Module examples.xodr.road_with_custom_roadmarkers

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

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Copyright (c) 2022 The scenariogeneration Authors.

Example how to create roads with customized centerline for double road markers

Some features used

  • PlanView

  • LaneSection

  • RoadMark

  • RoadLine

Classes

class Scenario
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(300))

        ## create the customized centerlanes with different lanemarkings
        centerlanes = []
        # standard solid solid

        solid_solid = xodr.Lane()
        solid_solid.add_roadmark(xodr.std_roadmark_solid_solid())
        centerlanes.append(solid_solid)

        # standard solid broken
        solid_broken = xodr.Lane()
        solid_broken.add_roadmark(xodr.std_roadmark_solid_broken())
        centerlanes.append(solid_broken)

        # customized broken broken
        broken_broken_roadmark = xodr.RoadMark(xodr.RoadMarkType.broken_broken)
        broken_broken_roadmark.add_specific_road_line(
            xodr.RoadLine(0.2, 9, 3, 0.2)
        )
        broken_broken_roadmark.add_specific_road_line(
            xodr.RoadLine(0.2, 3, 9, -0.2, 3)
        )
        broken_broken = xodr.Lane()
        broken_broken.add_roadmark(broken_broken_roadmark)
        centerlanes.append(broken_broken)

        # create the different lanesections and add them to the lanes
        lanes = xodr.Lanes()
        ls_start = 0
        for i in centerlanes:
            lanesection = xodr.LaneSection(ls_start, i)
            left_lane_with_roadmark = xodr.Lane(a=4)
            left_lane_with_roadmark.add_roadmark(xodr.std_roadmark_broken())

            right_lane_with_roadmark = xodr.Lane(a=4)
            right_lane_with_roadmark.add_roadmark(xodr.std_roadmark_solid())
            lanesection.add_left_lane(left_lane_with_roadmark)
            lanesection.add_right_lane(right_lane_with_roadmark)
            ls_start += 100

            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

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