OpenSimulationInterface
Draft for discussion: Surface lines to model road shapes and heights
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:
- [x] My suggestion follows the style and contributors guidelines.
- [ ] I have taken care about the documentation.
- [x] I have done the DCO signoff.
- [x] My changes generate no errors when passing CI tests.
- [ ] I have successfully implemented and tested my fix/feature locally.
- [ ] Appropriate reviewer(s) are assigned.
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!
ReadyForCCBReview label in order to get a preliminary review on the approach. Still open:
- surface lines or similar on intersections
- handling curbs properly
Feedback CCB:
- Curbs and intersections must also be described.
- Unclear how to interpolate between points to get a unambigous height at any point of the road.
- Efficient implementation should be possible.
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.
Status from the Road Model group: Wait a couple of weeks on OpenDRIVE concepts to progress. Next meeting May 2nd.