, succlane=lane3)
        lanelinker.add_link(predlane=lane2, succlane=lane4)
        lanelinker.add_link(predlane=lane3, succlane=lane5)

        # create the lanes with the correct links
        lanes = xodr.Lanes()
        lanes.add_lanesection(lanesec1, lanelinker)
        lanes.add_lanesection(lanesec2, lanelinker)
        lanes.add_lanesection(lanesec3, lanelinker)

        # create the road
        road = xodr.Road(1, planview, lanes)

        # create the opendrive
        odr = xodr.OpenDrive("myroad")
        odr.add_road(road)

        # adjust the roads and lanes
        odr.adjust_roads_and_lanes()
        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 the planview and the geometry
        planview = xodr.PlanView()

        planview.add_geometry(xodr.Line(500))

        # create two different roadmarkings
        rm_solid = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2)
        rm_dashed = xodr.RoadMark(xodr.RoadMarkType.broken, 0.2)

        # create a centerlane (same centerlane can be used since no linking is needed for this)
        centerlane = xodr.Lane(a=2)
        centerlane.add_roadmark(rm_solid)

        # create the first lanesection with two lanes
        lanesec1 = xodr.LaneSection(0, centerlane)
        lane1 = xodr.Lane(a=3)
        lane1.add_roadmark(rm_dashed)

        lane2 = xodr.Lane(a=3)
        lane2.add_roadmark(rm_solid)

        lanesec1.add_right_lane(lane1)
        lanesec1.add_right_lane(lane2)

        # create the second lanesection with one lane merging
        lanesec2 = xodr.LaneSection(250, centerlane)
        lane3 = xodr.Lane(a=3)
        lane3.add_roadmark(rm_dashed)

        lane4 = xodr.Lane(a=3, b=-0.1)
        lane4.add_roadmark(rm_solid)

        lanesec2.add_right_lane(lane3)
        lanesec2.add_right_lane(lane4)

        # create the last lanesection with one lane
        lanesec3 = xodr.LaneSection(280, centerlane)

        lane5 = xodr.Lane(a=3)
        lane5.add_roadmark(rm_solid)

        lanesec3.add_right_lane(lane5)

        # create the lane links
        lanelinker = xodr.LaneLinker()
        lanelinker.add_link(predlane=lane1, succlane=lane3)
        lanelinker.add_link(predlane=lane2, succlane=lane4)
        lanelinker.add_link(predlane=lane3, succlane=lane5)

        # create the lanes with the correct links
        lanes = xodr.Lanes()
        lanes.add_lanesection(lanesec1, lanelinker)
        lanes.add_lanesection(lanesec2, lanelinker)
        lanes.add_lanesection(lanesec3, lanelinker)

        # create the road
        road = xodr.Road(1, planview, lanes)

        # create the opendrive
        odr = xodr.OpenDrive("myroad")
        odr.add_road(road)

        # adjust the roads and lanes
        odr.adjust_roads_and_lanes()
        return odr

Ancestors

Inherited members