Draft for discussion: Surface lines to model road shapes and heights #619
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Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
Added the surfaceline message to OSI_Lane.proto Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
clemenshabedank
added
the
RoadModel4.0
Updated explanation why surfacelines are not defined for lanes of TYPE_INTERSECTION yet. Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
Edited description of is_at_left_lane_boundary and is_at_right_lane_boundary to clarify intended usage. Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
Deleted obsolete osi_surfaceline.proto since it has been incorporated into osi_lane.proto Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
Adjusted description for surfacelines not defined in TYPE_INTERSECTION Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
This was referenced Mar 16, 2022
Changed variables of is_at_left_lane_boundary/is_at_right_lane_boundary, since a surfaceline can only describe any one LaneBoundary, regardless wether it is located left or right of that Lane. Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
Will upload updated version Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
Merged
Moved surfaceline_is_centerline outside of Surfaceline message to directly access it from Lane. Also fixed typos and descriptions. Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
Changed explanation of center_surfaceline_id Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
Added surfacelines at lane boundaries in picture Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
clemenshabedank
added
ReadyForCCBReview
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ReadyForCCBReview label in order to get a preliminary review on the approach.
|
|
Feedback CCB:
Current use case: update valid positions in TrafficUpdate, only based on OSI. No Blocker but needs further thoughts regarding HIL/SIL use cases / configurations regarding real time requirements etc. -> but separate discussion. |
clemenshabedank
removed
the
ReadyForCCBReview
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Status from the Road Model group: Wait a couple of weeks on OpenDRIVE concepts to progress. Next meeting May 2nd. |
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This is the new draft for the surfacelines from the ASAM OSI Road Network Model Group. The current version includes all feedback so far and will enable OSI to model various road shapes and heights along a lane.
As discussed, the approach follows the concept of Vector3D line segments that form a lane and are used to retrieve height information at different parts of that lane. Speed bumps etc. could be modeled with more points, while almost flat surfaces would require almost none surface lines at all.
Height information of lane boundaries should be also included. The concept should only be used for a very rough description of the height profile and not used for a very detailed description of the road surface.
It would replace the currently implemented centerline for now (but not necessarily). The intend is to separate physical properties from logical information. It would still be possible though to place a surface line in the center of the lane to keep that information.
Concept will be expanded to be used in junctions, but is still open for discussion within the concept group.
Take this checklist as orientation for yourself, if this PR is ready for the Change Control Board:
If you can’t check all of them, please explain why.
If all boxes are checked or commented and you have achieved at least one positive review, you can assign the label ReadyForCCBReview!