osi3::Lane::Classification Struct Reference

Definition of available lane types.

Definition of available lane subtypes, aligned with OpenDRIVE.

The type of the lane.

Example: For l4 in image HighwayExit the type is TYPE_DRIVING.

Indicates that the host vehicle travels on this particular lane.

The host vehicle may travel on more than one lane at once. This does also apply for the CanditateLane in the DetectedLane .

The lane's center line (as a list of segments).

The centerline describes the middle of the lane.

Example: In image HighwayExit, the centerline of lane l4 (black line) is given by (cl4_1, cl4_2, cl4_3, cl4_4, cl4_5).

Note

cl: center line lb: lane boundary

Attention

The points desribing the center line must be set in the same ordering (ascending or descending) as the points desribing the lane boundaries. Example: If the points are deducted from a map format, the order of points is recommended to be in line with the road coordinate (e.g. s-coordinate in OpenDRIVE).

The points describing the center line might be set at arbitrary distances. When the points are pairwise linearly connected, the lateral distance to the real ideal line (as used by the simulation environment internally) must not exceed 5cm. As shown in the following image:

Approximation error green line.

Note

The center line is the line that a typical vehicle follows more or less (depending on the situation, a little more to the left or right of the center line). The intended direction of travel on the lane is given by the direction defined by the sequence of points forming the centerline w.r.t. centerline_is_driving_direction.

The centerline is defined only for type = TYPE_DRIVING and if exactly one or no lane_pairing pair exists.

Intersections and non-driving lanes do not have a center line. A vehicle must calculate this individually and depending on the situation.

Definition of the intended driving direction.

Defined and used for driving lanes. true means driving direction is according to ascending storage order of center line points. false means driving direction is according to descending storage order of center line points.

Example: centerline_is_driving_direction = true for lane l4 and centerline_is_driving_direction = false for lane l2 in image HighwayExit .

Note

The centerline_is_driving_direction is defined for type = TYPE_DRIVING .

List of IDs of all lane segments that are directly adjacent to the lane on the left side (w.r.t.

ascending order of centerline points and lane boundary points). 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 l3 is the only left adjacent lane for lane l4 in image HighwayExit.

Note

The left_adjacent_lane_id is undefined for type = TYPE_INTERSECTION .

OSI uses singular instead of plural for repeated field names.

Rules

check_if this.type is_different_to 4 else do_check is_set

List of IDs of all lane segments that are directly adjacent to the lane on the right side (w.r.t.

ascending order of centerline points and lane boundary points). 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: right_adjacent_lane_id = (l5, l6) for lane l4 in image HighwayExit.

Note

The right_adjacent_lane_id is undefined for type = TYPE_INTERSECTION .

OSI uses singular instead of plural for repeated field names.

Rules

check_if this.type is_different_to 4 else do_check is_set

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: See image Intersection.

Note

OSI uses singular instead of plural for repeated field names.

The right adjacent lane boundaries right_lane_boundary_id may only be shared with/as the left adjacent lane boundaries left_lane_boundary_id of the nearest right adjacent lane right_adjacent_lane_id.

Example: right_lane_boundary_id = (lb9, lb6) for reference lane l4 in image HighwayExit.

Note

Empty for intersections.

The right_lane_boundary_id is undefined for type = TYPE_INTERSECTION .

OSI uses singular instead of plural for repeated field names.

The boundary between adjacent lanes at different heights (e.g. a curb between a driving lane and a sidewalk) should not be shared, but modeled as two separate lane boundaries with individual ids. One for the upper, the other one for the lower lane.

Rules

check_if this.type is_different_to 4 else do_check is_set

The left adjacent lane boundaries left_lane_boundary_id may only be shared with/as the right adjacent lane boundaries right_lane_boundary_id of the nearest left adjacent lane left_adjacent_lane_id.

Example: left_lane_boundary_id = lb5 for lane l4 in image HighwayExit.

Note

Empty for intersections.

The left_lane_boundary_id is undefined for type = TYPE_INTERSECTION .

OSI uses singular instead of plural for repeated field names.

The boundary between adjacent lanes at different heights (e.g. a curb between a driving lane and a sidewalk) should not be shared, but modeled as two separate lane boundaries with individual ids. One for the upper, the other one for the lower lane.

Rules

check_if this.type is_different_to 4 else do_check is_set

The free boundaries which have no/unknown assignment to left/right.

Example: free_lane_boundary_id = lb11 for lane l7 in image Intersection.

Note

Lane with type = TYPE_INTERSECTION use only free lane boundaries.

OSI uses singular instead of plural for repeated field names.

Rules

check_if this.type is_different_to 4 else do_check is_set

The condition of the lane, e.g.

influenced by weather.

The subtype of the lane.

This subtype specifies a lane more concretely.