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Roadways.md

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Roadways

Data Types and Accessing Elements

The data structure to represent roadways can be decomposed as follows:

  • Roadway The high level type containing all the information. It contains a list of RoadSegment.
    • RoadSegment: a vector of lanes
      • Lane: A driving lane on a roadway. It identified by a LaneTag. A lane is defined by a curve which represents a center line and a width. In addition it has attributed like speed limit. A lane can be connected to other lane in the roadway, the connection are specified in the exits and entrances fields.

Lower level types:

  • Curves: A curve is a list of CurvePt
  • CurvePt: the lowest level type. It represents a point on a curve by its global position, position along the curve, curvature at this point and derivative of the curvature at this point. Other types like CurveIndex or CurveProjection are used to identify a curve point along a curve.
      Roadway
      RoadSegment
      move_along

Roadway generation

AutomotiveDrivingModels.jl provide high level functions to generate road networks by drawing straight road segment and circular curves. Two predefined road network can be generated easily: multi-lane straight roadway sections and a multi-lane stadium shaped roadway.

      gen_straight_curve
      gen_straight_segment
      gen_bezier_curve
      gen_straight_roadway
      gen_stadium_roadway

Lane

The Lane data structure represent a driving lane in the roadway. The default lane width is 3m. It contains all the low level geometry information.

      Lane
      LaneTag
      lanes
      lanetags
      SpeedLimit
      LaneBoundary
      LaneConnection
      is_in_exits
      is_in_entrances
      connect!
      is_between_segments_hi
      is_between_segments
      has_segment
      has_lanetag
      next_lane
      prev_lane
      has_next
      has_prev
      next_lane_point
      prev_lane_point
      n_lanes_left(roadway::Roadway, lane::Lane)
      n_lanes_right(roadway::Roadway, lane::Lane)
      leftlane(::Roadway, ::Lane)
      rightlane(::Roadway, ::Lane)

Frenet frame

The Frenet frame is a lane relative frame to represent a position on the road network.

      Frenet

Accessing objects and projections

The main roadway object can be indexed by different object to access different elements such as lane or curve points:

  • LaneTag: indexing roadway by a lane tag will return the lane associated to the lane tag
  • RoadIndex: indexing roadway by a road index will return the curve point associated to this index
  RoadIndex
  CurveIndex
  RoadProjection
  proj(posG::VecSE2{T}, lane::Lane{T}, roadway::Roadway{T};move_along_curves::Bool = true ) where T<: Real
  proj(posG::VecSE2{T}, seg::RoadSegment, roadway::Roadway) where T<: Real
  proj(posG::VecSE2{T}, roadway::Roadway) where T<: Real
  Base.getindex(lane::Lane{T}, ind::CurveIndex{I,T}, roadway::Roadway{T}) where{I<:Integer, T<:Real}
  Base.getindex(roadway::Roadway, segid::Int)
  Base.getindex(roadway::Roadway, tag::LaneTag)

Low level

      Curve
      CurvePt
      CurveProjection
      is_at_curve_end
      get_lerp_time
      index_closest_to_point
      get_curve_index
      lerp(A::VecE2{T}, B::VecE2{T}, C::VecE2{T}, D::VecE2{T}, t::T) where T<:Real
      lerp(A::VecE2{T}, B::VecE2{T}, C::VecE2{T}, t::T) where T<:Real

Read and Write roadways

      Base.read(io::IO, ::Type{Roadway})
      Base.write(io::IO, roadway::Roadway)