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Add lane sub-types to represent OpenDRIVE lane type information #431

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Merged
merged 3 commits into from
Jan 26, 2021
Merged

Add lane sub-types to represent OpenDRIVE lane type information #431

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471410d
Add lane sub-types to represent OpenDRIVE lane type information
clemenshabedank Oct 7, 2020
0d4ef24
Extend lane subtypes based on OpenDRIVE types
HendrikAmelunxen Nov 3, 2020
0ec6375
feat(docs): linguistic review
paagkame Dec 14, 2020
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116 changes: 116 additions & 0 deletions osi_lane.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -346,6 +346,12 @@ message Lane
//
optional RoadCondition road_condition = 11;

// The subtype of the lane.
//
// This subtype specifies a lane more concretely.
//
optional Subtype subtype = 12;

// Definition of available lane types.
//
enum Type
Expand Down Expand Up @@ -377,6 +383,116 @@ message Lane
TYPE_INTERSECTION = 4;
}

// Definition of available lane subtypes, aligned with OpenDRIVE.
//
enum Subtype
{
// Lane of unknown subtype. Do not use in ground truth.
//
SUBTYPE_UNKNOWN = 0;

// Any other subtype of lane.
//
SUBTYPE_OTHER = 1;

// A normal driving lane.
// Example: Lanes with IDs l1, l2, l3 and l4 in image \ref
// HighwayExit.
//
// Since it is intended to be used for normal automotive
// driving, it should be used in combination with TYPE_DRIVING.
//
SUBTYPE_NORMAL = 2;

// A lane that is designated for bicylists.
//
// Since it is not intended to be used for normal automotive
// driving, it should be used in combination with TYPE_NONDRIVING.
//
SUBTYPE_BIKING = 3;

// A lane that is designated for pedestrians (sidewalk).
//
// Since it is not intended to be used for normal automotive
// driving, it should be used in combination with TYPE_NONDRIVING.
//
SUBTYPE_SIDEWALK = 4;

// A lane with parking spaces.
//
// Since it is not intended to be used for normal automotive
// driving, it should be used in combination with TYPE_NONDRIVING.
//
SUBTYPE_PARKING = 5;

// A hard shoulder on motorways for emergency stops.
// Example: Lane l5 in image \ref
// HighwayExit.
//
// Since it is not intended to be used for normal automotive
// driving, it should be used in combination with TYPE_NONDRIVING.
//
SUBTYPE_STOP = 6;

// A lane on which cars should not drive.
//
// Since it is not intended to be used for normal automotive
// driving, it should be used in combination with TYPE_NONDRIVING.
//
SUBTYPE_RESTRICTED = 7;

// A hard border on the edge of a road.
//
// Since it is not intended to be used for normal automotive
// driving, it should be used in combination with TYPE_NONDRIVING.
//
SUBTYPE_BORDER = 8;

// A soft border on the edge of a road.
//
// Since it is not intended to be used for normal automotive
// driving, it should be used in combination with TYPE_NONDRIVING.
//
SUBTYPE_SHOULDER = 9;

// A deceleration lane in parallel to the main road.
// Example: Lane l6 in image \ref
// HighwayExit.
//
// Since it is intended to be used for normal automotive
// driving, it should be used in combination with TYPE_DRIVING.
//
SUBTYPE_EXIT = 10;

// An acceleration lane in parallel to the main road.
//
// Since it is intended to be used for normal automotive
// driving, it should be used in combination with TYPE_DRIVING.
//
SUBTYPE_ENTRY = 11;

// A ramp from rural or urban roads joining a motorway.
//
// Since it is intended to be used for normal automotive
// driving, it should be used in combination with TYPE_DRIVING.
//
SUBTYPE_ONRAMP = 12;

// A ramp leading off a motorway onto rural or urban roads.
//
// Since it is intended to be used for normal automotive
// driving, it should be used in combination with TYPE_DRIVING.
//
SUBTYPE_OFFRAMP = 13;

// A ramp that connect two motorways.
//
// Since it is intended to be used for normal automotive
// driving, it should be used in combination with TYPE_DRIVING.
//
SUBTYPE_CONNECTINGRAMP = 14;
}

//
// \brief The condition of the road surface.
//
Expand Down