Annex F: 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.

F.1 defaultRegulations

F.1.1 only_speed_priority

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

F.2 header

F.2.1 offset

F.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.

F.2.2 proj

F.2.2.1 max_one_proj

UID: asam.net:xodr:1.9.0:header.proj.max_one_proj
Description: There shall be no more than one definition of the projection. If the definition is missing, a local Cartesian coordinate system is assumed.

F.3 ids

F.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.

F.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.

F.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.

F.4 junctions

F.4.1 no_overlap

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

F.4.2 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.

F.4.3 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.

F.4.4 boundary

F.4.4.1 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.

F.4.4.2 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.

F.4.4.3 segments_close_boundry

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

F.4.4.4 segments_counter_clockwise_order

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

F.4.4.5 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.

F.4.5 common

F.4.5.1 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.

F.4.5.2 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.

F.4.5.3 not_only_two

UID: asam.net:xodr:1.9.0:junctions.common.not_only_two
Description: Junctions should not be used when only two roads meet.

F.4.5.4 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.

F.4.5.5 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.

F.4.6 connection

F.4.6.1 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.

F.4.6.2 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

F.4.6.3 lane_change_one_con_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.

F.4.6.4 connect_road_no_incoming_road

UID: asam.net:xodr:1.9.0:junctions.connection.no_connecting_road_direct
Description: The @connectingRoad attribute shall not be used for junctions with @type="direct".

F.4.6.5 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.

F.4.6.6 one_link_to_incoming

UID: asam.net:xodr:1.8.0:junctions.connection.one_link_to_incoming
Description: There shall only be one <connection> for a specific combination of @incomingRoad and @connectingRoad. For each <connection>, its <laneLink> elements shall only be specified for the lanes that lead into the junction.

F.4.6.7 connect_road_no_incoming_road

UID: asam.net:xodr:1.9.0:junctions.connection.smooth_fit
Description: The linked lanes shall fit smoothly as described for roads (see Section 10.3, "Road linkage").

F.4.6.8 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.

F.4.7 crossing

F.4.7.1 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.

F.4.7.2 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.

F.4.7.3 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.

F.4.8 cross_path

F.4.8.1 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.

F.4.8.2 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.

F.4.8.3 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.

F.4.8.4 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".

F.4.8.5 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.

F.4.8.6 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.

F.4.9 direct

F.4.9.1 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".

F.4.9.2 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".

F.4.9.3 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.

F.4.9.4 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 Section 10.3, "Road linkage").

F.4.9.5 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.

F.4.9.6 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.

F.4.9.7 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.

F.4.9.8 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.

F.4.9.9 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.

F.4.10 elevation_grid

F.4.10.1 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.

F.4.10.2 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.

F.4.10.3 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.

F.4.10.4 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.

F.4.10.5 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.

F.4.11 geometry

F.4.11.1 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.

F.4.11.2 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.

F.4.11.3 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.

F.4.12 priority

F.4.12.1 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.

F.4.12.2 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.

F.4.13 virtual

F.4.13.1 connecting_roads_start_end

UID: asam.net:xodr:1.9.0:junctions.virtual.connecting_roads_start_end
Description: All connecting roads within the virtual junction shall either start or end at @sStart or at @sEnd.

F.4.13.2 heading_equal_mainroad

UID: asam.net:xodr:1.9.0:junctions.virtual.heading_equal_mainroad
Description: The heading of the connecting roads and the @mainRoad shall be equal at @sStart and at @sEnd.

F.4.13.3 linked_lanes_smooth_fit

UID: asam.net:xodr:1.9.0:junctions.virtual.linked_lanes_smooth_fit
Description: The linked lanes shall fit smoothly (see Section 10.3, "Road linkage").

F.4.13.4 main_road_only

UID: asam.net:xodr:1.9.0:junctions.virtual.main_road_only
Description: Virtual junctions shall be used for branches off the main road only. The main road has priority if not specified otherwise.

F.4.13.5 no_controllers

UID: asam.net:xodr:1.9.0:junctions.virtual.no_controllers
Description: Virtual junctions shall not have controllers and therefore no traffic lights.

F.4.13.6 only_one_start_end

UID: asam.net:xodr:1.9.0:junctions.virtual.only_one_start_end
Description: There shall only be one @sStart and one @sEnd attribute for the virtual junction.

F.4.13.7 connections

only_virtual_junctions

UID: asam.net:xodr:1.9.0:junctions.virtual.connections.only_virtual_junctions
Description: Virtual connections shall only be defined in virtual junctions.

F.4.13.8 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.

F.5 performance

F.5.1 avoid_redundant_info

UID: asam.net:xodr:1.8.1:performance.avoid_redundant_info
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.

F.6 road

F.6.1 length_sum_geometries

UID: asam.net:xodr:1.9.0:road.length_sum_geometries
Description: The road length should be the sum of the lengths of all <geometry> elements

F.6.2 no_overlap_outside_junction

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

F.6.3 no_overlap_self

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

F.6.4 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.

F.6.5 corner_local

F.6.5.1 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.

F.6.5.2 first_id_zero

UID: asam.net:xodr:1.9.0:road.corner_local.first_id_zero
Description: The @id attribute of the first <cornerLocal> element of an object should be 0.

F.6.5.3 mandatory_id_with_markings

UID: asam.net:xodr:1.9.0:road.corner_local.mandatory_id_with_markings
Description: The @id attribute of a <cornerLocal> element shall be mandatory when the parent also has a <markings> element.

F.6.5.4 no_mixing_road_local

UID: asam.net:xodr:1.x.0:road.corner_local.no_mixing_road_local
Description: "There shall be no mixture of `<cornerRoad>` and `<cornerLocal>` elements inside the same `<outline>` element."

F.6.5.5 sequential_id_values

UID: asam.net:xodr:1.9.0:road.corner_local.sequential_id_values
Description: The @id attribute should increase by 1 for each <cornerLocal> element in the order they are listed from top to bottom.

F.6.6 corner_road

F.6.6.1 corner_road_local_exclusivity

UID: asam.net:xodr:1.9.0:road.corner_road.corner_road_local_exclusivity
Description: There shall be no mixture of <cornerRoad>, <cornerLocal>, and <curveLocal> elements inside the same <outline> element.

F.6.6.2 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.

F.6.6.3 first_id_zero

UID: asam.net:xodr:1.9.0:road.corner_road.first_id_zero
Description: The @id attribute of the first <cornerRoad> element of an object should be 0.

F.6.6.4 mandatory_id_with_markings

UID: asam.net:xodr:1.9.0:road.corner_road.mandatory_id_with_markings
Description: The @id attribute of a <cornerRoad> element shall be mandatory when the parent also has a <markings> element.

F.6.6.5 sequential_id_values

UID: asam.net:xodr:1.9.0:road.corner_road.sequential_id_values
Description: The @id attribute should increase by 1 for each <cornerRoad> element in the order they are listed from top to bottom.

F.6.7 crg

F.6.7.1 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.

F.6.7.2 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.

F.6.7.3 h_offset_only_genuine

UID: asam.net:xodr:1.9.0:road.crg.h_offset_only_genuine_global
Description: @hOffset shall not be used for modes other than @mode=genuine and @mode=global.

F.6.7.4 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.

F.6.7.5 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.

F.6.7.6 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.

F.6.7.7 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.

F.6.7.8 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).

F.6.8 cross_section_surface

F.6.8.1 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.

F.6.8.2 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.

F.6.8.3 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.

F.6.8.4 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.

F.6.8.5 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.

F.6.8.6 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.

F.6.9 curve_local

F.6.9.1 continuous_curve_local

UID: asam.net:xodr:1.9.0:road.curve_local.continuous_curve_local
Description: Outlines defined by <curveLocal> elements shall be continuous.

F.6.9.2 element_min_amount

UID: asam.net:xodr:1.9.0:road.curve_local.element_min_amount
Description: There shall be at least one <curveLocal> element inside an <outline> element.

F.6.9.3 length_match

UID: asam.net:xodr:1.9.0:road.curve_local.length_match
Description: The actual curve length, as determined by numerical integration over the parameter range, should match @length.

F.6.9.4 paramPoly3

arcLength_range

UID: asam.net:xodr:1.9.0:road.curve_local.paramPoly3.arcLength_range
Description: For <paramPoly3> elements with @pRange="arcLength", p shall be chosen in [0, @length from <curveLocal>].

normalized_range

UID: asam.net:xodr:1.9.0:road.curve_local.paramPoly3.normalized_range
Description: For <paramPoly3> elements with @pRange="normalized", p shall be chosen in [0, 1].

F.6.10 elevation

F.6.10.1 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.

F.6.10.2 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.

F.6.11 geometry

F.6.11.1 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.

F.6.11.2 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.

F.6.11.3 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.

F.6.11.4 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.

F.6.11.5 refline_exists

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

F.6.11.6 refline_no_gaps

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

F.6.11.7 refline_no_kinks

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

F.6.11.8 s-value_sum

UID: asam.net:xodr:1.9.0:road.geometry.s-value_sum
Description: The s-value of each <geometry> shall be the sum of all <geometry> lengths prior

F.6.11.9 arc

no_zero_curvature

UID: asam.net:xodr:1.9.0:road.geometry.arc.no_zero_curvature
Description: @curvature should not be zero.

F.6.11.10 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.

F.6.11.11 spiral

curvature_change

UID: asam.net:xodr:1.9.0:road.geometry.spiral.curvature_change
Description: @curvStart and @curvEnd should not be the same.

F.6.12 lane

F.6.12.1 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.

F.6.12.2 center_lane

UID: asam.net:xodr:1.9.0:road.lane.center_lane
Description: Each road shall have at least one lane layer with a center lane.

F.6.12.3 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.

F.6.12.4 center_lane_no_width

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.

F.6.12.5 center_lane

UID: asam.net:xodr:1.9.0:road.lane.center_lane_singular
Description: There shall always be exactly one center lane at each s-position.

F.6.12.6 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.

F.6.12.7 lane_id_unique

UID: asam.net:xodr:1.9.0:road.lane.lane_id_unique
Description: Lane numbering shall be unique per lane section and layer.

F.6.12.8 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.

F.6.12.9 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.

F.6.12.10 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.

F.6.12.11 lane_listing

UID: asam.net:xodr:1.4.0:road.lane.lane_reverse_left_right
Description: @direction="reverse" shall not be used to change from right-hand traffic to left-hand traffic and vice versa.

F.6.12.12 lane_listing

UID: asam.net:xodr:1.9.0:road.lane.lane_section_drivable
Description: In order to be drivable, each lane section should contain at least one <right> or <left> element that is valid for the whole length of that section.

F.6.12.13 lane_sect_min_amount

UID: asam.net:xodr:1.9.0:road.lane.lane_sect_first
Description: The first lane section shall be defined with a value of 0.0 for the @s attribute.

F.6.12.14 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.

F.6.12.15 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.

F.6.12.16 s_attr_value

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

F.6.12.17 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.

F.6.12.18 border

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.

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.

F.6.12.19 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.

F.6.12.20 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.

F.6.12.21 layer

center_lane_permanent

UID: asam.net:xodr:1.9.0:road.lane.layer.center_lane_permanent
Description: Each lane section in the permanent layer shall have a center lane.

lane_group_width_temporary

UID: asam.net:xodr:1.9.0:road.lane.layer.lane_group_width_temporary
Description: For each lane group, the sum of all lane widths and lane offsets on the temporary lane layer shall not be greater than the sum of lane widths and lane offsets on the permanent lane layer.

lane_phys_attr_temporary

UID: asam.net:xodr:1.9.0:road.lane.layer.lane_phys_attr_temporary
Description: Lanes in the "temporary" layer shall not contain <height> or <material> elements. The height and material is instead determined by the permanent layer.

layer_limits

UID: asam.net:xodr:1.9.0:road.lane.layer.layer_limits
Description: Each road shall have exactly one "permanent" and up to one "temporary" lane layer.

layer_mandatory_permanent

UID: asam.net:xodr:1.9.0:road.lane.layer.layer_mandatory_permanent
Description: There shall be at least one lane in the "permanent" layer at each s-coordinate of the road.

length_only_temporary

UID: asam.net:xodr:1.9.0:road.lane.layer.length_only_temporary
Description: Lanes in the permanent lane layer shall not use the attribute @length.

F.6.12.22 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.

temporary_layer_section_link_permanent

UID: asam.net:xodr:1.9.0:road.lane.link.temporary_layer_section_link_permanent
Description: At the start and at the end of a temporary lane layer section, all drivable lanes with non-zero width on the temporary lane layer shall be linked to lanes on the permanent lane layer.

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.

F.6.12.23 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

F.6.12.24 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.

only_outer

UID: asam.net:xodr:1.9.0:road.lane.road_mark.only_outer
Description: <roadMark> elements shall only be used to describe the outer lane marking.

position_outer_half

UID: asam.net:xodr:1.9.0:road.lane.road_mark.position_outer_half
Description: The center line of the lane marking shall be positioned on the lane’s outer border line in such a way that the outer half of the lane marking is physically placed on the next lane.

F.6.12.25 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.

F.6.12.26 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.

F.6.12.27 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.

no_width_with_border

UID: asam.net:xodr:1.9.0:road.lane.width.no_width_with_border
Description: <width> elements shall not be used together with <border> elements in the same lane group.

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".

F.6.13 lanes

F.6.13.1 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.

F.6.14 lane_section

F.6.14.1 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.

F.6.14.2 lanesec_length_limit_road

UID: asam.net:xodr:1.9.0:road.lane_section.lanesec_length_limit_road
Description: A lane section with @length shall not extend beyond the end of the road.

F.6.14.3 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.

F.6.14.4 lane_sect_req

UID: asam.net:xodr:1.9.0:road.lane_section.lane_long_zero_width
Description: Using lanes with a width of 0 for long distances should be avoided.

F.6.14.5 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.

F.6.14.6 new_lanesec_link_temp_to_perm

UID: asam.net:xodr:1.9.0:road.lane_section.new_lanesec_link_temp_to_perm
Description: A new lane section on the permanent lane layer shall be defined each time lanes on the permanent layer are linked to lanes on the temporary layer.

F.6.14.7 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.

F.6.15 linkage

F.6.15.1 both_sides_consistency

UID: asam.net:xodr:1.9.0:road.linkage.both_sides_consistency
Description: <predecessor> and/or <successor> shall be defined at both sides of the road linkage and shall be consistent.

F.6.15.2 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.

F.6.15.3 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.

F.6.15.4 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.

F.6.15.5 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.

F.6.16 object

F.6.16.1 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.

F.6.16.2 orientation

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

F.6.16.3 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.

F.6.16.4 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.

F.6.16.5 borders

different_outlineids

UID: asam.net:xodr:1.9.0:road.object.borders.different_outlineids
Description: All <outline> elements of an <outlines> element shall have different @outlineId values.

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.

F.6.16.6 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.

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.

type_definition

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

F.6.16.7 marking

colour

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

complete_or_partial_on_outline

UID: asam.net:xodr:1.9.0:road.object.marking.complete_or_partial_on_outline
Description: The marking of an object with an <outlines> element shall either completely or partially be defined on one of its outlines.

markings_with_outline

UID: asam.net:xodr:1.9.0:road.object.marking.markings_with_outline
Description: If an outline is used, any <markings> element shall be inside an <outline> element.

markings_without_outline

UID: asam.net:xodr:1.9.0:road.object.marking.markings_without_outline
Description: If no outline is used, the <markings> element shall be inside the <object> element.

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.

F.6.16.8 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.

F.6.16.9 object_marking

colour

UID: asam.net:xodr:1.9.0:road.object.object_marking.colour
Description: The color of the marking shall be defined.

enclosed_outline_marking

UID: asam.net:xodr:1.9.0:road.object.object_marking.enclosed_outline_marking
Description: To specify a marking that fully encloses an object on a closed outline, the <marking> shall have two <cornerReference> elements with the same @id.

include_points_between_cornerReferences

UID: asam.net:xodr:1.9.0:road.object.object_marking.include_points_between_cornerReferences
Description: For <marking> elements with <cornerReference> elements that are not directly subsequent on the outline, all points in between shall be included as well.

keep_id_ordered

UID: asam.net:xodr:1.9.0:road.object.object_marking.keep_id_ordered
Description: <cornerReference> elements shall use the same order of @id attributes as the points of the outline they belong to.

outline_corner_reference_count

UID: asam.net:xodr:1.9.0:road.object.object_marking.outline_corner_reference_count
Description: If an outline is used, at least two <cornerRoad> elements or at least two <cornerLocal> elements or at least one <curveLocal> element shall be referenced via <cornerReference> elements.

F.6.16.10 outline

exactly_one_outer

UID: asam.net:xodr:1.9.0:road.object.outline.exactly_one_outer
Description: <outlines> elements shall have exactly one <outline> element with @outer=true.

inner_outline_touches_outer

UID: asam.net:xodr:1.9.0:road.object.outline.inner_outline_touches_outer
Description: If an inner outline touches the outer outline, the reference point shall be identical in both outlines.

outline_followed_by_corner

UID: asam.net:xodr:1.9.0:road.object.outline.outline_followed_by_corner
Description: An <outline> element shall be followed by two or more <cornerRoad> elements, by two or more <cornerLocal> elements, or by one or more <curveLocal> 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 volume.

F.6.16.11 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.

F.6.16.12 repeating

attributes_with_outline_skeleton

UID: asam.net:xodr:1.9.0:road.object.repeating.attributes_with_outline_skeleton
Description: @lengthStart, @lengthEnd, @widthStart, @widthEnd, @heightStart, and @heightEnd shall not be applicable for objects with an <outlines>, an <outline>, or a <skeleton> element.

no_widthstart_end_with_radius

UID: asam.net:xodr:1.9.0:road.object.repeating.no_widthstart_end_with_radius
Description: @widthStart and @widthEnd shall not be applicable for objects where @radius is set.

outline_use_cornerlocal

UID: asam.net:xodr:1.9.0:road.object.repeating.outline_use_cornerlocal
Description: Repeated objects with an outline shall use <cornerLocal>

valid_s_length

UID: asam.net:xodr:1.9.0:road.object.repeating.valid_s_length
Description: Repeated objects shall have valid s-coordinates and lengths.

F.6.16.13 skeleton

points_boundary_inside_box

UID: asam.net:xodr:1.9.0:road.object.skeleton.points_boundary_inside_box
Description: The boundary, defined by either width and height or radius, of each point of an object’s skeleton shall at least partially be located inside the bounding volume.

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 volume.

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.

linear_interpolation

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

no_mixing_road_local

UID: asam.net:xodr:1.9.0:road.object.skeleton.vertex_local.no_mixing_road_local
Description: There shall be no <vertexRoad> element next to a <vertexLocal> element inside the same <polyline> element.

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.

linear_interpolation

UID: asam.net:xodr:1.9.0:road.object.skeleton.vertex_road.linear_interpolation
Description: Values of @radius or @width and @length attributes shall be interpolated linearly between two <vertexRoad> points.

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.

F.6.16.14 surface

avoid_skewed_crg_surfacees

UID: asam.net:xodr:1.9.0:road.object.surface.avoid_skewed_crg_surfacees
Description: To avoid skewed CRG surfaces, the @perpToRoad attribute should only be used for objects that are smaller than the local radius of the curvature of the road elevation.

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 volume of the object and has any mode other than attached, then @hideRoadSurfaceCRG shall be false.

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 volumes 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 volumes 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 Section 13.4, "Repeating objects".

F.6.16.15 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.

F.6.16.16 validty

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.

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.

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.

F.6.17 railroad

F.6.17.1 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.

F.6.17.2 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.

F.6.17.3 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.

F.6.17.4 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.

F.6.17.5 segment

segments_per_platform_min_amount

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

F.6.17.6 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.

F.6.17.7 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.

F.6.18 shape

F.6.18.1 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.

F.6.18.2 t_definition_coverage

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

F.6.19 signal

F.6.19.1 priority

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

F.6.19.2 signal_type

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

F.6.19.3 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.

F.6.19.4 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_boards_no_single_signal

UID: asam.net:xodr:1.9.0:road.signal.boards.static_boards_no_single_signal
Description: Static boards shall not be used for single signals, for example, a stop sign on a single sheet of metal.

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".

F.6.19.5 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.

F.6.19.6 dependency

multiple_dependency

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

F.6.19.7 gantry

all_variable_boards_same_gantry

UID: asam.net:xodr:1.9.0:road.signal.gantry.all_variable_boards_same_gantry
Description: All variable message boards within a <vmsGroup> element shall belong to the same gantry.

vmsgroup_at_least_one_reference

UID: asam.net:xodr:1.9.0:road.signal.gantry.vmsgroup_at_least_one_reference
Description: Each gantry shall have one <vmsGroup> element with at least one <vmsBoardReference> element.

F.6.19.8 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.

F.6.19.9 semantics

no_semantics_without_category

UID: asam.net:xodr:1.9.0:road.signal.semantics.no_semantics_without_category
Description: Signal semantics shall not be specified for signs if no category for the desired traffic behavior exists.

F.6.19.10 validity

left_hand_traffic_lane_ids

UID: asam.net:xodr:1.7.0:road.signal.validity.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.validity.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.

F.6.20 superelevation

F.6.20.1 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.

F.6.21 type

F.6.21.1 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.

F.6.21.2 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.

F.6.21.3 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.

F.6.21.4 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.

F.6.22 use_cases

F.6.22.1 shape_elements_start_right

UID: asam.net:xodr:1.9.0:road.use_cases.shape_elements_start_right
Description: To model road shapes, shape elements shall start at the right side of the road, that is in positive t-direction. That means the elements start with negative t-values.