Class RelativeLanePosition

Applied Stereotypes:: XSDcomplexType

Defines a position derived from relative lane coordinates (dLane, ds / dsLane and offset) to a reference entity.
Where ds is provided, the position is computed by the following process:

Find the closest road reference line point to the reference entity. Travel the road reference line difference ds from the position of the reference entity.
Find the target lane by adding dLane to that of the reference entity and the intersection of the road reference line's normal with its center lane.
Apply offset as a lateral offset.

Alternatively where dsLane is provided, the following process is used:

Find the closest lane center line point to the reference entity. Travel the lane center line difference dsLane from the position of the reference entity in the direction the reference entity is facing.
Find the target lane by adding dLane to that of the reference entity's and the intersection of the source lane's center lane normal with its center lane.
Apply offset as a lateral offset.

The target position may be either on the same road segment (defined by roadId), where the reference entity is positioned, or on a connecting road. In the latter case, the ds-coordinate is calculated assuming that the reference line of the road of the reference entity continues seamlessly on the connecting road (even if its shape changes). It is also assumed that the lane, where the reference entity is located, continues seamlessly on the connecting road (provided the lane's center line is unbroken between roads). It is assumed that the target position relates to the routing of the reference entity. Otherwise, the calculation of the target position cannot be interpreted within the OpenSCENARIO standard.

The relative lane coordinates (dLane, ds/dsLane, and offset) should be specified so that the target position is within a road defined by roadId taken from the respective road network definition file (external to the ASAM OpenSCENARIO). If the target position would be outside the road boundaries, the z-coordinate of the position is undefined.

Used in:: Position

Properties

Name	Type	Cardinality	AppliedStereotypes	Description
dLane	int	1..1	XSDattribute	The deviation value between the laneId of the lane, where the reference entity is located, and the target laneId.
ds	double	0..1	XSDattribute	The offset along the road's reference line relative to the s-coordinate of the reference entity. Mutually exclusive with dsLane. Unit: [m].
dsLane	double	0..1	XSDattribute	The offset along the center line of the lane, where the reference entity is located. Mutually exclusive with ds. Unit: [m].
entityRef	Entity	1..1	nameRef, XSDattribute	Reference entity.
offset	double	0..1	XSDattribute	The lateral offset to the center line of the target lane (along the t-axis of the target lane center line). Missing value is interpreted as 0. The positive value means the offset is applied in the direction of the t-axis being imagined at the target s-position. Unit: [m].
orientation	Orientation	0..1	XSDelement	The Pitch and Roll angles are determined by the underlying road surface at the target position and therefore undefined by the OpenSCENARIO standard. The absolute reference context refers to the orientation with respect to the World coordinate system. Only the Heading angle at the target position can be arbitrarily specified on the (X,Y)-plane counting from the X-axis. The relative reference context refers to the orientation with respect to the (s,t)-coordinate system of the lane where the target position is located. Only the Heading angle at the target position on the (s,t)-plane can be arbitrarily specified. To calculate the Heading, the imaginary straight axis at the target position is built parallel to the tangent to the lane s-axis at the target s-position on the target road s-axis. The Heading is counted from this imaginary axis. Missing Orientation property is interpreted as the relative reference context with Heading=Pitch=Roll=0.

XSD 1.3 Representation

<xsd:complexType name="RelativeLanePosition">
<xsd:all>
<xsd:element name="Orientation" type="Orientation" minOccurs="0"/>
</xsd:all>
<xsd:attribute name="entityRef" type="String" use="required"/>
<xsd:attribute name="dLane" type="Int" use="required"/>
<xsd:attribute name="ds" type="Double"/>
<xsd:attribute name="offset" type="Double"/>
<xsd:attribute name="dsLane" type="Double"/>
</xsd:complexType>

Change log from version 1.2
Property 'offset'. Annotation changed. New Value The lateral offset to the center line of the target lane (along the t-axis of the target lane center line). Missing value is interpreted as 0. The positive value means the offset is applied in the direction of the t-axis being imagined at the target s-position. Unit: [m]. From 1.2.0 The lateral offset to the center line of the target lane (along the normal to the road's reference line). Missing value is interpreted as 0. The positive value means the offset is applied in the direction of the t-axis being imagined at the target s-position. Unit: [m]. Property 'orientation'. Annotation changed. New Value The Pitch and Roll angles are determined by the underlying road surface at the target position and therefore undefined by the OpenSCENARIO standard. The absolute reference context refers to the orientation with respect to the World coordinate system. Only the Heading angle at the target position can be arbitrarily specified on the (X,Y)-plane counting from the X-axis. The relative reference context refers to the orientation with respect to the (s,t)-coordinate system of the lane where the target position is located. Only the Heading angle at the target position on the (s,t)-plane can be arbitrarily specified. To calculate the Heading, the imaginary straight axis at the target position is built parallel to the tangent to the lane s-axis at the target s-position on the target road s-axis. The Heading is counted from this imaginary axis. Missing Orientation property is interpreted as the relative reference context with Heading=Pitch=Roll=0. From 1.2.0 The Pitch and Roll angles are determined by the underlying road surface at the target position and therefore undefined by the OpenSCENARIO standard. The absolute reference context refers to the orientation with respect to the World coordinate system. Only the Heading angle at the target position can be arbitrarily specified on the (X,Y)-plane counting from the X-axis. The relative reference context refers to the orientation with respect to the (s,t)-coordinate system of the lane where the reference entity is located. Only the Heading angle at the target position on the (s,t)-plane can be arbitrarily specified. To calculate the Heading, the imaginary straight axis at the target position is built parallel to the tangent to the reference lane s-axis at the reference entity s-position on the reference road s-axis. The Heading is counted from this imaginary axis. Missing Orientation property is interpreted as the absolute reference context with Heading=Pitch=Roll=0.

Change log from version 1.2

Property 'offset'. Annotation changed.
- New Value
  
  The lateral offset to the center line of the target lane (along the t-axis of the target lane center line). Missing value is interpreted as 0. The positive value means the offset is applied in the direction of the t-axis being imagined at the target s-position. Unit: [m].
  
  From 1.2.0
  
  The lateral offset to the center line of the target lane (along the normal to the road's reference line). Missing value is interpreted as 0. The positive value means the offset is applied in the direction of the t-axis being imagined at the target s-position. Unit: [m].

Property 'orientation'. Annotation changed.
- New Value
  
  The Pitch and Roll angles are determined by the underlying road surface at the target position and therefore undefined by the OpenSCENARIO standard. The absolute reference context refers to the orientation with respect to the World coordinate system. Only the Heading angle at the target position can be arbitrarily specified on the (X,Y)-plane counting from the X-axis. The relative reference context refers to the orientation with respect to the (s,t)-coordinate system of the lane where the target position is located. Only the Heading angle at the target position on the (s,t)-plane can be arbitrarily specified. To calculate the Heading, the imaginary straight axis at the target position is built parallel to the tangent to the lane s-axis at the target s-position on the target road s-axis. The Heading is counted from this imaginary axis. Missing Orientation property is interpreted as the relative reference context with Heading=Pitch=Roll=0.
  
  From 1.2.0
  
  The Pitch and Roll angles are determined by the underlying road surface at the target position and therefore undefined by the OpenSCENARIO standard. The absolute reference context refers to the orientation with respect to the World coordinate system. Only the Heading angle at the target position can be arbitrarily specified on the (X,Y)-plane counting from the X-axis. The relative reference context refers to the orientation with respect to the (s,t)-coordinate system of the lane where the reference entity is located. Only the Heading angle at the target position on the (s,t)-plane can be arbitrarily specified. To calculate the Heading, the imaginary straight axis at the target position is built parallel to the tangent to the reference lane s-axis at the reference entity s-position on the reference road s-axis. The Heading is counted from this imaginary axis. Missing Orientation property is interpreted as the absolute reference context with Heading=Pitch=Roll=0.

Stereotype Details Information
Class XSDcomplexType [modelGroup: "all"; mixed: "false"] Property dLane XSDattribute Property ds XSDattribute Property dsLane XSDattribute Property entityRef nameRef [xsdType: "string"] XSDattribute Property offset XSDattribute Property orientation XSDelement [position: "2"]

To XSD