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January 28, 2010 copyright note according to DIN 34 Slide 1
6th Meeting
January 28, 2010
Marius Dupuis / [email protected]
Includes Notes an
d Proceedings!
January 28, 2010 copyright note according to DIN 34 Slide 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 3
OpenDRIVE – What's new?
January 28, 2010 copyright note according to DIN 34 Slide 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 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 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 7
OpenDRIVE – What's new?
Partner Project
• road surface
• open format + open source
• tire and vibration simulation
• funded by automotive industry
• managed by VIRES
• www.opencrg.org
Result: currently applicable to some users only
January 28, 2010 copyright note according to DIN 34 Slide 8
OpenDRIVE 1.3
- The Next Standard -
January 28, 2010 copyright note according to DIN 34 Slide 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 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 11
Features in OpenDRIVE 1.3
New: Reference for Spiral (Clothoid, Euler-Spiral) calculation
– Different algorithms with varying accuracy are used for thecalculation of clothoids
– The "ideal" algorithm should be identified and made availableas reference source code
– Identification of the algorithm:
http://en.wikipedia.org/wiki/Euler_spiral
– Source code (Provider?):
http://www.opendrive.org/tools/odrSpiral.zip
Result: accepted
January 28, 2010 copyright note according to DIN 34 Slide 12
Features in OpenDRIVE 1.3
Update: Header - Vendor Information
vendor namestringvendor
minimum inertial x value in [m]doublewest
maximum inertial x value in [m]doubleeast
minimum inertial y value in [m]doublesouth
maximum inertial y value in [m]doublenorth
time/date of database creationstringdate
version number of this database (format: a.bb)floatversion
database namestringname
minor revision number of OpenDRIVE® format (currently 3)ushortrevMinor
major revision number of OpenDRIVE® format (currently 1)ushortrevMajor
descriptiontypename
Delimiters: <header/>Parent: <OpenDRIVE>Maximum Instances: 1Optional: noArguments:
Result: accepted
January 28, 2010 copyright note according to DIN 34 Slide 13
Features in OpenDRIVE 1.3
New: Lane Offset Record
Purpose: Simplified construction of • additional "inner" lanes• 2+1 schemes
Image courtesy of VTIImage courtesy of VTI
Result: accepted
January 28, 2010 copyright note according to DIN 34 Slide 14
Features in OpenDRIVE 1.3
New: Lane Offset Record (cont’d)
Calculation: offset = a + b*ds + c*ds 2 + d*ds 3
Delimiters: <laneOffset.../>Parent: <lanes>Maximum Instances: unlimitedOptional: yesArguments:
parameter Ddoubled
parameter Cdoublec
parameter Bdoubleb
parameter A (offset in [m])doublea
start position (s-coordinate) doubles
descriptiontypename
Specification:
Result: accepted
January 28, 2010 copyright note according to DIN 34 Slide 15
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)
Features in OpenDRIVE 1.3
Image courtesy of VTIImage courtesy of VTIResult: accepted
January 28, 2010 copyright note according to DIN 34 Slide 16
New: Road Mark Types (cont’d)
default line width [m] doublewidth
name of the road mark typestringname
descriptiontypename
Specification (entry)
Features in OpenDRIVE 1.3
Delimiters: <type>...</type>Parent: <roadMark>Maximum Instances: 1Optional: yesRestrictions: noneArguments:
Result: accepted
January 28, 2010 copyright note according to DIN 34 Slide 17
New: Road Mark Types (cont’d)
Specification (details)
Features in OpenDRIVE 1.3
Delimiters: <line.../>Parent: <type>Maximum Instances: unlimitedOptional: noRestrictions: noneArguments:
width of the road mark (overriding default setting in parent tag) [m]
doublewidth
rule which is to be observed when passing the line from inside, e.g. “no passing”, “caution”, “none”
stringrule
initial longitudinal offset from of the line definition from the start of the road mark definition [m]
doublesOffset
lateral offset from the lane border [m]doubletOffset
length of the space following the visible part [m] doublespace
length of the visible part [m] doublelength
descriptiontypename
Result: accepted with addition of “width”Result: accepted with addition of “width”, rules tbd.
January 28, 2010 copyright note according to DIN 34 Slide 18
New: Road Mark Types (cont’d)
Example:
Features in OpenDRIVE 1.3
<roadMark sOffset=…><type name=”3_9/9_3” width=“0.15”>
<line length="9" space=”3” tOffset="-.1" rule=”caut ion”/><line length="3" space=”9” tOffset=".1" sOffset="3" rule=”none”/>
</type></roadMark>
Image courtesy of VTIImage courtesy of VTI
January 28, 2010 copyright note according to DIN 34 Slide 19
Update: Object Record
Purpose: clarification
of wording
Features in OpenDRIVE 1.3
roll angle of the object relative to road roll [rad]doubleroll
pitch angle of the object relative to road pitch [rad]doublepitch
heading angle of the object relative to road direction [rad]doublehdg
height of the object [m] (local dz )doubleheight
radius of the object [m]; alternative to width and lengthdoubleradius
width of the object [m] (local dy )doublewidth
length of the object [m] (local dx )doublelength
“+” = valid in positive track direction“-“ = valid in negative track direction“none” = valid in both directions
stringorientation
extent of object's validity along s-axis in [m] (0.0 for point object)
doublevalidLength
z offset of object's origin from track level [m]doublezOffset
track position of object's origin [m] (t-position)doublet
track position of object's origin [m] (s-position)doubles
unique ID within databasestringid
name of the objectstringname
type of the objectstringtype
descriptiontypename
Result: accepted
January 28, 2010 copyright note according to DIN 34 Slide 20
Update: Object Repeat Record
Purpose: introduction of continuous road-side objects(e.g. wall, railing)
Features in OpenDRIVE 1.3
distance between two instances of the object [m]If this value is zero, then the object is considere d to be a continuous feature like a railing, a wall etc.
doubledistance
length of the repeat area [m]doublelength
start position (s-coordinate) [m], overrides the corresponding argument in the original <object> record
doubles
descriptiontypename
Result: accepted
January 28, 2010 copyright note according to DIN 34 Slide 21
Update: Object Outlines
• Deleted: <CornerInertial>
• Renamed: <CornerRelative> � <CornerLocal>
Features in OpenDRIVE 1.3
Purpose: Object outlines should only be given in track or local co-ordinates
Result: accepted
January 28, 2010 copyright note according to DIN 34 Slide 22
New: Object Material Record
Features in OpenDRIVE 1.3
Purpose: Flat objects within the road plane can modify the material
properties of the underlying „original“ lane(s).
Application: patches
Image courtesy of VTIImage courtesy of VTI
Result: accepted
January 28, 2010 copyright note according to DIN 34 Slide 23
New: Object Material Record (cont’d)
Specification:
Features in OpenDRIVE 1.3
Delimiters: <material.../>Parent: <object>Maximum Instances: 1Optional: yesArguments:
roughness [-] (e.g. for sound and motion systems)doubleroughness
friction value [-]doublefriction
surface material code [-], depending on applicationstringsurface
descriptiontypename
Result: accepted
January 28, 2010 copyright note according to DIN 34 Slide 24
Update: Signal Reference Record
Features in OpenDRIVE 1.3
Purpose: orientation of target signal with respect to referring road
“+” = valid in positive track direction“-“ = valid in negative track direction“none” = valid in both directions
stringorientation
unique ID of the referenced signal within the databasestringid
track position [m] (t-position)doublet
track position [m] (s-position)doubles
descriptiontypename
Result: accepted
January 28, 2010 copyright note according to DIN 34 Slide 25
Update: Controller Record
Features in OpenDRIVE 1.3
Purpose: provision of global sequence / priority information
Delimiters: <controller.../>Parent: <OpenDRIVE>Maximum Instances: unlimitedOptional: yesArguments:
sequence number (priority) of this controller with respect to other controllers of same logical level
intsequence
name of the controllerstringname
unique ID within databasestringid
descriptiontypename
Specification:
Result: accepted
January 28, 2010 copyright note according to DIN 34 Slide 26
Update: Junction Controller Record
Features in OpenDRIVE 1.3
Purpose: provision of local sequence / priority information
Specification:
Delimiters: <controller.../>Parent: <junction>Maximum Instances: unlimitedOptional: yesArguments:
sequence number (priority) of this controller with respect to other controllers in the same junction
intsequence
type of control for this junctionstringtype
ID of the controllerstringid
descriptiontypename
Result: accepted
January 28, 2010 copyright note according to DIN 34 Slide 27
Update: Symbolic Constants
Features in OpenDRIVE 1.3
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 28
January 28, 2010 copyright note according to DIN 34 Slide 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 DaimlerImage courtesy of Daimler
January 28, 2010 copyright note according to DIN 34 Slide 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
• www.opencrg.org
• 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 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 32
User ReportsAudi 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 33
Standardization
January 28, 2010 copyright note according to DIN 34 Slide 34
Situation
Standardization with OpenDRIVE
• 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 firstbrainstorming 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 35
TRAIN-ALL
by TNO
Standardization with OpenDRIVE
RoadXML
by OKTAL
January 28, 2010 copyright note according to DIN 34 Slide 36
How to Proceed?
Standardization with OpenDRIVE
• 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
• Alternative 4:
– the ideas of our competitors are much better than our‘s – let‘s give up!
Result: see next slide
January 28, 2010 copyright note according to DIN 34 Slide 37
How to Proceed?
Standardization with OpenDRIVE
• 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!
Result: it’s a combination of alternatives 1-3, definitely not no. 4!
January 28, 2010 copyright note according to DIN 34 Slide 38
Assessment:
Standardization with OpenDRIVE
funding of standardization by EU, afterwards ?
funding of standardization by EU, afterwards “as usual”
funding
high (once established)highflexibility
new groups, then growing “as usual”moderately growing user base
tbd.VIRES + core teammanagement
interrupted to unknown extentguaranteedcontinuity
OpenDRIVE: medium to highother formats: medium to high
OpenDRIVE: noneother formats: high
impact on existing users
highmediumacceptance
5-10 yearsimmediatelyavailability
OpenDRIVE+X
OpenDRIVEonly
criteria
Result: see next slide
January 28, 2010 copyright note according to DIN 34 Slide 39
Key questions:
Standardization with OpenDRIVE
• 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 implementvarious 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 40
Discussion / Roadmap
January 28, 2010 copyright note according to DIN 34 Slide 41
Issues
Discussion / Roadmap
• OpenDRIVE 1.4
– major tasks
– schedule
• Standardization
– how to proceed
• Next meeting
– when?
– where?Result: depending on progress / need
Result: see above
Result: to be determined