OPENDRIVE EXOS VELOCITY DRIVER

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 ASAM 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. by NOT applying the SCALE_Z_GRID upon loading the CRG file, but doing the calculation outside the CRG library, so that multiple instantiations of the same file can share the data in the CRG library. This should be considered in the implementation, e.g. CRG file may be placed in mode genuine multiple times, with different zScale values). BORDER_MODE_U and BORDER_MODE_V) and decide which value is returned.ĬRG files may be referenced multiple times with different parameters (e.g. If the calculations of the CRG uv or xy coordinates leads to coordinates outside of the defined area of the CRG file, then the normal CRG mechanisms apply (e.g. Other roads will not be affected, even if the CRG file would overlap the road. Example: if one road references a CRG file in global mode, then only this road will be influenced by the CRG file. For compatibility with future versions, each road or junction should only contain one CRG file per s position and OpenCRG files only have an effect on those roads or junctions from which they are referenced (and only between sStart and sEnd on that road). In the future, multiple CRG files at one position may be combined. Since CRG data may only cover parts of a road’s surface, it must be made sure that outside the valid CRG area, the elevation information derived from ASAM OpenDRIVE data can still be used. 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 S-offset between CRG center line and reference line of the road Physical purpose of the data contained in the CRG file if the attribute is missing, data will be interpreted as elevation data. Only allowed for mode attached and attached0. Orientation of the CRG data set relative to the parent element. Heading offset between CRG center line and reference line of the road (only allowed for mode genuine, default = 0.0).Īttachment mode for the surface data, see specification. Attributes of the road surface CRG element Name When this attribute is missing, RHT is assumed.ĭata described in OpenCRG is represented by the element within the element. Change in length due to elevation is not consideredīasic rule for using the road RHT=right-hand traffic, LHT=left-hand traffic. Total length of the reference line in the xy-plane. ID of the junction to which the road belongs as a connecting road (= -1 for none) If it represents an integer number, it should comply to uint32_t and stay within the given range. One element may cover a long stretch of a road, shorter stretches between junctions, or even several roads.Ī new element should only start if the properties of the road cannot be described within the previous element or if a junction is required. The standard driving direction is defined by the value which is assigned to the attribute (RHT=right-hand traffic, LHT=left-hand traffic).ĪSAM OpenDRIVE roads may be roads in the real road network or artificial road network created for application use.Įach road is described by one or more elements. Vehicles may drive in both directions of the reference line. In ASAM OpenDRIVE, the road network is represented by elements.Įach road runs along one road reference line.Ī road shall have at least one lane with a width larger than 0. Overview of ASAM OpenDRIVE elements 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 Positioning of ASAM OpenDRIVE within ASAM activities Normative and non-normative statements and deliverables Deliverables of the ASAM OpenDRIVE specification

Opendrive exos velocity