List of figures

Figure 1

Relationship between ASAM OpenDRIVE, ASAM OpenCRG, and ASAM OpenSCENARIO

Figure 2

UML notation (see ISO TS 19103, Geographic information - Conceptual schema language)

Figure 3

UML attribute notation

Figure 4

UML class diagram of the Core class

Figure 5

UML class diagram of the Header class

Figure 6

UML class diagram of the Core class

Figure 7

Available coordinate systems in ASAM OpenDRIVE

Figure 8

Coordinate systems in ASAM OpenDRIVE interacting with another

Figure 9

Summary of coordinate system in ASAM OpenDRIVE

Figure 10

Reference-line-based s/t-coordinate system with origin at the beginning of the road

Figure 11

Inertial coordinate system with defined rotations

Figure 12

Inertial coordinate system with defined rotations

Figure 13

Road reference line coordinate system

Figure 14

Road reference line coordinate system with defined rotations

Figure 15

Heading in road reference line

Figure 16

Roll in road reference line by superelevation

Figure 17

Elevation in road reference line

Figure 18

Local coordinate system with defined rotations

Figure 19

Local coordinate systems with heading, pitch, roll

Figure 20

Local coordinate system with respect to road reference line coordinate system

Figure 21

geoReference and offset

Figure 22

Geometry elements in ASAM OpenDRIVE

Figure 23

Example for creating a road reference line from geometry elements

Figure 24

Individual parts of a road

Figure 25

UML class diagram of the RoadGeometry class, including the road reference line elements

Figure 26

A straight line

Figure 27

Road geometry described by a spiral

Figure 28

Road geometry described by an arc

Figure 29

A parametric cubic curve for interpolation of the u-coordinate

Figure 30

A parametric cubic curve for interpolation of the v-coordinate

Figure 31

A parametric cubic curve

Figure 32

A cubic polynomial

Figure 33

A curve which cannot be represented by a cubic polynomial w.r.t x parameter

Figure 34

Transformation from a u/v to a x/y coordinate system with a=b=0

Figure 35

Transformation from a u/v to a x/y coordinate system with a!=0 and b!=0

Figure 36

UML class diagram of the Road class

Figure 37

UML class diagram of the RoadGeometry class

Figure 38

Allowed, prohibited, and recommended road linkage

Figure 39

Allowed cases of road linkage

Figure 40

Allowed case of road linkage within a junction

Figure 41

UML class diagram of the Link class

Figure 42

Types of elevation

Figure 43

Superelevation

Figure 44

Minimum t-definition range for road shapes

Figure 45

Road shape definition

Figure 46

Road shape definition in combination with superelevation

Figure 47

Cross section surface strips on a road

Figure 48

Cross section surface

Figure 49

Road surface as defined in a CRG file

Figure 50

ASAM OpenCRG road surface description using u/v coordinates and x/y coordinates

Figure 51

Positioning of an ASAM OpenCRG file along the reference line

Figure 52

ASAM OpenCRG attachment mode, attached

Figure 53

ASAM OpenCRG attached mode with elevation

Figure 54

ASAM OpenCRG attached0 mode with elevated reference line

Figure 55

ASAM OpenCRG attachment mode, genuine

Figure 56

ASAM OpenCRG orientation

Figure 57

Center lane for road with lanes of different driving directions

Figure 58

Center lane for road with lanes of identical driving direction

Figure 59

UML class diagram of the Lanes class

Figure 60

Lane grouping with left, center, right

Figure 61

Road section with lane sections

Figure 62

Lane sections defined separately for both sides of the road

Figure 63

Lane offset

Figure 64

Lane links for road with id 10

Figure 65

Example of an ending bikeway

Figure 66

Example of a splitting driving lane

Figure 67

UML class diagram of the t_road_lanes_laneSection_lcr_lane_link element in the Lanes class

Figure 68

UML model for lane geometry in the Lanes class

Figure 69

Change of lane width per lane section

Figure 70

Lane with varying border shape

Figure 71

Lane height

Figure 72

Lanes excluded from road elevation

Figure 73

UML class diagram of the Lanes class

Figure 74

Lane types for a motorway

Figure 75

Lane types for a rural road

Figure 76

Lane types for an urban road

Figure 77

Lane types for motorway exit and entry

Figure 78

Lane types for motorway connecting to another motorway

Figure 79

Lane-specific speed limits

Figure 80

Lane access, bus lane

Figure 81

UML class diagram of the RoadMark class

Figure 82

UML class diagram of the Junction class

Figure 83

Types of roads in a junction (right-hand traffic)

Figure 84

Connecting roads of junction with id 1 (left hand traffic)

Figure 85

Example of a cross path with a pedestrian crossing in a common junction

Figure 86

Direct junction

Figure 87

Direct junction with overlapping lanes

Figure 88

Junction with multiple overlapping lanes on two roads

Figure 89

Junction with multiple overlapping lanes on multiple roads

Figure 90

Junction with crossing traffic and multiple overlapping lanes on multiple roads

Figure 91

Example of a virtual junction showing a parking lot entry and exit

Figure 92

Example of a cross path with a pedestrian crossing

Figure 93

Virtual junction with virtual connections

Figure 94

Example of a crossing with a railroad track

Figure 95

Junction reference line ~red arrow~

Figure 96

UML class diagram of the JunctionGeometry class

Figure 97

Junction boundary formed by segments

Figure 98

Example of a minimal elevation grid attached to a junction reference line

Figure 99

Example of an elevation grid with more points

Figure 100

Point P in the elevation grid

Figure 101

Points around P relevant for interpolations

Figure 102

Tangents and cubic splines relevant for interpolation

Figure 103

Three segments of a junction boundary and the corner points P₀, P₁, P₂, and P₃ of the polygon at an incoming road

Figure 104

Polygon and the lines AB and CD through the point P

Figure 105

Junction group with three junctions

Figure 106

UML class diagram of the JunctionGroup class

Figure 107

Example of a junction with 20 traffic lights mapped into six signal groups (IDs 42-47)

Figure 108

Circular and angular object

Figure 109

Placing objects on roads

Figure 110

UML class diagram of the Objects class

Figure 111

Repeated large angular object

Figure 112

Repeated small angular objects

Figure 113

Repeated small circular objects

Figure 114

Traffic island as object

Figure 115

Object described by corner road coordinates

Figure 116

An object described by <cornerLocal> coordinates

Figure 117

Example of the bounding box and skeleton of a traffic light pole

Figure 118

Example of the skeleton of a tree

Figure 119

Parking spaces rectangular (left figure) and rhomboid (right figure)

Figure 120

Crosswalk in ASAM OpenDRIVE

Figure 121

Tunnel

Figure 122

Bridge

Figure 123

CRG for objects

Figure 124

Signals in ASAM OpenDRIVE

Figure 125

Width and height for signal

Figure 126

Orientation and hOffset for signal

Figure 127

UML class diagram of the Signals class

Figure 128

Lanes with signals in the shape of road marks

Figure 129

Lane and type specific speed limit

Figure 130

UML model of the t_road_signals_signalReference element in the Signals class

Figure 131

Example of a junction with 20 traffic lights mapped into six signal groups (IDs 42-47)

Figure 132

Example of a signal program that defines the signal cycles for the signal groups

Figure 133

UML class diagram of the Controller class

Figure 134

multiStaticSign from XML example above

Figure 135

UML class diagram of the SignalGroup class

Figure 136

UML class diagram of the Semantics class

Figure 137

Junction with signals at physical and logical positions

Figure 138

UML class diagram of the t_physicalPosition element in the Signals class

Figure 139

UML class diagram of the Railroad class

Figure 140

Road reference lines for roads and railroads

Figure 141

Railroad switches

Figure 142

Railroad stations

Figure 143

UML class diagram of the Station class