Roadway Building

function centerlines_txt2tracks(filename)

• Reads a .txt file which contains x coords in col 1 and y coords in col2
• Returns a track, i.e. a curve from AutomotiveDrivingModels

Examples

# See make_roadway_interaction()

function make_roadway_interaction()

Overview

• Make the DR_CHN_Merging roadway by reading in the centerlines in AutomotiveInteraction.jl/dataset
• These centerlines have been modified from the original ones in the centerlines_DR_CHN_Merging_ZS folder
• The long lane being merged into by on ramp was split into before and after merge point in 2 separate txt files
• Eg: output_centerline_1.txt has been split into centerlines_b1.txt (before merge point) and centerlines_b2.txt (after).
• Similarly, output_centerline_5.txt has been split into cetnerlines_g.txt (before) and centerlines_h.txt (after)
• Finally, the files in centerlines_DR_CHN_Merging_ZS folder output_centerline_<>.txt had x coords in row 1 and y coords in row 2.
• The current centerlines_<>.txt have x in col 1 and y in col 2

Details

• Reads in the centerline information from AutomotiveInteraction.jl/dataset
• Segment 1: Has 2 lanes: On ramp a is lane 1 and b1 is lane 2
• Segment 2: Has 1 lane: b1 is lane 1. Both a and b1 connect into b2
• Segment 3: Has 2 lanes: c is lane 1 and d is lane 2
• Segment 4: Has 3 lanes: g is lane 1, f1 is lane 2, e1 is lane 3.
• Segment 5: Has 2 lanes: f2 is lane 1, e2 is lane 2. e1 connects to e2 and both g and f1 to e2
  • Note that convention used here is that right most lane in direction of travel is given lane id 1

Examples

roadway_interaction = make_roadway_interaction()

function make_roadway_ngsim()

• Read in the ngsim 101 roadway from the provided roadway file /dataset/ngsim_101.txt

Examples

roadway_ngsim = make_roadway_ngsim()

• Make roadway interaction but with added extensions to avoid vehicle getting blocked at road end

struct MergingRoadway

• Wrapper around a roadway for special rendering avoiding lane boundary wierd in merge

Example

road_ext = make_roadway_interaction_with_extensions()
roadway = MergingRoadway(road_ext)
render([roadway])

function AutomotiveVisualization.add_renderable!(rendermodel::RenderModel,mr::MergingRoadway)

• Dedicated render function for merging roadway