Lane::Classification Class Reference

Classification of a lane. More...

Classes
class	LanePairing
	The lane ID pairings of antecessor and successor lanes. More...
class	RoadCondition
	The condition of the road surface. More...
class	Type
	Definition of available lane types. More...

Detailed Description

Classification of a lane.

Requirements

Attribute	Type	Repeated	Requirements
type	Lane::Classification::Type	No	is set and valid TYPE_UNKNOWN is not allowed in Ground Truth context
is_host_vehicle_lane	bool	No	is set
centerline	Vector3d	Yes	is set see note below
centerline_is_driving_direction	bool	No	is set (preferably to True)
left_adjacent_lane_id	Identifier	Yes	Should not be defined if the line is #TYPE_INTERSECTION
right_adjacent_lane_id	Identifier	Yes	Should not be defined if the line is #TYPE_INTERSECTION
lane_pairing	Lane::Classification::LanePairing	Yes	See LanePairing definition
right_lane_boundary_id	Identifier	Yes	Should not be defined if the line is #TYPE_INTERSECTION
left_lane_boundary_id	Identifier	Yes	Should not be defined if the line is #TYPE_INTERSECTION
free_lane_boundary_id	Identifier	Yes	Should be defined only if the line is #TYPE_INTERSECTION
road_condition	Lane::Classification::RoadCondition	No	is set and valid

type

The type of the lane. Note that TYPE_UNKNOWN is not allowed in Ground Truth context.

is_host_vehicle_lane

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 .

centerline

The lane's center line (as a list of points in 3D space).

This is the line, that a typical vehicle is supposed to follow. Thus, if the road narrows (e.g. at a construction site) this line is supposed to describe the trajectory that the vehicle should follow. The intended direction of travel on the lane is given by the direction defined by the sequence of points forming the center line.

Attention

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 5 cm. As shown in the following image:

Note

The #centerline is defined only for #type = #TYPE_DRIVING and one #lane_pairing pair.

centerline_is_driving_direction

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.

Note

The #centerline_is_driving_direction is defined for #type = #TYPE_DRIVING .