Module examples.xodr.road_link_unequal_number_of_lanes

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

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Copyright (c) 2022 The scenariogeneration Authors.

Example for linking two roads with an unequal number of lanes.

Note: This is possible and valid according to the OpenDRIVE standard. It is sometimes necessary to use this approach but it might often be prefered to begin a new lane section to change the number of lanes instead.

Classes

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

    def road(self, **kwargs):
        # Create roads
        length_road = 100.0
        road_first = xodr.create_road([xodr.Line(length_road)], 1, 2, 3)
        road_first.planview.adjust_geometries()

        road_second = xodr.create_road([xodr.Line(length_road)], 2, 2, 4)
        road_second.planview.set_start_point(100, 0, 0)
        road_second.planview.adjust_geometries()
        # Make a new lane open up/branch out
        new_lane_width = 3.0
        road_second.lanes.lanesections[0].rightlanes[2].a = 0.0
        road_second.lanes.lanesections[0].rightlanes[2].b = 0.0
        road_second.lanes.lanesections[0].rightlanes[2].c = (
            3.0 / length_road**2 * new_lane_width
        )
        road_second.lanes.lanesections[0].rightlanes[2].d = (
            -2.0 / length_road**3 * new_lane_width
        )

        ## Create the OpenDrive class (Master class)
        odr = xodr.OpenDrive("myroads")

        ## Finally add roads to Opendrive
        odr.add_road(road_first)
        odr.add_road(road_second)

        # Link roads
        road_first.add_successor(
            xodr.ElementType.road, 2, xodr.ContactPoint.start
        )
        road_second.add_predecessor(
            xodr.ElementType.road, 1, xodr.ContactPoint.end
        )

        # Link lanes but do not link the newly beginning lane
        link_lane_ids_first = [2, 1, -1, -2, -3]
        link_lane_ids_second = [2, 1, -1, -2, -4]
        xodr.create_lane_links_from_ids(
            road_first, road_second, link_lane_ids_first, link_lane_ids_second
        )

        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