Annex E: Checker rules (normative)

Checker rule concept

Checker rules are semantic and syntactic requirements that shall be applied to a scenario. ASAM OpenDRIVE defines a basic set of rules that enforce compliance with the standard, as well as additional rules with recommendations in accordance with ASAM OpenDRIVE. Rules consist of a name, an UID (a unique identifier of the check), and a description that specifies the requirements for the scenario.

Rule UID Concepts

The UID is a string that encapsulates a sequence of concepts that allow to identify immediately a rule across the different domains. The concepts are ordered and separated via the separation character :.

The concepts for a rule UID are:

Emanating Entity: a domain name for the entity (organization or company) that declares the rule UID
Standard: a short string that represents the standard or the domain to which the rule is applied
Definition Setting: the version of the standard or the domain to which the rule appears or is applied for the first time
Rule Full Name: the full name of the rule, as dot-separated, snake_lower_case string. The full name of a rule is composed by the rule set, a categorization for the rule, and the rule name, a unique string inside the categorization. The rule set can be nested (meaning that it can be defined as an arbitrary sequence of dot-separated names, while the name is the snake_case string after the last dot of the full name)

To provide a visual description for a rule UID:

<emanating-entity>:<standard>:x.y.z:rule_set.for_rules.rule_name

Third party rule UID creators (i.e., emanating entities different than ASAM) should still fill all the concepts above. If that is not possible, concepts shall be left blank, but separation : is still required (i.e., example.com:::rulename is valid).

UIDs are designed to be queried, e.g., implementations may use UNIX pattern matching.

Visit the ASAM Quality Checker Framework documentation to see detailed information on how and which checks are implemented.

E.1 defaultRegulations

E.1.1 only_speed_prioity

UID: asam.net:xodr:1.8.0:defaultRegulations.only_speed_prioity
Description: Only <speed> and <priority> elements shall be used within the <defaultRegulations> element.

E.2 header

E.2.1 offset

E.2.1.1 centered_coords

UID: asam.net:xodr:1.7.0:header.offset.centered_coords
Description: The <offset> element should be such that the x and y coordinates of ASAM OpenDRIVE are approximately centered around (0;0). If the x and y coordinates are too large, applications using float coordinates internally might not be able to process them accurately enough due to the limited precision of IEEE 754 double precision floating point numbers.

E.3 ids

E.3.1 id_unique_in_class

UID: asam.net:xodr:1.4.0:ids.id_unique_in_class
Description: IDs shall be unique within a class.

E.3.2 id_unique_in_lane_section

UID: asam.net:xodr:1.4.0:ids.id_unique_in_lane_section
Description: Lane IDs shall be unique within a lane section.

E.3.3 only_ref_defined_ids

UID: asam.net:xodr:1.4.0:ids.only_ref_defined_ids
Description: Only defined IDs may be referenced.

E.4 junctions

E.4.1 boundary

E.4.1.1 close_gap_with_new_roads

UID: asam.net:xodr:1.8.0:junctions.boundary.close_gap_with_new_roads
Description: If the existing roads are not sufficient to define a closed junction boundary, additional roads shall be defined for the missing segments.

E.4.1.2 only_for_common_junctions

UID: asam.net:xodr:1.8.0:junctions.boundary.only_for_common_junctions
Description: Junction boundaries are currently only valid for common junctions.

E.4.1.3 segments_close_boundry

UID: asam.net:xodr:1.8.0:junctions.boundary.segments_close_boundry
Description: Segments shall close the entire junction boundary.

E.4.1.4 segments_counter_clockwise_order

UID: asam.net:xodr:1.8.0:junctions.boundary.segments_counter_clockwise_order
Description: Segments shall be ordered counter clockwise.

E.4.1.5 segments_for_each_conn_road

UID: asam.net:xodr:1.8.0:junctions.boundary.segments_for_each_conn_road
Description: Segments shall be defined to reach the start or end of all roads connected to the junction.

E.4.2 common

E.4.2.1 direct_junction_attributes

UID: asam.net:xodr:1.8.0:junctions.common.direct_junction_attributes
Description: The @overlapZone attribute shall only be specified for direct junctions.

E.4.2.2 junctions_no_pred_succ

UID: asam.net:xodr:1.4.0:junctions.common.junctions_no_pred_succ
Description: Unlike roads, junctions do not have a predecessor or successor.

E.4.2.3 virtual_junction_attributes

UID: asam.net:xodr:1.5.0:junctions.common.virtual_junction_attributes
Description: The @mainRoad, @orientation, @sStart and @sEnd attributes shall only be specified for virtual junctions.

E.4.2.4 when_to_use

UID: asam.net:xodr:1.4.0:junctions.common.when_to_use
Description: Junctions shall only be used when roads cannot be linked directly. They clarify ambiguities for the linking. Ambiguities are caused when a road has two or more possible predecessor or successor roads.

E.4.3 connection

E.4.3.1 connect_road_no_incoming_road

UID: asam.net:xodr:1.4.0:junctions.connection.connect_road_no_incoming_road
Description: Connecting roads shall not be incoming roads.

E.4.3.2 one_link_to_incoming

UID: asam.net:xodr:1.8.0:junctions.connection.one_link_to_incoming
Description: Each connecting road shall be associated with at most one <connection> element per incoming road. A connecting road shall only have the <laneLink> element for that direction.

E.4.3.3 start_along_linkage

UID: asam.net:xodr:1.7.0:junctions.connection.start_along_linkage
Description: The value start shall be used to indicate that the connecting road runs along the linkage indicated in the <laneLink> element.

E.4.3.4 no_lane_change_for_mult_con_roads

UID: asam.net:xodr:1.7.0:junctions.connection.no_lane_change_for_mult_con_roads
Description: By multiple connecting roads, each with one <laneLink> element for the connection between two specific lanes. Lane changes within this junction are not possible.

E.4.3.5 connect_road_no_incoming_road

UID: asam.net:xodr:1.7.0:junctions.connection.lane_change_one_con_road
Description: By one connecting road with multiple <laneLink> elements for the connections between the lanes.

E.4.3.6 end_opposite_linkage

UID: asam.net:xodr:1.7.0:junctions.connection.end_opposite_linkage
Description: The value end shall be used to indicate that the connecting road runs along the opposite direction of the linkage indicated in the <laneLink> element

E.4.4 cross_path

E.4.4.1 correct_junction_id

UID: asam.net:xodr:1.8.0:junctions.cross_path.correct_junction_id
Description: The @junction attribute shall contain the id of the junction to which a road belongs.

E.4.4.2 disregard_cross_road_evelation

UID: asam.net:xodr:1.8.0:junctions.cross_path.disregard_cross_road_evelation
Description: The elevations of the crossing road defined by the @crossingRoad attribute of the <crossPath> element are disregarded.

E.4.4.3 lane_linkage

UID: asam.net:xodr:1.8.0:junctions.cross_path.lane_linkage
Description: Start and end of the crossing road shall reach the linked lanes specified by the <startLaneLink> and <endLaneLink> elements.

E.4.4.4 only_connect_correct_type

UID: asam.net:xodr:1.8.0:junctions.cross_path.only_connect_correct_type
Description: Cross paths shall only connect lanes with @type="walking" or @type="biking".

E.4.4.5 start_end_contained

UID: asam.net:xodr:1.8.0:junctions.cross_path.start_end_contained
Description: The start and end points of the crossing road and its lanes shall be fully contained within the linked lanes specified by the <startLaneLink> and <endLaneLink> elements.

E.4.4.6 within_junction_area

UID: asam.net:xodr:1.8.0:junctions.cross_path.within_junction_area
Description: Cross paths shall be within the area of a common junction or a virtual junction.

E.4.5 crossing

E.4.5.1 only_one_high_prio

UID: asam.net:xodr:1.8.0:junctions.crossing.only_one_high_prio
Description: Only one road defined by the @roadId attributes of the <roadSection> elements shall have high priority.

E.4.5.2 only_road_sections

UID: asam.net:xodr:1.8.0:junctions.crossing.only_road_sections
Description: Junctions with @type="crossing" shall only have <roadSection> elements.

E.4.5.3 s_start_end_coverage

UID: asam.net:xodr:1.8.0:junctions.crossing.s_start_end_coverage
Description: The values for the @sStart and @sEnd attributes of the <roadSection> elements shall at least cover the area where the roads overlap.

E.4.6 direct

E.4.6.1 connecting_road_attribute_usage

UID: asam.net:xodr:1.7.0:junctions.direct.connecting_road_attribute_usage
Description: The @connectingRoad attribute shall not be used for junctions with @type="direct".

E.4.6.2 correct_type_linked_road_usage

UID: asam.net:xodr:1.7.0:junctions.direct.correct_type_linked_road_usage
Description: The @linkedRoad attribute shall only be used for junctions with @type="direct".

E.4.6.3 flat_exits_entries

UID: asam.net:xodr:1.8.0:junctions.direct.flat_exits_entries
Description: Currently only flat entries and exits can be modeled by overlapping direct junctions.

E.4.6.4 linked_lane_smoothness

UID: asam.net:xodr:1.7.0:junctions.direct.linked_lane_smoothness
Description: The linked lanes shall fit smoothly as described for roads (see [top-86fc414c-6211-4777-b40e-466d4551d23e]).

E.4.6.5 overlap_zone_coverage

UID: asam.net:xodr:1.8.0:junctions.direct.overlap_zone_coverage
Description: The value of the @overlapZone attribute shall cover at least the overlapping area, but may be larger.

E.4.6.6 overlap_zone_exclusivity

UID: asam.net:xodr:1.8.0:junctions.direct.overlap_zone_exclusivity
Description: Only one pair of <laneLink> elements shall have @overlapZone attributes to define the overlapping lanes.

E.4.6.7 road_connectivity

UID: asam.net:xodr:1.8.0:junctions.direct.road_connectivity
Description: Direct junctions shall connect one road on one side with multiple roads on the other side.

E.4.6.8 road_ramp_heading

UID: asam.net:xodr:1.7.0:junctions.direct.road_ramp_heading
Description: The junction shall be placed where the headings of road, ramp, or slip lane are identical.

E.4.6.9 split_or_merge

UID: asam.net:xodr:1.8.0:junctions.direct.split_or_merge
Description: Direct junctions shall only be used for splitting or merging roads without crossing traffic.

E.4.7 elevation_grid

E.4.7.1 entry_exit_smoothness

UID: asam.net:xodr:1.8.0:junctions.elevation_grid.entry_exit_smoothness
Description: For junction entries and exits, a smooth transition should be assured.

E.4.7.2 only_one_elev_grid

UID: asam.net:xodr:1.8.0:junctions.elevation_grid.only_one_elev_grid
Description: A junction shall have only one elevation grid.

E.4.7.3 perpendicular_vectors

UID: asam.net:xodr:1.8.0:junctions.elevation_grid.perpendicular_vectors
Description: The elevation grid shall be defined with vectors perpendicular to the junction reference line.

E.4.7.4 polynome_coefficient_values

UID: asam.net:xodr:1.8.0:junctions.elevation_grid.polynome_coefficient_values
Description: The coefficients \(c\) and \(d\) of the polynoms shall be 0 if there are not enough support points in the elevation grid to calculate them.

E.4.7.5 valid_for_entire_boundry

UID: asam.net:xodr:1.8.0:junctions.elevation_grid.valid_for_entire_boundry
Description: If a junction boundary is defined, the elevation grid shall be valid for the area enclosed by the junction boundary.

E.4.8 geometry

E.4.8.1 correct_junction_boundry

UID: asam.net:xodr:1.8.0:junctions.geometry.correct_junction_boundry
Description: If a junction boundary is specified, a junction reference line shall cross the junction boundary or be at least tangent to the junction boundary at one point.

E.4.8.2 only_one_line_element

UID: asam.net:xodr:1.8.0:junctions.geometry.only_one_line_element
Description: Junction reference lines shall be defined by one <geometry> element. This <geometry> element shall have only one <line> element.

E.4.8.3 ref_line_definition

UID: asam.net:xodr:1.8.0:junctions.geometry.ref_line_definition
Description: The <geometry> element of a junction reference line shall be defined in a way that every point of the junction can be reached with a perpendicular straight line.

E.4.9 no_overlap

UID: asam.net:xodr:1.4.0:junctions.no_overlap
Description: No junctions of any type shall overlap each other.

E.4.10 priority

E.4.10.1 high_and_low_attr

UID: asam.net:xodr:1.8.0:junctions.priority.high_and_low_attr
Description: <priority> elements shall be defined with a pair of one @high and one @low attribute.

E.4.10.2 no_signals

UID: asam.net:xodr:1.7.0:junctions.priority.no_signals
Description: <priority> elements should only be used if there are no signals defined.

E.4.11 type_default_no_linked_road

UID: asam.net:xodr:1.7.0:junctions.type_default_no_linked_road
Description: The <connection> element of a junction of @type="default" or @type="virtual" shall not have the @linkedRoad attribute.

E.4.12 type_direct_no_conn_road

UID: asam.net:xodr:1.7.0:junctions.type_direct_no_conn_road
Description: The <connection> element of a junction of @type="direct" shall not have the @connectingRoad attribute.

E.4.13 virtual

E.4.13.1 crossPath

cross_road_check_s_t

UID: asam.net:xodr:1.8.0:junctions.virtual.crossPath.cross_road_check_s_t
Description: The crossing road shall not exceed the values for s and t of the main road defined by the @roadAtStart and @roadAtEnd attributes.

E.5 road

E.5.1 no_overlap_outside_junction

UID: asam.net:xodr:1.4.0:road.no_overlap_outside_junction
Description: Roads outside a junction shall not overlap.

E.5.2 no_overlap_self

UID: asam.net:xodr:1.4.0:road.no_overlap_self
Description: A road shall not overlap with itself.

E.5.3 overlap_inside_junction

UID: asam.net:xodr:1.4.0:road.overlap_inside_junction
Description: Only roads with the same junction id may overlap on the same level. This does not include roads on different driving levels, for example, bridges.

E.5.4 corner_local

E.5.4.1 element_min_amount

UID: asam.net:xodr:1.7.0:road.corner_local.element_min_amount
Description: There shall be at least two <cornerLocal> elements inside an <outline> element.

E.5.5 corner_road

E.5.5.1 corner_road_local_exclusivity

UID: asam.net:xodr:1.7.0:road.corner_road.corner_road_local_exclusivity
Description: There shall be no <cornerLocal> element next to a <cornerRoad> element inside the same <outline> element.

E.5.5.2 element_min_amount

UID: asam.net:xodr:1.7.0:road.corner_road.element_min_amount
Description: There shall be at least two <cornerRoad> elements inside an <outline> element.

E.5.6 crg

E.5.6.1 attach_vs_friction

UID: asam.net:xodr:1.7.0:road.crg.attach_vs_friction
Description: @mode=attached shall not be used together with @purpose=friction.

E.5.6.2 friction_no_z _offset_scale

UID: asam.net:xodr:1.7.0:road.crg.friction_no_z _offset_scale
Description: @zOffset and @zScale shall not be set for friction values.

E.5.6.3 h_offset_only_genuine

UID: asam.net:xodr:1.7.0:road.crg.h_offset_only_genuine
Description: @hOffset shall not be used for modes other than @mode=genuine.

E.5.6.4 junction

UID: asam.net:xodr:1.7.0:road.crg.junction
Description: If a <junction> element contains a <CRG> element, none of the connecting roads that belong to this junction shall have a <CRG> element.

E.5.6.5 no_opposite

UID: asam.net:xodr:1.7.0:road.crg.no_opposite
Description: @orientation=opposite shall not be used for modes other than @mode=attached and @mode=attached0.

E.5.6.6 only_on_per_s

UID: asam.net:xodr:1.7.0:road.crg.only_on_per_s
Description: In the future, multiple CRG files at one position may be combined. For compatibility with future versions, each road or junction should only contain one CRG file per s-position and @purpose.

E.5.6.7 s_t_offset_no_global

UID: asam.net:xodr:1.7.0:road.crg.s_t_offset_no_global
Description: @sOffset and @tOffset shall not be used with @mode=global.

E.5.6.8 use_last_entry

UID: asam.net:xodr:1.7.0:road.crg.use_last_entry
Description: If more than one CRG entry is given for the same physical property (attribute purpose) at a given location, then the last entry in the sequence of occurrence in the ASAM OpenDRIVE file shall be the relevant one. All others are ignored (but see the note).

E.5.7 cross_section_surface

E.5.7.1 height

UID: asam.net:xodr:1.8.0:road.cross_section_surface.height
Description: The value of @height at <lane> elements is added to the cross section surface in z-direction.

E.5.7.2 lane_def_valid

UID: asam.net:xodr:1.8.0:road.cross_section_surface.lane_def_valid
Description: A cross section surface is only valid within the lane definition of the road.

E.5.7.3 no_shape_superelevation

UID: asam.net:xodr:1.8.0:road.cross_section_surface.no_shape_superelevation
Description: A cross section surface shall not be used in combination with road shape or superelevation.

E.5.7.4 start_end_match_with_refline

UID: asam.net:xodr:1.8.0:road.cross_section_surface.start_end_match_with_refline
Description: A cross section surface shall start and end at the start and end of the road reference line.

E.5.7.5 use_strip

UID: asam.net:xodr:1.8.0:road.cross_section_surface.use_strip
Description: If on a side only one strip is used, it is defined in a <strip> element with @id="1" or @id="-1" and a width shall not be specified.

E.5.7.6 use_width

UID: asam.net:xodr:1.8.0:road.cross_section_surface.use_width
Description: If on a side two strips are specified, a width for the inner strip shall be specified.

E.5.8 elevation

E.5.8.1 elem_asc_order

UID: asam.net:xodr:1.4.0:road.elevation.elem_asc_order
Description: <elevation> elements shall be defined in ascending order according to the s-coordinate.

E.5.8.2 elev_along_ref_line

UID: asam.net:xodr:1.4.0:road.elevation.elev_along_ref_line
Description: Roads shall be elevated along their road reference line.

E.5.9 geometry

E.5.9.1 contact_point

UID: asam.net:xodr:1.7.0:road.geometry.contact_point
Description: If two roads are connected without a junction, the road reference line of a new road shall always begin at the <contactPoint> element of its successor or predecessor road. The road reference lines may be directed in opposite directions.

E.5.9.2 elem_asc_order

UID: asam.net:xodr:1.4.0:road.geometry.elem_asc_order
Description: <geometry> elements shall be defined in ascending order along the road reference line according to the s-coordinate.

E.5.9.3 one_geom_elem_per_spec

UID: asam.net:xodr:1.4.0:road.geometry.one_geom_elem_per_spec
Description: One <geometry> element shall contain only one element that further specifies the geometry of the road.

E.5.9.4 only_one_refline

UID: asam.net:xodr:1.4.0:road.geometry.only_one_refline
Description: There shall be only one road reference line per road.

E.5.9.5 paramPoly3

arcLength_range

UID: asam.net:xodr:1.7.0:road.geometry.paramPoly3.arcLength_range
Description: If @pRange="arcLength", p shall be chosen in [0, @length from <geometry>].

length_match

UID: asam.net:xodr:1.7.0:road.geometry.paramPoly3.length_match
Description: The actual curve length, as determined by numerical integration over the parameter range, should match @length.

normalized_range

UID: asam.net:xodr:1.7.0:road.geometry.paramPoly3.normalized_range
Description: If @pRange="normalized", p shall be chosen in [0, 1].

valid_parameters

UID: asam.net:xodr:1.7.0:road.geometry.paramPoly3.valid_parameters
Description: The local u/v coordinate system should be aligned with the s/t coordinate system of the start point (meaning that the curve starts in the direction given by @hdg, and at the position given by @x and @y). To achieve this, the polynomial parameter coefficients have to be @aU=@aV=@bV=0, @bU>0.

E.5.9.6 refline_exists

UID: asam.net:xodr:1.4.0:road.geometry.refline_exists
Description: Each road shall have a road reference line.

E.5.9.7 refline_no_gaps

UID: asam.net:xodr:1.4.0:road.geometry.refline_no_gaps
Description: A road reference line shall have no gaps.

E.5.9.8 refline_no_kinks

UID: asam.net:xodr:1.4.0:road.geometry.refline_no_kinks
Description: A road reference line should have no kinks.

E.5.10 lane

E.5.10.1 lane_listing

UID: asam.net:xodr:1.4.0:road.lane.lane_listing
Description: For better orientation, lanes should be listed from left to right, that is with descending ID.

E.5.10.2 lane_order

UID: asam.net:xodr:1.4.0:road.lane.lane_order
Description: Lane numbering shall start with 1 next to the center lane in positive t-direction in ascending order and -1 next to the center lane in negative t-direction in descending order.

E.5.10.3 lane_order_no_gaps

UID: asam.net:xodr:1.4.0:road.lane.lane_order_no_gaps
Description: Lane numbering shall be consecutive without any gaps.

E.5.10.4 center_elem_definition

UID: asam.net:xodr:1.4.0:road.lane.center_elem_definition
Description: One <center> element shall be defined for each s-coordinate.

E.5.10.5 center_lane

UID: asam.net:xodr:1.4.0:road.lane.center_lane
Description: Each road shall have a center lane.

E.5.10.6 center_lane_id

UID: asam.net:xodr:1.4.0:road.lane.center_lane_id
Description: The center lane shall have the lane id 0.

E.5.10.7 lane_sect_min_amount

UID: asam.net:xodr:1.4.0:road.lane.lane_sect_min_amount
Description: Each <lanes> element shall contain at least one <laneSection> element.

E.5.10.8 lanes_numbered_correctly

UID: asam.net:xodr:1.4.0:road.lane.lanes_numbered_correctly
Description: Lanes with positive ID run on the left side of the center lane, while lanes with negative ID run on the right side of the center lane.

E.5.10.9 level_true_one_side

UID: asam.net:xodr:1.7.0:road.lane.level_true_one_side
Description: If a lane has @level="true", then all further outward lanes shall be lanes with @level="true" until the edge of the road is reached.

E.5.10.10 s_attr_value

UID: asam.net:xodr:1.4.0:road.lane.s_attr_value
Description: All <laneSection> elements shall contain the @s attribute.

E.5.10.11 center_lane

UID: asam.net:xodr:1.4.0:road.lane.lane_id_unique
Description: Lane numbering shall be unique per lane section.

E.5.10.12 center_lane

UID: asam.net:xodr:1.4.0:road.lane.center_lane_no_width
Description: The center lane shall have no width, meaning that the <width> element shall not be used for the center lane.

E.5.10.13 access

center_lane_no_acc_rule

UID: asam.net:xodr:1.4.0:road.lane.access.center_lane_no_acc_rule
Description: The center lane shall have no access rules.

elem_asc_order

UID: asam.net:xodr:1.4.0:road.lane.access.elem_asc_order
Description: <access> elements shall be defined in ascending order according to the s-coordinate.

no_mix_of_deny_or_allow

UID: asam.net:xodr:1.7.0:road.lane.access.no_mix_of_deny_or_allow
Description: At a given s-position, either only deny or only allow values shall be given.

E.5.10.14 border

overlap_with_inner_lanes

UID: asam.net:xodr:1.4.0:road.lane.border. overlap_with_inner_lanes
Description: Lane borders shall not intersect inner lanes.

elem_asc_order

UID: asam.net:xodr:1.4.0:road.lane.border.elem_asc_order
Description: <border> elements shall be defined in ascending order according to the s-coordinate.

exclusive_offset_border

UID: asam.net:xodr:1.4.0:road.lane.border.exclusive_offset_border
Description: <border> elements shall not be used together with <laneOffset>.

exclusive_width_border

UID: asam.net:xodr:1.4.0:road.lane.border.exclusive_width_border
Description: <border> elements shall not be used together with <width> elements in the same lane group.

E.5.10.15 height

center_lane_no_height

UID: asam.net:xodr:1.4.0:road.lane.height.center_lane_no_height
Description: The center lane shall not be elevated by lane height.

elem_asc_order

UID: asam.net:xodr:1.4.0:road.lane.height.elem_asc_order
Description: <height> elements shall be defined in ascending order according to the s-coordinate.

E.5.10.16 lane_properties

elem_asc_order

UID: asam.net:xodr:1.4.0:road.lane.lane_properties.elem_asc_order
Description: Lane geometries of identical types shall be defined in ascending order.

E.5.10.17 link

lanes_across_laneSections

UID: asam.net:xodr:1.4.0:road.lane.link.lanes_across_laneSections
Description: Lane that continues across the lane sections shall be connected in both directions.

multiple_connections

UID: asam.net:xodr:1.4.0:road.lane.link.multiple_connections
Description: Multiple predecessors and successors shall be used if a lane is split abruptly or several lanes are merged abruptly. All lanes that are connected shall have a non-zero width at the connection point.

new_lane_appear

UID: asam.net:xodr:1.4.0:road.lane.link.new_lane_appear
Description: If a new lane appears besides, only the continuing lane shall be connected to the original lane, not the appearing lane.

no_link

UID: asam.net:xodr:1.4.0:road.lane.link.no_link
Description: The <link> element shall be omitted if the lane starts or ends in a junction or has no link.

use_junctions

UID: asam.net:xodr:1.4.0:road.lane.link.use_junctions
Description: Two lanes shall only be linked if their linkage is clear. If the relationship to a predecessor or successor is ambiguous, junctions shall be used.

zero_width_at_end

UID: asam.net:xodr:1.7.0:road.lane.link.zero_width_at_end
Description: Lanes that have a width of zero at the end of the lane section shall have no <successor> element.

zero_width_at_start

UID: asam.net:xodr:1.7.0:road.lane.link.zero_width_at_start
Description: Lanes that have a width of zero at the beginning of the lane section shall have no <predecessor> element.

E.5.10.18 material

center_lane_no_material

UID: asam.net:xodr:1.4.0:road.lane.material.center_lane_no_material
Description: The center lane shall have no material elements.

elem_asc_order

UID: asam.net:xodr:1.4.0:road.lane.material.elem_asc_order
Description: <material> elements shall be defined in ascending order according to the s-coordinate

E.5.10.19 road_mark

elem_asc_order

UID: asam.net:xodr:1.4.0:road.lane.road_mark.elem_asc_order
Description: <roadMark> elements shall be defined in ascending order according to the s-coordinate.

E.5.10.20 rule

elem_asc_order

UID: asam.net:xodr:1.4.0:road.lane.rule.elem_asc_order
Description: <rule> elements shall be defined in ascending order according to the s-coordinate.

E.5.10.21 speed

center_lane_no_spd_lmt

UID: asam.net:xodr:1.4.0:road.lane.speed.center_lane_no_spd_lmt
Description: The center lane shall have no speed limit.

elem_asc_order

UID: asam.net:xodr:1.4.0:road.lane.speed.elem_asc_order
Description: <speed> elements shall be defined in ascending order according to the s-coordinate.

E.5.10.22 width

elem_asc_order

UID: asam.net:xodr:1.4.0:road.lane.width.elem_asc_order
Description: <width> elements shall be defined in ascending order according to the s-coordinate.

lane_width_validity

UID: asam.net:xodr:1.4.0:road.lane.width.lane_width_validity
Description: Width (ds) shall be greater than or equal to zero.

width_defined_whole_section

UID: asam.net:xodr:1.7.0:road.lane.width.width_defined_whole_section
Description: The width of the lane shall be defined for the full length of the lane section. This means that there must be a <width> element for @s="0".

E.5.11 lane_section

E.5.11.1 elem_asc_order

UID: asam.net:xodr:1.4.0:road.lane_section.elem_asc_order
Description: <laneSection> elements shall be defined in ascending order according to the s-coordinate.

E.5.11.2 lane_sect_req

UID: asam.net:xodr:1.4.0:road.lane_section.lane_sect_req
Description: Each road shall have at least one lane section.

E.5.11.3 lanesec_usage_lane_num

UID: asam.net:xodr:1.4.0:road.lane_section.lanesec_usage_lane_num
Description: A new lane section shall be defined each time the number of lanes change.

E.5.11.4 valid_length

UID: asam.net:xodr:1.4.0:road.lane_section.valid_length
Description: The length of lane sections shall be greater than zero.

E.5.12 lanes

E.5.12.1 lane_offset

elem_asc_order

UID: asam.net:xodr:1.4.0:road.lanes.lane_offset.elem_asc_order
Description: <laneOffset> elements shall be defined in ascending order according to the s-coordinate.

no_offset_if_border_defined

UID: asam.net:xodr:1.4.0:road.lanes.lane_offset.no_offset_if_border_defined
Description: There shall be no <laneOffset> if border definitions are present.

E.5.13 linkage

E.5.13.1 is_junction_needed

UID: asam.net:xodr:1.4.0:road.linkage.is_junction_needed
Description: Two roads shall only be linked directly if the linkage is clear. If the relationship to successor or predecessor is ambiguous, junctions shall be used.

E.5.13.2 junc_link_attribute_usage

UID: asam.net:xodr:1.7.0:road.linkage.junc_link_attribute_usage
Description: For a common junction and a direct junction as successor or predecessor the @elementType and @elementId attributes shall be used.

E.5.13.3 road_link_attribute_usage

UID: asam.net:xodr:1.4.0:road.linkage.road_link_attribute_usage
Description: For a road as successor or predecessor the @elementType, @elementId and @contactPoint attributes shall be used.

E.5.13.4 virtjunc_link_attribute_usage

UID: asam.net:xodr:1.7.0:road.linkage.virtjunc_link_attribute_usage
Description: For a virtual junction as successor or predecessor the @elementType, @elementId, @elementS and @elementDir attributes shall be used.

E.5.14 object

E.5.14.1 circular_vs_angular

UID: asam.net:xodr:1.7.0:road.object.circular_vs_angular
Description: Objects may be of circular or angular shape. The possibilities are mutually exclusive. The shape is defined by the used attributes.

E.5.14.2 valid_s_length_for_repeat

UID: asam.net:xodr:1.7.0:road.object.valid_s_length_for_repeat
Description: Redundant elements should be avoided, such as elevation or laneSection nodes for consecutive s-coordinates with identical attributes, or multiple geometry nodes for straight lines.

E.5.14.3 orientation

UID: asam.net:xodr:1.7.0:road.object.orientation
Description: The direction for which objects are valid shall be specified.

E.5.14.4 s_t_coords

UID: asam.net:xodr:1.7.0:road.object.s_t_coords
Description: The origin position of the object shall be described with s- and t-coordinates along the road surface.

E.5.14.5 type_attr

UID: asam.net:xodr:1.7.0:road.object.type_attr
Description: The type of an object shall be given by the @type attribute.

E.5.14.6 borders

useCompleteOutline_true

UID: asam.net:xodr:1.7.0:road.object.borders.useCompleteOutline_true
Description: If @useCompleteOutline is true, the <cornerReference> element shall not be defined.

E.5.14.7 bridges

define_type

UID: asam.net:xodr:1.7.0:road.object.bridges.define_type
Description: Bridges may be restricted to certain lanes, using the <laneValidity> element.

type_definition

UID: asam.net:xodr:1.7.0:road.object.bridges.type_definition
Description: The @type of the tunnel shall be specified.

from_lower_equal_to

UID: asam.net:xodr:1.7.0:road.object.bridges.from_lower_equal_to
Description: The value of the @fromLane attribute shall be lower than or equal to the value of the @toLane attribute.

E.5.14.8 marking

colour

UID: asam.net:xodr:1.7.0:road.object.marking.colour
Description: The color of the marking shall be defined.

no_cornerreference_if_no_outline

UID: asam.net:xodr:1.7.0:road.object.marking.no_cornerreference_if_no_outline
Description: If no outline is used, the <cornerReference> element cannot be used.

no_outline_side_attr

UID: asam.net:xodr:1.7.0:road.object.marking.no_outline_side_attr
Description: If no outline is used, the @side attribute is mandatory.

outline_corner_reference_count

UID: asam.net:xodr:1.7.0:road.object.marking.outline_corner_reference_count
Description: If an outline is used, at least two <cornerReference> elements are mandatory.

E.5.14.9 material

materials_may_differ

UID: asam.net:xodr:1.7.0:road.object.material.materials_may_differ
Description: The material of objects may differ from the surrounding road.

E.5.14.10 outline

outline_followed_by_corner

UID: asam.net:xodr:1.7.0:road.object.outline.outline_followed_by_corner
Description: An <outline> element shall be followed by two or more <cornerRoad> elements or by two or more <cornerLocal> elements.

points_inside_box

UID: asam.net:xodr:1.7.0:road.object.outline.points_inside_box
Description: All points of the <outline> element must be located inside the bounding box.

E.5.14.11 reference

from_lower_equal_to

UID: asam.net:xodr:1.7.0:road.object.reference.from_lower_equal_to
Description: The value of the @fromLane attribute shall be lower than or equal to the value of the @toLane attribute.

E.5.14.12 skeleton

points_inside_box

UID: asam.net:xodr:1.8.0:road.object.skeleton.points_inside_box
Description: All points of the <polyline> element must be located inside the bounding box, including their local width and height or radius.

points_requirements

UID: asam.net:xodr:1.8.0:road.object.skeleton.points_requirements
Description: All points of the <polyline> element are connected with a straight line between the <vertexRoad> or <vertexLocal> elements and the specified @radius or @width and @height attributes of each point are perpendicular to this line.

polyline_followed_by_vertex

UID: asam.net:xodr:1.8.0:road.object.skeleton.polyline_followed_by_vertex
Description: A <polyline> element shall be followed by either two or more <vertexRoad> elements or by two or more <vertexLocal> elements.

use_radius_or_width_length

UID: asam.net:xodr:1.8.0:road.object.skeleton.use_radius_or_width_length
Description: Each <polyline> element shall either use @radius or @width and @length attributes for all of its vertex elements.

vertex_local

element_min_amount

UID: asam.net:xodr:1.8.0:road.object.skeleton.vertex_local.element_min_amount
Description: There shall be at least two <vertexLocal> elements inside an <polyline> element.

liniear_interpolation

UID: asam.net:xodr:1.8.0:road.object.skeleton.vertex_local.liniear_interpolation
Description: Values of @radius or @width and @length attributes will be interpolated linearly between two <vertexLocal> points.

vertex_local_elements

UID: asam.net:xodr:1.8.0:road.object.skeleton.vertex_local.vertex_local_elements
Description: <vertexLocal> elements shall not use @radius together with @width and @length attributes in one <polyline> element.

vertex_road

element_min_amount

UID: asam.net:xodr:1.8.0:road.object.skeleton.vertex_road.element_min_amount
Description: There shall be at least two <vertexRoad> elements inside a <polyline> element.

no_radius_with_width_length

UID: asam.net:xodr:1.8.0:road.object.skeleton.vertex_road.no_radius_with_width_length
Description: <vertexRoad> elements shall not use @radius together with @width and @length attributes in one <polyline> element.

polyline_elements

UID: asam.net:xodr:1.8.0:road.object.skeleton.vertex_road.polyline_elements
Description: There shall be no <vertexLocal> element next to a <vertexRoad> element inside the same <polyline> element.

E.5.14.13 surface

calculate_road_height

UID: asam.net:xodr:1.7.0:road.object.surface.calculate_road_height
Description: If crgEvaluv2z returns NaN, then the road height at that position shall be the ASAM OpenDRIVE height in addition to the road surface CRG, if it is present. The value of @hideRoadSurfaceCRG attribute shall have no influence.The value of @hideRoadSurfaceCRG attribute shall have no influence.

crg_hidden_on_object_overlap

UID: asam.net:xodr:1.7.0:road.object.surface.crg_hidden_on_object_overlap
Description: If a road surface CRG is present, that is, the CRG area overlaps the bounding box of the object and has any mode other than attached, then @hideRoadSurfaceCRG shall be false. True shall not be allowed.

identical_local_coordinates

UID: asam.net:xodr:1.7.0:road.object.surface.identical_local_coordinates
Description: The local coordinate system of the CRG shall be identical to the local coordinate system of the object to which it belongs. The reference line, inertial position, curvature, and heading of the CRG file shall be ignored.

no_bounding_box_overlap

UID: asam.net:xodr:1.7.0:road.object.surface.no_bounding_box_overlap
Description: The bounding boxes of objects with <surface> elements shall not overlap.

object_reference_on_overlap

UID: asam.net:xodr:1.7.0:road.object.surface.object_reference_on_overlap
Description: An object with a <surface> element shall be referenced on all roads it overlaps, using <object> and <objectReference> elements.

only_for_angular_boxes

UID: asam.net:xodr:1.7.0:road.object.surface.only_for_angular_boxes
Description: Only objects with angular bounding boxes may contain <surface> elements. Circular objects or objects with <outlines> elements shall not contain <surface> elements.

only_one_crg_file

UID: asam.net:xodr:1.7.0:road.object.surface.only_one_crg_file
Description: An object shall not reference more than one CRG file.

repeat_discretely_not_continously

UID: asam.net:xodr:1.7.0:road.object.surface.repeat_discretely_not_continously
Description: Objects with <surface> elements may repeat discretely, but not continuously. See [top-fc693ed2-a38b-4cfc-a346-90c8a478bfd0].

E.5.14.14 tunnels

from_lower_equal_to

UID: asam.net:xodr:1.7.0:road.object.tunnels.from_lower_equal_to
Description: The value of the @fromLane attribute shall be lower than or equal to the value of the @toLane attribute.

type_definition

UID: asam.net:xodr:1.7.0:road.object.tunnels.type_definition
Description: The @type of the tunnel shall be specified.

E.5.14.15 validity

check_parent_orientation

UID: asam.net:xodr:1.7.0:road.object.validty.check_parent_orientation
Description: The range given by all <validity> elements shall be a subset of the parent’s @orientation attribute:

from_lower_equal_to

UID: asam.net:xodr:1.7.0:road.object.validty.from_lower_equal_to
Description: The value of the @fromLane attribute shall be lower than or equal to the value of the @toLane attribute.

right_hand_traffic_lane_ids

UID: asam.net:xodr:1.7.0:road.object.validty.right_hand_traffic_lane_ids
Description: For right-hand traffic, @orientation="+" implies that the <validity> element shall only span negative lane ids, while @orientation="-" implies that the <validity> element shall only span positive lane ids. If the given <validity> elements span both, positive and negative lane ids, @orientation="none" shall be used.

left_hand_traffic_lane_ids

UID: asam.net:xodr:1.7.0:road.object.validty.left_hand_traffic_lane_ids
Description: For left-hand-traffic, @orientation="-" implies that the <validity> element shall only span negative lane ids, while @orientation="+" implies that the <validity> element shall only span positive lane ids. If the given <validity> elements span both, positive and negative lane ids, @orientation="none" shall be used.

E.5.15 railroad

E.5.15.1 one_rail_per_road

UID: asam.net:xodr:1.7.0:road.railroad.one_rail_per_road
Description: There shall only be one tram or one rail lane per road.

E.5.15.2 platforms

min_amount

UID: asam.net:xodr:1.7.0:road.railroad.platforms.min_amount
Description: There shall be at least one platform per station.

min_segments

UID: asam.net:xodr:1.7.0:road.railroad.platforms.min_segments
Description: A platform shall contain at least one segment.

E.5.15.3 rail_lane_width_validity

UID: asam.net:xodr:1.7.0:road.railroad.rail_lane_width_validity
Description: The width of the lane shall be at least the width rail-bound vehicles.

E.5.15.4 rail_refline_centered

UID: asam.net:xodr:1.7.0:road.railroad.rail_refline_centered
Description: The road reference line shall be in the center of the pair of railroad tracks.

E.5.15.5 segment

segmenta_per_platform_min_amount

UID: asam.net:xodr:1.7.0:road.railroad.segment.segmenta_per_platform_min_amount
Description: There shall be at least one segment per platform.

E.5.15.6 stations

one_platform_per_station

UID: asam.net:xodr:1.7.0:road.railroad.stations.one_platform_per_station
Description: A <station> element shall be followed by at least one <platform> element.

E.5.15.7 switch

check_switch_conn

UID: asam.net:xodr:1.7.0:road.railroad.switch.check_switch_conn
Description: Main tracks shall not be used to connect two switches.

single_switch_no_partner

UID: asam.net:xodr:1.7.0:road.railroad.switch.single_switch_no_partner
Description: Single switches do not have partner switches.

E.5.16 shape

E.5.16.1 elem_asc_order

UID: asam.net:xodr:1.4.0:road.shape.elem_asc_order
Description: <shape> elements shall be defined in ascending order, firstly according to the s-coordinate and secondly according to the t-coordinate.

E.5.16.2 create_new_type_in_parent

UID: asam.net:xodr:1.4.0:road.type.t_definition_coverage
Description: At all s-positions the t-definition has to cover the maximum road width of the entire road.

E.5.17 signal

E.5.17.1 boards

multi_board_have_sub_boards

UID: asam.net:xodr:1.8.0:road.signal.boards.multi_board_have_sub_boards
Description: A multi board shall have at least one static signal board and at least one variable message board.

multi_board_use_correct_type

UID: asam.net:xodr:1.8.0:road.signal.boards.multi_board_use_correct_type
Description: Multi boards shall be specified to be @type="multiBoard".

multi_board_use_dynamic_true

UID: asam.net:xodr:1.8.0:road.signal.boards.multi_board_use_dynamic_true
Description: Multi boards shall be specified to be @dynamic="true".

static_board_use_correct_type

UID: asam.net:xodr:1.8.0:road.signal.boards.static_board_use_correct_type
Description: Static signal boards shall be specified to be @type="staticBoard".

E.5.17.2 controller

valid_for_signals

UID: asam.net:xodr:1.7.0:road.signal.controller.valid_for_signals
Description: Controllers shall be valid for one or more signals.

E.5.17.3 dependency

multiple_dependency

UID: asam.net:xodr:1.7.0:road.signal.dependency.multiple_dependency
Description: A signal may have multiple dependencies.

E.5.17.4 priority

UID: asam.net:xodr:1.7.0:road.signal.priority
Description: If present, signals shall be used in priority to other traffic rules.

E.5.17.5 reference

from_lower_equal_to

UID: asam.net:xodr:1.7.0:road.signal.reference.from_lower_equal_to
Description: The value of the @fromLane attribute shall be lower than or equal to the value of the @toLane attribute.

left_hand_traffic_lane_ids

UID: asam.net:xodr:1.7.0:road.signal.reference.left_hand_traffic_lane_ids
Description: For left-hand-traffic, @orientation="-" implies that the <validity> element shall only span negative lane ids, while @orientation="+" implies that the <validity> element shall only span positive lane ids. If the given <validity> elements span both, positive and negative lane ids, @orientation="none" shall be used.

right_hand_traffic_lane_ids

UID: asam.net:xodr:1.7.0:road.signal.reference.right_hand_traffic_lane_ids
Description: For right-hand traffic, @orientation="+" implies that the <validity> element shall only span negative lane ids, while @orientation="-" implies that the <validity> element shall only span positive lane ids. If the given <validity> elements span both, positive and negative lane ids, @orientation="none" shall be used

specify_direction

UID: asam.net:xodr:1.7.0:road.signal.reference.specify_direction
Description: The direction on the road for which the referenced signal is valid shall be specified for every <signalReference> element using the @orientation attribute.

used_for_signals_only

UID: asam.net:xodr:1.7.0:road.signal.reference.used_for_signals_only
Description: Signal reference shall be used for signals only.

signal_type

UID: asam.net:xodr:1.7.0:road.signal.signal_type
Description: Signals shall have a specific type and subtype.

use_country_code

UID: asam.net:xodr:1.7.0:road.signal.use_country_code
Description: A country code shall be added to refer to country-specific rules using the @country attribute.

E.5.17.6 Validity

right_hand_traffic_lane_ids

UID: asam.net:xodr:1.7.0:road.signal.validty.right_hand_traffic_lane_ids
Description: For right-hand traffic, @orientation="+" implies that the <validity> element shall only span negative lane ids, while @orientation="-" implies that the <validity> element shall only span positive lane ids. If the given <validity> elements span both, positive and negative lane ids, @orientation="none" shall be used.

from_lower_equal_to

UID: asam.net:xodr:1.7.0:road.signal.validty.left_hand_traffic_lane_ids
Description: For left-hand-traffic, @orientation="-" implies that the <validity> element shall only span negative lane ids, while @orientation="+" implies that the <validity> element shall only span positive lane ids. If the given <validity> elements span both, positive and negative lane ids, @orientation="none" shall be used.

E.5.18 superelevation

E.5.18.1 elem_asc_order

UID: asam.net:xodr:1.4.0:road.superelevation.elem_asc_order
Description: <superelevation> elements shall be defined in ascending order according to the s-coordinate.

E.5.19 type

E.5.19.1 create_new_type_in_parent

UID: asam.net:xodr:1.4.0:road.type.create_new_type_in_parent
Description: When the type of road changes, a new <type> element shall be created within the parent <road> element.

E.5.19.2 elem_asc_order

UID: asam.net:xodr:1.4.0:road.type.elem_asc_order
Description: <type> elements shall be defined in ascending order according to the s-coordinate.

E.5.19.3 lane_type_may_differ_from_parent

UID: asam.net:xodr:1.4.0:road.type.lane_type_may_differ_from_parent
Description: Single lanes may have another type than the road they belong to. Road type and lane type represent different properties and are both valid if specified.

E.5.19.4 only_alpha_2_country_codes

UID: asam.net:xodr:1.7.0:road.type.only_alpha_2_country_codes
Description: There shall only be ALPHA-2 country codes in use, no ALPHA-3 country codes, because only ALPHA-2 country codes support state identifiers.