Class RelativeRoadPosition

Applied Stereotypes:: XSDcomplexType

Position defined in terms of the relative distance (ds) along the road's reference line and the relative lateral offset (dt) to the road's reference line which are derived from the position of the reference entity.

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 along the road reference line of the connecting road. It is assumed that the reference line of the road of the reference entity continues seamlessly on the connecting road (even if its shape changes). 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 ds- and dt-coordinates 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
ds	double	1..1	XSDattribute	The offset along the road's reference line relative to the s-coordinate of the reference entity. Unit: [m].
dt	double	1..1	XSDattribute	The offset on the axis orthogonal to the road's reference line relative to the t-coordinate of the reference entity. Unit: [m].
entityRef	Entity	1..1	nameRef, XSDattribute	reference entity.
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 road at the target position. 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 road s-axis at the s-position of the target position. 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="RelativeRoadPosition">
<xsd:all>
<xsd:element name="Orientation" type="Orientation" minOccurs="0"/>
</xsd:all>
<xsd:attribute name="entityRef" type="String" use="required"/>
<xsd:attribute name="ds" type="Double" use="required"/>
<xsd:attribute name="dt" type="Double" use="required"/>
</xsd:complexType>

Change log from version 1.2
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 road at the target position. 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 road s-axis at the s-position of the target position. 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 road of the reference entity. 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 road s-axis at the s-position of the reference entity. 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 '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 road at the target position. 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 road s-axis at the s-position of the target position. 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 road of the reference entity. 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 road s-axis at the s-position of the reference entity. 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 ds XSDattribute Property dt XSDattribute Property entityRef nameRef [xsdType: "string"] XSDattribute Property orientation XSDelement [position: "2"]

To XSD