Module examples.xodr.road_merge

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

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Copyright (c) 2022 The scenariogeneration Authors.

Example how to create a simple road merge through a junction

Some features used

  • create_road

  • add_successor/add_predecessor with lane_offset

  • create_junction

Classes

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

    def road(self, **kwargs):
        # create some roads
        roads = []
        roads.append(
            xodr.create_road(xodr.Line(100), id=0, left_lanes=1, right_lanes=2)
        )
        roads.append(
            xodr.create_road(xodr.Line(100), id=1, left_lanes=0, right_lanes=1)
        )
        roads.append(
            xodr.create_road(xodr.Line(100), id=2, left_lanes=1, right_lanes=3)
        )
        roads.append(
            xodr.create_road(
                xodr.Spiral(0.001, 0.02, 30),
                id=3,
                left_lanes=1,
                right_lanes=2,
                road_type=1,
            )
        )
        roads.append(
            xodr.create_road(
                xodr.Spiral(-0.001, -0.02, 30),
                id=4,
                left_lanes=0,
                right_lanes=1,
                road_type=1,
            )
        )

        # add some connections to non junction roads
        roads[0].add_successor(xodr.ElementType.junction, 1)
        roads[1].add_successor(xodr.ElementType.junction, 1)
        roads[2].add_predecessor(xodr.ElementType.junction, 1)

        # add connections to the first connecting road
        roads[3].add_predecessor(
            xodr.ElementType.road, 0, xodr.ContactPoint.end
        )
        roads[3].add_successor(
            xodr.ElementType.road, 2, xodr.ContactPoint.start
        )

        # add connections to the second connecting road with an offset
        roads[4].add_predecessor(
            xodr.ElementType.road, 1, xodr.ContactPoint.end
        )
        roads[4].add_successor(
            xodr.ElementType.road, 2, xodr.ContactPoint.start, lane_offset=-2
        )

        junction = xodr.create_junction(roads[3:], 1, roads[0:3])

        # create the opendrive
        odr = xodr.OpenDrive("myroad")
        for r in roads:
            odr.add_road(r)
        odr.adjust_roads_and_lanes()
        odr.add_junction(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