Module examples.xodr.road_merge_w_lane_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.
Fundamental example how to build up a road merge with lane merge afterwards.
This simple example could be handled with the LaneDef (as in highway_example_with_merge_and_split.py)
This example should be seen as a way to create your own complex merge case that the LaneDef + create_road cannot handle
Some features used:
-
create_road
-
lane_offset
-
LaneSection
-
Lanes
Classes
class Scenario
-
Expand source code
class Scenario(ScenarioGenerator): def __init__(self): super().__init__() def road(self, **kwargs): # create some roads roads = [] # create two simple roads to merge roads.append( xodr.create_road(xodr.Line(100), id=0, left_lanes=0, right_lanes=2) ) roads.append( xodr.create_road(xodr.Line(100), id=1, left_lanes=0, right_lanes=1) ) # manually create the final road # create the planview and the geometry planview = xodr.PlanView() planview.add_geometry(xodr.Line(200)) # 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 three 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_dashed) lane3 = xodr.Lane(a=3) lane3.add_roadmark(rm_solid) lanesec1.add_right_lane(lane1) lanesec1.add_right_lane(lane2) lanesec1.add_right_lane(lane3) # create the second lanesection with one lane merging lanesec2 = xodr.LaneSection(70, centerlane) lane4 = xodr.Lane(a=3) lane4.add_roadmark(rm_dashed) lane5 = xodr.Lane(a=3) lane5.add_roadmark(rm_dashed) lane6 = xodr.Lane(a=3, b=-0.1) lane6.add_roadmark(rm_solid) lanesec2.add_right_lane(lane4) lanesec2.add_right_lane(lane5) lanesec2.add_right_lane(lane6) # create the last lanesection with one lane lanesec3 = xodr.LaneSection(100, centerlane) lane7 = xodr.Lane(a=3) lane7.add_roadmark(rm_dashed) lane8 = xodr.Lane(a=3) lane8.add_roadmark(rm_solid) lanesec3.add_right_lane(lane7) lanesec3.add_right_lane(lane8) # create the lane links lanelinker = xodr.LaneLinker() lanelinker.add_link(predlane=lane1, succlane=lane4) lanelinker.add_link(predlane=lane2, succlane=lane5) lanelinker.add_link(predlane=lane3, succlane=lane6) lanelinker.add_link(predlane=lane5, succlane=lane7) lanelinker.add_link(predlane=lane6, succlane=lane8) # 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 roads.append(xodr.Road(2, planview, lanes)) # create junction roads roads.append( xodr.create_road( xodr.Spiral(0.001, 0.02, 30), id=3, left_lanes=0, 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