Module examples.xodr.road_with_custom_lanes

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 roads with custom lanes to the left and right

Some features used

  • PlanView

  • LaneSection

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 roads with custom lanes to the left and right

    Some features used

    - PlanView

    - LaneSection

"""
import os
from scenariogeneration import xodr, prettyprint, ScenarioGenerator


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

    def road(self, **kwargs):
        # create a simple planview
        planview = xodr.PlanView()
        planview.add_geometry(xodr.Line(500))

        # create the customized lanes
        centerlane = xodr.Lane(lane_type=xodr.LaneType.median)
        lanesection = xodr.LaneSection(0, centerlane)

        # add the median to the center
        lanesection.add_left_lane(xodr.Lane(lane_type=xodr.LaneType.median, a=0.3))
        lanesection.add_right_lane(xodr.Lane(lane_type=xodr.LaneType.median, a=0.3))

        # add a curb
        lanesection.add_left_lane(xodr.Lane(lane_type=xodr.LaneType.curb, a=0.1))
        lanesection.add_right_lane(xodr.Lane(lane_type=xodr.LaneType.curb, a=0.1))

        # add driving lanes with roadmarks
        left_lane_with_roadmark = xodr.Lane(a=4)
        left_lane_with_roadmark.add_roadmark(xodr.STD_ROADMARK_BROKEN)
        lanesection.add_left_lane(left_lane_with_roadmark)

        right_lane_with_roadmark = xodr.Lane(a=4)
        right_lane_with_roadmark.add_roadmark(xodr.STD_ROADMARK_SOLID)
        lanesection.add_right_lane(right_lane_with_roadmark)

        # add driving lanes to end in border
        lanesection.add_left_lane(xodr.Lane(a=4))
        lanesection.add_right_lane(xodr.Lane(a=4))

        # add a border

        lanesection.add_left_lane(xodr.Lane(lane_type=xodr.LaneType.border, a=0.2))
        lanesection.add_right_lane(xodr.Lane(lane_type=xodr.LaneType.border, a=0.2))

        # add a final curb
        lanesection.add_left_lane(xodr.Lane(lane_type=xodr.LaneType.curb, a=0.1))
        lanesection.add_right_lane(xodr.Lane(lane_type=xodr.LaneType.curb, a=0.1))

        # add a bikingroad on one side
        lanesection.add_right_lane(xodr.Lane(lane_type=xodr.LaneType.biking, a=2))

        # create the lanes and add the lanesection
        lanes = xodr.Lanes()
        lanes.add_lanesection(lanesection)

        # create the road
        road = xodr.Road(0, planview, lanes)

        # create the opendrive and add the road
        odr = xodr.OpenDrive("road with custom lanes")
        odr.add_road(road)

        # adjust the road
        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 a simple planview
        planview = xodr.PlanView()
        planview.add_geometry(xodr.Line(500))

        # create the customized lanes
        centerlane = xodr.Lane(lane_type=xodr.LaneType.median)
        lanesection = xodr.LaneSection(0, centerlane)

        # add the median to the center
        lanesection.add_left_lane(xodr.Lane(lane_type=xodr.LaneType.median, a=0.3))
        lanesection.add_right_lane(xodr.Lane(lane_type=xodr.LaneType.median, a=0.3))

        # add a curb
        lanesection.add_left_lane(xodr.Lane(lane_type=xodr.LaneType.curb, a=0.1))
        lanesection.add_right_lane(xodr.Lane(lane_type=xodr.LaneType.curb, a=0.1))

        # add driving lanes with roadmarks
        left_lane_with_roadmark = xodr.Lane(a=4)
        left_lane_with_roadmark.add_roadmark(xodr.STD_ROADMARK_BROKEN)
        lanesection.add_left_lane(left_lane_with_roadmark)

        right_lane_with_roadmark = xodr.Lane(a=4)
        right_lane_with_roadmark.add_roadmark(xodr.STD_ROADMARK_SOLID)
        lanesection.add_right_lane(right_lane_with_roadmark)

        # add driving lanes to end in border
        lanesection.add_left_lane(xodr.Lane(a=4))
        lanesection.add_right_lane(xodr.Lane(a=4))

        # add a border

        lanesection.add_left_lane(xodr.Lane(lane_type=xodr.LaneType.border, a=0.2))
        lanesection.add_right_lane(xodr.Lane(lane_type=xodr.LaneType.border, a=0.2))

        # add a final curb
        lanesection.add_left_lane(xodr.Lane(lane_type=xodr.LaneType.curb, a=0.1))
        lanesection.add_right_lane(xodr.Lane(lane_type=xodr.LaneType.curb, a=0.1))

        # add a bikingroad on one side
        lanesection.add_right_lane(xodr.Lane(lane_type=xodr.LaneType.biking, a=2))

        # create the lanes and add the lanesection
        lanes = xodr.Lanes()
        lanes.add_lanesection(lanesection)

        # create the road
        road = xodr.Road(0, planview, lanes)

        # create the opendrive and add the road
        odr = xodr.OpenDrive("road with custom lanes")
        odr.add_road(road)

        # adjust the road
        odr.adjust_roads_and_lanes()

        return odr

Ancestors

Inherited members