6th Meeting. January 28, Marius Dupuis / January 28, 2010 copyright note according to DIN 34 Slide 1

Transcription

1 Includes Notes and Proceedings! 6th Meeting January 28, 2010 Marius Dupuis / marius@vires.com January 28, 2010 copyright note according to DIN 34 Slide 1

2 Scope of the Meeting Focus of this meeting The upcoming release 1.3 Exchange of Experience New requirements for OpenDRIVE Formal standardization Minutes of the meeting are shown in GREEN font on YELLOW background! January 28, 2010 copyright note according to DIN 34 Slide 2

3 OpenDRIVE What's new? January 28, 2010 copyright note according to DIN 34 Slide 3

4 OpenDRIVE What's new? Extension of Core-Team New Members: Andreas Richter, DLR, Braunschweig Mats Lidström, VTI, Sweden Ingmar Stel, TNO, Netherlands Leaving Members: Markus Stöbe, DLR, Braunschweig Result: accepted January 28, 2010 copyright note according to DIN 34 Slide 4

5 OpenDRIVE What's new? User-List on OpenDRIVE Website Logo Statement Link to own website Free of charge and other obligations Result: further users will register. January 28, 2010 copyright note according to DIN 34 Slide 5

6 OpenDRIVE What's new? Sample Files on OpenDRIVE Website Components: OpenDRIVE file OpenFlight files Textures Purpose: Reference for various modeling tasks Origin: to be provided by users We need more!! Result: users are planning to provide further examples January 28, 2010 copyright note according to DIN 34 Slide 6

7 OpenDRIVE What's new? Partner Project road surface open format + open source tire and vibration simulation funded by automotive industry managed by VIRES Result: currently applicable to some users only January 28, 2010 copyright note according to DIN 34 Slide 7

8 OpenDRIVE The Next Standard - January 28, 2010 copyright note according to DIN 34 Slide 8

9 Features in OpenDRIVE 1.3 Update: Track Co-ordinate System New name for z-axis: h-axis (clear distinction from inertial system) Result: accepted January 28, 2010 copyright note according to DIN 34 Slide 9

10 Features in OpenDRIVE 1.3 New: Local Co-ordinate System The local system can only be positioned in track space by providing the full track co-ordinates and orientation of its origin. Result: accepted January 28, 2010 copyright note according to DIN 34 Slide 10

11 Features in OpenDRIVE 1.3 New: Reference for Spiral (Clothoid, Euler-Spiral) calculation Different algorithms with varying accuracy are used for the calculation of clothoids The "ideal" algorithm should be identified and made available as reference source code Identification of the algorithm: Source code (Provider?): Result: accepted January 28, 2010 copyright note according to DIN 34 Slide 11

12 Features in OpenDRIVE 1.3 Update: Header - Vendor Information Delimiters: <header/> Parent: <OpenDRIVE> Maximum Instances: 1 Optional: no Arguments: name revmajor revminor name version date north south east west vendor type ushort ushort string float string string description major revision number of OpenDRIVE format (currently 1) minor revision number of OpenDRIVE format (currently 3) database name version number of this database (format: a.bb) time/date of database creation maximum inertial y value in [m] minimum inertial y value in [m] maximum inertial x value in [m] minimum inertial x value in [m] vendor name Result: accepted January 28, 2010 copyright note according to DIN 34 Slide 12

13 Features in OpenDRIVE 1.3 New: Lane Offset Record Purpose: Simplified construction of additional "inner" lanes 2+1 schemes Image courtesy of VTI Result: accepted January 28, 2010 copyright note according to DIN 34 Slide 13

14 Features in OpenDRIVE 1.3 New: Lane Offset Record (cont d) Specification: Calculation: offset = a + b*ds + c*ds 2 + d*ds 3 Delimiters: Parent: Maximum Instances: Optional: Arguments: <laneoffset.../> <lanes> unlimited yes name type description s a b c d start position (s-coordinate) parameter A (offset in [m]) parameter B parameter C parameter D Result: accepted January 28, 2010 copyright note according to DIN 34 Slide 14

15 Features in OpenDRIVE 1.3 New: Road Mark Types Some road marks need a more detailed description: - Special drawing schemes (e.g. 3_9/9_3) - Multiple adjacent lines - Individual shapes (e.g. line/gap ratios) Result: accepted Image courtesy of VTI January 28, 2010 copyright note according to DIN 34 Slide 15

16 Features in OpenDRIVE 1.3 New: Road Mark Types (cont d) Specification (entry) Delimiters: <type>...</type> Parent: <roadmark> Maximum Instances: 1 Optional: yes Restrictions: none Arguments: name width name type string name of the road mark type default line width [m] description Result: accepted January 28, 2010 copyright note according to DIN 34 Slide 16

17 Features in OpenDRIVE 1.3 New: Road Mark Types (cont d) Specification (details) Delimiters: Parent: Maximum Instances: Optional: Restrictions: Arguments: <line.../> <type> unlimited no none name type description length width space length of the visible part [m] width of the road mark (overriding default setting in parent tag) [m] length of the space following the visible part [m] toffset soffset rule string lateral offset from the lane border [m] initial longitudinal offset from of the line definition from the start of the road mark definition [m] rule which is to be observed when passing the line from inside, e.g. no passing, caution, none Result: Result: accepted accepted with addition with of width, addition rules tbd. of width January 28, 2010 copyright note according to DIN 34 Slide 17

18 Features in OpenDRIVE 1.3 New: Road Mark Types (cont d) Example: <roadmark soffset= > <type name= 3_9/9_3 width= 0.15 > <line length="9" space= 3 toffset="-.1" rule= caution /> <line length="3" space= 9 toffset=".1" soffset="3" rule= none /> </type> </roadmark> Image courtesy of VTI January 28, 2010 copyright note according to DIN 34 Slide 18

19 Features in OpenDRIVE 1.3 Update: Object Record Purpose: clarification name type description of wording type string type of the object name string name of the object id string unique ID within database s track position of object's origin [m] (s-position) t track position of object's origin [m] (t-position) zoffset z offset of object's origin from track level [m] validlength extent of object's validity along s-axis in [m] (0.0 for point object) orientation string + = valid in positive track direction - = valid in negative track direction none = valid in both directions length length of the object [m] (local dx) width width of the object [m] (local dy) radius radius of the object [m]; alternative to width and length height height of the object [m] (local dz) hdg heading angle of the object relative to road direction [rad] pitch pitch angle of the object relative to road pitch [rad] Result: accepted roll roll angle of the object relative to road roll [rad] January 28, 2010 copyright note according to DIN 34 Slide 19

20 Features in OpenDRIVE 1.3 Update: Object Repeat Record Purpose: introduction of continuous road-side objects (e.g. wall, railing) name s length distance type start position (s-coordinate) [m], overrides the corresponding argument in the original <object> record length of the repeat area [m] description distance between two instances of the object [m] If this value is zero, then the object is considered to be a continuous feature like a railing, a wall etc. Result: accepted January 28, 2010 copyright note according to DIN 34 Slide 20

21 Features in OpenDRIVE 1.3 Update: Object Outlines Purpose: Object outlines should only be given in track or local co-ordinates Deleted: <CornerInertial> Renamed: <CornerRelative> <CornerLocal> Result: accepted January 28, 2010 copyright note according to DIN 34 Slide 21

22 Features in OpenDRIVE 1.3 New: Object Material Record Purpose: Flat objects within the road plane can modify the material properties of the underlying original lane(s). Application: patches Image courtesy of VTI Result: accepted January 28, 2010 copyright note according to DIN 34 Slide 22

23 Features in OpenDRIVE 1.3 New: Object Material Record (cont d) Specification: Delimiters: <material.../> Parent: <object> Maximum Instances: 1 Optional: yes Arguments: name type description surface friction roughness string surface material code [-], depending on application friction value [-] roughness [-] (e.g. for sound and motion systems) Result: accepted January 28, 2010 copyright note according to DIN 34 Slide 23

24 Features in OpenDRIVE 1.3 Update: Signal Reference Record Purpose: orientation of target signal with respect to referring road name s t id orientation type string string track position [m] (s-position) track position [m] (t-position) description unique ID of the referenced signal within the database + = valid in positive track direction - = valid in negative track direction none = valid in both directions Result: accepted January 28, 2010 copyright note according to DIN 34 Slide 24

25 Features in OpenDRIVE 1.3 Update: Controller Record Purpose: provision of global sequence / priority information Specification: Delimiters: Parent: Maximum Instances: Optional: Arguments: <controller.../> <OpenDRIVE> unlimited yes name type description id name sequence string string int unique ID within database name of the controller sequence number (priority) of this controller with respect to other controllers of same logical level Result: accepted January 28, 2010 copyright note according to DIN 34 Slide 25

26 Features in OpenDRIVE 1.3 Update: Junction Controller Record Purpose: provision of local sequence / priority information Specification: Delimiters: Parent: Maximum Instances: Optional: Arguments: <controller.../> <junction> unlimited yes name type description id type sequence string string int ID of the controller type of control for this junction sequence number (priority) of this controller with respect to other controllers in the same junction Result: accepted January 28, 2010 copyright note according to DIN 34 Slide 26

27 Features in OpenDRIVE 1.3 Update: Symbolic Constants Additional lane type: tram Additional object type: patch Additional access restriction: none New: Chapter 7 of Specification Further Explanations and Examples Road and Lane Linkage Direct Junctions Junction Control Result: accepted January 28, 2010 copyright note according to DIN 34 Slide 27

28 January 28, 2010 copyright note according to DIN 34 Slide 28

29 Partner Projects - OpenCRG Overview: Purpose: provision of an open and free tool-set for the creation, modification and evaluation of detailed road surface data Image courtesy of Daimler January 28, 2010 copyright note according to DIN 34 Slide 29

30 Partner Projects - OpenCRG Overview (cont d): Applications: Contents: Licensing: Location: Funding: Realization: Status: Tire simulation Vibration simulation etc. Matlab tool-set (creation, modification and evaluation) C-API (evaluation only) Documentation Sample files Apache License German automotive industry (Audi, BMW, Daimler, Porsche, Volkswagen) Daimler and VIRES Operable (release 0.8.0) January 28, 2010 copyright note according to DIN 34 Slide 30

31 Partner Projects - OpenCRG Next Step: Creation and provision of samples combining OpenDRIVE and OpenCRG information within one road. January 28, 2010 copyright note according to DIN 34 Slide 31

32 User Reports Audi Electronics Venture DLR Institute of Transportation Systems DLR Institute of Robotics and Mechatronics TESIS DYNAware TNO VTI January 28, 2010 copyright note according to DIN 34 Slide 32

33 Standardization January 28, 2010 copyright note according to DIN 34 Slide 33

34 Standardization with OpenDRIVE Situation The OpenDRIVE format is a de facto standard standardization by proliferation total number of users: unknown confirmed contacts: 50+ years in service: 4 Other formats emerged in 2009 RoadXML by OKTAL TRAIN-ALL project aims for formal standardization of road description Nov. 20, 2009: meeting TRAIN-ALL / VIRES / OKTAL for a first brainstorming on the issue of formal standardization mission: a formal standard within 5 to 10 years Question: Shall OpenDRIVE be part of or become a European standard? Result: If there s going to be a European standard, OpenDRIVE should be part of it or contribute considerably to it. January 28, 2010 copyright note according to DIN 34 Slide 34

35 Standardization with OpenDRIVE TRAIN-ALL by TNO RoadXML by OKTAL January 28, 2010 copyright note according to DIN 34 Slide 35

36 Standardization with OpenDRIVE How to Proceed? Alternative 1: we already have OpenDRIVE it s good and that s it! stick to the existing organization of the OpenDRIVE format convince TRAIN-ALL to propagate OpenDRIVE to a formal European standard Alternative 2: we already have OpenDRIVE but others may also have good ideas join the strengths of existing formats into a new format hand over control of the standardization to TRAIN-ALL participate in the TRAIN-ALL workgroups Alternative 3: let the market decide! join a formal standardization after the market has made its decision Result: see next slide Alternative 4: the ideas of our competitors are much better than our s let s give up! January 28, 2010 copyright note according to DIN 34 Slide 36

37 Standardization with OpenDRIVE Result: it s a combination of alternatives 1-3, definitely not no. 4! How to Proceed? Alternative 1: we already have OpenDRIVE it s good and that s it! stick to the existing organization of the OpenDRIVE format convince TRAIN-ALL to propagate OpenDRIVE to a formal European standard Alternative 2: we already have OpenDRIVE but others may also have good ideas join the strengths of existing formats into a new format hand over control of the standardization to TRAIN-ALL participate in the TRAIN-ALL workgroups (or successors) Alternative 3: let the market decide! join a formal standardization after the market has made its decision Alternative 4: the ideas of our competitors are much better than our s let s give up! January 28, 2010 copyright note according to DIN 34 Slide 37

38 Standardization with OpenDRIVE Assessment: flexibility user base funding criteria availability acceptance continuity management impact on existing users immediately medium high moderately growing guaranteed OpenDRIVE only VIRES + core team funding of standardization by EU, afterwards as usual OpenDRIVE: none other formats: high 5-10 years high high (once established) new groups, then growing as usual interrupted to unknown extent tbd. OpenDRIVE +X funding of standardization by EU, afterwards? OpenDRIVE: medium to high other formats: medium to high Result: see next slide January 28, 2010 copyright note according to DIN 34 Slide 38

39 Standardization with OpenDRIVE Key questions: Which strategy has the least overall impact on existing users? How to support affected users? free converters consulting etc. Who will be in charge? How to organize a long-term funding? What are the risks of NOT being part of a European standardization? Results / Next Steps: Solution will be a mixture of alternatives 1 to 3 Identify the technical discrepancies between OpenDRIVE and RoadXML VIRES and OKTAL will each have one professional look at the other s data format - Prepare a paper providing the results of the assessment and identify possible solutions - Ask (potential) users about their preferences and try to estimate their efforts to implement various solutions - Identify the way to go and go ahead under co-ordination from a 3rd party, e.g. TNO January 28, 2010 copyright note according to DIN 34 Slide 39

40 Discussion / Roadmap January 28, 2010 copyright note according to DIN 34 Slide 40

41 Discussion / Roadmap Issues OpenDRIVE 1.4 major tasks schedule Result: to be determined Standardization how to proceed Result: see above Next meeting when? where? Result: depending on progress / need January 28, 2010 copyright note according to DIN 34 Slide 41