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New lane model (Handling Junctions with OSI::GroundTruth::Lane - issue #80) #110

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Merged
merged 2 commits into from
Feb 5, 2018
Merged

New lane model (Handling Junctions with OSI::GroundTruth::Lane - issue #80) #110

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f07ecfd
New lane model based on Ulm workshop on 2017-11-30
carsten-kuebler Jan 16, 2018
ad055b1
Replace successor and antecessor with lane pairings
Jan 31, 2018
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10 changes: 7 additions & 3 deletions osi_groundtruth.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -70,19 +70,23 @@ message GroundTruth
//
repeated Lane lane = 9;

// A list of lane boundaries from lanes.
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@solosito solosito Feb 8, 2018

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In my opinion this is redundant. Just A list of lane boundaries. would be enough.

//
repeated LaneBoundary lane_boundary = 10;

// A list of passengers in the (ego) vehicle(s).
//
repeated Occupant occupant = 10;
repeated Occupant occupant = 11;

// Conditions of the environment.
//
optional EnvironmentalConditions environmental_conditions = 11;
optional EnvironmentalConditions environmental_conditions = 12;

// The country code in 3 digit numeric format: ISO Code 3166/1 [1,2].
// e.g. Germany = 276, USA = 840
//
// \par References:
// [1] [ISO 3166/1 Country codes] (https://www.iso.org/obp/ui/)
// [2] [ISO 3166/1 Wikipedia] (https://en.wikipedia.org/wiki/ISO_3166-1)
optional uint32 country_code = 12;
optional uint32 country_code = 13;
}
16 changes: 12 additions & 4 deletions osi_landmark.proto
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Expand Up @@ -599,7 +599,7 @@ message TrafficLight
optional GreenArrowPresence green_arrow = 6;

// The ids of the lanes that the traffic light is assigned to.
// Might be multiple if the traffic light is valid for multiple lanes.
// Might be multiple if the traffic light is valid for multiple driving lanes.
repeated Identifier assigned_lane = 7;

// Definition of traffic light types.
Expand Down Expand Up @@ -819,6 +819,11 @@ message RoadMarking
// Might be multiple if the road marking goes across multiple lanes.
repeated Identifier assigned_lane = 6;

// Intersection orientation of the road marking.
//
// \note Defined for \c Lane::type = TYPE_INTERSECTION, otherwise zero vector
optional Vector3d roadmarking_orientation = 7;

// Definition of road marking types.
//
enum Type
Expand Down Expand Up @@ -927,14 +932,17 @@ message RoadMarking
// Marking with blue color.
//
COLOR_BLUE = 5;

// Marking with red color.
//
COLOR_RED = 6;

// Marking with green color.
//
COLOR_GREEN = 7;

// Marking with violet color.
//
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Suggestion: the same typo might be fixed in the line 58

COLOR_VIOLET = 8;
}
}
128 changes: 62 additions & 66 deletions osi_lane.proto
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Expand Up @@ -44,47 +44,64 @@ message Lane
//
// \image html line_approximation_error.png "Approximation error as green line."
//
// \note Centerline is defined only for \c Lane::type = \c TYPE_DRIVING and one
// \c Lane::lane_pairing pair.
repeated Vector3d center_line = 3;

// The boundary of the lane.
// Definition of the intended driving direction.
//
// The lane boundaries describe the lane markings or other boundaries delimiting the lane as well as free lines that
// might be used e.g. in construction sites. The lane markings do not have to be parallel to the center_line, but
// they are the basis for calculating the width of the lane at any given distance.
// Defined and used for driving lanes.
// true means driving direction is according to ascending order of center line points.
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true means driving direction agrees with ascending storage order of the points defining the center_line.

// false means driving direction is according to descending order of center line points.
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false means driving direction disagrees with descending storage order of the points defining the center_line.

//
// Example: The double solid line above the 3, and the dashed line below the 3. (see reference picture) There might
// also be additional free lanes.
repeated LaneBoundary lane_boundary = 4;
// \note CenterlineIsDrivingDirection is defined for \c Lane::type = TYPE_DRIVING.
optional bool center_line_is_driving_direction = 4;
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@pmai pmai Jan 18, 2018

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To maintain basic backward compatibility field tag 4 should be reserved and center_line_is_driving_direction should get a new tag (after existing ones).


// List of ids of all lane segments that are directy adjacent to the lane on the left side (w.r.t. intended driving
// direction). Note that lengths of lane segments are not synchronized and therefore there are multiple adjacent
// segments if there is a split/merge point in the adjacent lane.
// Example: The lane id 2 is the only left adjacent lane for lane id 3 in the reference picture.
//
// \note Left isn't defined for \c Lane::type = TYPE_INTERSECTION.
repeated Identifier left_adjacent_lane_id = 5;

// List of ids of all lane segments that are directy adjacent to the lane on the right side (w.r.t. intended driving
// direction). Note that lengths of lane segments are not synchronized and therefore there are multiple adjacent
// segments if there is a split/merge point in the adjacent lane.
// Example: The lane ids 4 and 7 are the right adjacent lane segments for lane id 3 in the reference picture due to
// the lane split. Lane id 6 is not a right adjacent lane to lane id 3 as they are separated by lane id 7.
//
// \note Right isn't defined for \c Lane::type = TYPE_INTERSECTION.
repeated Identifier right_adjacent_lane_id = 6;

// The lane's antecessors (lanes that end in the same point that this lane's center line starts from).
// There might be multiple antecessors e.g. in road crossings or on lane merges.
// Example: Considering lane 6, its antecessor is the lane with id 4.
repeated Identifier antecessor_lane_id = 7;
// The antecessor/successor lane pairings of this lane. There can be multiple pairings with the same
// antecessor and different successor lanes and vice versa.
// The antecessor lanes end in the same point that this lane starts from.
// The successor lanes start in the same point that this lane ends in.
// Example:
repeated LanePairing lane_pairing = 7;

// The id of the right boundary ID of the right lane ID w.r.t. driving direction. Empty for intersections.
//
// \note Left isn't defined for \c Lane::type = TYPE_INTERSECTION.
repeated Identifier right_lane_boundary_id = 8;

// The lane's successors (lanes that start in the same point that this lane's center line ends in).
// There might be multiple successors e.g. in road crossings, highway exits, or lane splits.
// Example: Considering lane 4, its successors are the lanes with id 6 and 7.
repeated Identifier successor_lane_id = 8;
// The id of the left boundary ID of the left lane ID w.r.t. driving direction. Empty for intersections.
//
// \note Left isn't defined for \c Lane::type = TYPE_INTERSECTION.
repeated Identifier left_lane_boundary_id = 9;

// The id of the free boundary ID.
//
// \note Lanes with \c Lane::type = TYPE_INTERSECTION use only free lane boundaries
repeated Identifier free_lane_boundary_id = 10;

// A lane framing describes the surrounding of the lane segment.
//
optional LaneFraming lane_framing = 9;
optional LaneFraming lane_framing = 11;

// The condition of the lane, e.g. influenced by weather.
optional RoadCondition road_condition = 10;
optional RoadCondition road_condition = 12;

// Definition of available lane types.
//
Expand All @@ -100,27 +117,15 @@ message Lane

// A normal lane.
// E.g. lanes with ids 1, 2, 3, 4 and 7 of the highway_exit image.
TYPE_NORMAL = 2;
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@pmai pmai Jan 18, 2018

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To retain backward compatiblity TYPE_NORMAL can be changed to TYPE_DRIVING, I think, but the new TYPE_NONDRIVING and TYPE_INTERSECTION enum values should be new unused values to avoid misinterpretation, I think...


// A stop/emergency lane on highways/freeways.
// E.g. lane with id 5 of the highway_exit image.
TYPE_EMERGENCY = 3;

// A freeway/highway entry lane.
//
TYPE_ENTRANCE = 4;

// A freeway/highway exit lane.
// E.g. lane with id 6 of the highway_exit image.
TYPE_EXIT = 5;

// A car pooling lane.
TYPE_DRIVING = 2;

// A road where driving is normally not permitted
//
TYPE_HIGH_OCCUPANCY_VEHICLE = 6;
// A road area / lane reserved for parking.
TYPE_NONDRIVING = 3;

// An intersection as a lane.
//
TYPE_PARKING = 7;
TYPE_INTERSECTION = 4;
}

// Definition of available lane framing types.
Expand Down Expand Up @@ -207,6 +212,19 @@ message Lane
}
}

// \brief The lane id pairings of antecessor and successor lanes.
//
message LanePairing
{
// The antecessor lane.
//
optional Identifier antecessor_lane_id = 1;

// The successor lane.
//
optional Identifier successor_lane_id = 2;
}

//
// \brief A lane boundary defining the border of a lane.
//
Expand All @@ -216,6 +234,9 @@ message Lane
//
message LaneBoundary
{
//The id of the lane boundary.
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@pmai pmai Jan 18, 2018

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Again, if we want to technically remain backward compatible, the id field need to use a new tag number and the remaining fields should retain their tag numbers.

optional Identifier id = 1;

// The list of individual points defining the location of the lane boundary.
//
// Since a BoundaryPoint is part of a sequence only the position attribute has to be set for each instance. All
Expand All @@ -225,11 +246,7 @@ message LaneBoundary
//
// \attention For BoundaryPoints the same rules apply as for Lane::center_line regarding maximum distance and
// approximation error.
repeated BoundaryPoint boundary_line = 1;

// The location of the lane boundary within the lane.
//
optional BoundaryLocation location = 2;
repeated BoundaryPoint boundary_line = 2;

// The type of the lane boundary.
//
Expand All @@ -239,31 +256,6 @@ message LaneBoundary
//
optional Color color = 4;

// The location of the lane boundary within the lane.
//
enum BoundaryLocation
{
// The location of the boundary is unknown. Value must not be used in ground truth.
//
BOUNDARY_LOCATION_UNKNOWN = 0;

// Other (unspecified but known) boundary location.
//
BOUNDARY_LOCATION_OTHER = 1;

// A left lane boundary.
//
BOUNDARY_LOCATION_LEFT = 2;

// A right lane boundary.
//
BOUNDARY_LOCATION_RIGHT = 3;

// A free lane boundary.
//
BOUNDARY_LOCATION_FREE = 4;
}

// The lane boundary type.
// There are no double lines, e.g. solid solid or dashed solid, as each lane will define its own side of the lane boundary.
enum Type
Expand Down Expand Up @@ -348,6 +340,10 @@ message LaneBoundary
// Marking with green color;
//
COLOR_GREEN = 7;

// Marking with violet color.
//
COLOR_VIOLET = 8;
}
}

Expand Down