* See Curve definition section for details The line curve in sensor space defined as third-degree polynomial * Parameterĭescribes the color and shape of the line (white/yellow, solid/dotted)ĭescribes the position of the line in relation to the EGO vehicle (right/left, ego/adjacent/third/etc.) Fields populated and published by the simulator are described in the table below. The lane-line sensor currently only supports the Cyber bridge, and publishes data in a format compatible with Apollo 5.0.Įach message follows the perception_lane format and, aside from the header, contains data about one or more lines in a format compatible with CameraLaneLine. You can read more about how annotation data is used in the input data section. It uses ground truth data from map annotations, which can be optionally corrected. The lane-line sensor is used to extract and publish data describing the position and curvature of road lines on the lane which EGO vehicle currently occupies. Configuration file and command line parameters.Mapping a simulation environment in ROS 2.Robot simulation with ROS 2 Navigation Stack.Running a basic Robotics Simulation with ROS 2.Viewing and subscribing to ground truth obstacles.Modular testing with the Apollo AD stack.Running Linux GPU applications on Windows.OffRamp: A ramp leading away from a motorway and onto rural urban roads.ĬonnectingRamp: A ramp that connects two motorways, for example, motorway junctions. Onramp: A ramp leading to a motorway from rural or urban roads. It is mainly used for acceleration lanes. It is mainly used for deceleration lanes.Įntry: Describes a lane type that is used for sections that are parallel to the main road. Curb stones have a different height than the adjacent drivable lanes.Įxit: Describes a lane that is used for sections that are parallel to the main road. Sidewalk: Describes a lane on which pedestrians can walk.Ĭurb: Describes curb stones. It is typically used to separate traffic in towns on large roads.īiking: Describes a lane that is reserved for cyclists. Median: Describes a lane that sits between driving lanes that lead in opposite directions. Parking: Describes a lane with parking spaces. Typically, the lane is separated with lines and often contains dotted lines as well. The lane has the same height as drivable lanes. Restricted: Describes a lane on which cars should not drive. None: Describes the space on the outermost edge of the road and does not have actual content Its only purpose is for applications to register that OpenDRIVE is still present in case the (human) driver leaves the road. Stop: Hard shoulder on motorways for emergency stops It has the same height as the drivable lane.ĭriving: Describes a "normal" drivable road that is not one of the other types. Shoulder: Describes a soft border at the edge of the road.īorder: Describes a hard border at the edge of the road. Heading offset between CRG center line and reference line of the road (required for mode genuine only, default = 0.0) Z-scale factor for the surface description (default = 1.0) Z-offset between CRG center line and reference line of the road (default = 0.0) T-offset between CRG center line and reference line of the road (default = 0.0) S-offset between CRG center line and reference line of the road (default = 0.0) Physical purpose of the data contained in the CRG file if the attribute is missing, data will be interpreted as elevation data. Orientation of the CRG data set relative to the parent elementĪttachment mode for the surface data, see specification. Start of the application of CRG data (s-coordinate)Įnd of the application of CRG (s-coordinate) Attributes of the road surface CRG element Properties for road sections and cross section Generating arbitrary road courses from geometry elements Summary of all available coordinate systems Backward compatibility to earlier releases Relation of ASAM OpenDRIVE to OpenCRG and OpenSCENARIO Positioning of ASAM OpenDRIVE within ASAM activities Relations to other standards (preliminary) Normative and non-normative statements and deliverables Deliverables of the OpenDRIVE specification
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