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高精度地图OpenDrive格式详解.pdf
®
Document No.
Issue:
VI2014.106
no. of pages:
H
103
OpenDRIVE®
Format Specification, Rev. 1.4
Date:
Issuing Party:
Author:
Distribution List:
November 04, 2015
VIRES Simulationstechnologie GmbH
Marius Dupuis e.a.
public
Project:
Title:
issued by
VIRES Simulationstechnologie GmbH
Grassinger Strasse 8
83043 Bad Aibling
Germany
phone +49.8061.939093-0
fax +49.8061.939093-13
e-mail opendrive@vires.com
web www.vires.com
Date: November 04, 2015
Name: Marius Dupuis e.a.
VIRES GmbH
OpenDRIVE® Format Specification, Rev. 1.4
Title:
Document No.:
VI2014.107
Issue:
H
Page:
1 of 103
Refer to protection notice DIN/ISO 16016. Use of this data is subject to the OpenDRIVE public license policy
®
OpenDRIVE® Format Specification, Rev. 1.4
©2006-2015 VIRES Simulationstechnologie GmbH. All trade-marks, trade names, service marks and
logos referenced herein belong to their respective companies. All rights reserved.
VIRES Simulationstechnologie GmbH (VIRES) PROVIDES THIS MATERIAL AS IS, WITHOUT
WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED
TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE.
VIRES may make improvements and changes to the format described in this manual at any time with
no more notice than a statement on the OpenDRIVE website (www.opendrive.org). VIRES assumes
no responsibility for the use of the product or this document except as expressly set forth in the
applicable VIRES agreement or agreements and subject to terms and conditions set forth therein and
applicable VIRES policies and procedures. This document may contain technical inaccuracies or
typographical errors. Periodic changes may be made to the information contained herein. If necessary,
these changes will be incorporated in new editions of the document.
VIRES is the owner of all intellectual property rights in and to this document and any proprietary
software that accompanies this documentation, including but not limited to, copyrights in and to this
document and any derivative works therefrom. Use of this document is subject to the terms and
conditions of the VIRES Software License Statement included with this product.
No part of this publication may be stored in a retrieval system, transmitted, distributed or reproduced,
in whole or in part, in any way, including, but not limited to, photocopy, photograph, magnetic, or other
record, without the prior written permission of VIRES.
Printed in Germany
November 2015
Date: November 04, 2015
Name: Marius Dupuis e.a.
VIRES GmbH
Title:
OpenDRIVE® Format Specification, Rev. 1.4
Document No.:
VI2014.107
Issue:
H
Page:
2 of 103
Refer to protection notice DIN/ISO 16016. Use of this data is subject to the OpenDRIVE public license policy
®
PUBLIC LICENSE STATEMENT
OpenDRIVE® Format Specification
FOR
OpenDRIVE is the property of VIRES Simulationstechnologie GmbH (VIRES) and is protected under
the copyright and trademark laws of the Federal Republic of Germany. VIRES hereby grants to User a
non-exclusive, non-transferable limited right to use OpenDRIVE as follows:
a. For reading OpenDRIVE into a computer program or database for in-house use, or as a
feature of a commercial product.
b. For writing data from a computer program or database into OpenDRIVE for in-house use or as
a feature of a commercial product.
Any attempt to sub-license, assign, or transfer all or any part of the OpenDRIVE specification is
prohibited without the prior written consent of VIRES.
OpenDRIVE is a registered trademark of VIRES. User is not obliged but kindly asked to indicate that
VIRES is owner of OpenDRIVE in any of User's published references to the trademark. User is not
obliged but kindly asked to refer to www.opendrive.org in any of User’s published references to
OpenDRIVE.
OPENDRIVE IS OFFERED FOR USE BY USER "AS IS" WITHOUT WARRANTY OF ANY KIND,
EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. ALL SUCH
WARRANTIES ARE EXPRESSLY AND SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL VIRES
BE RESPONSIBLE FOR ANY INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL
DAMAGES ARISING OUT OF USE OF OPENDRIVE.
Date: November 04, 2015
Name: Marius Dupuis e.a.
VIRES GmbH
Title:
OpenDRIVE® Format Specification, Rev. 1.4
Document No.:
VI2014.107
Issue:
H
Page:
3 of 103
Refer to protection notice DIN/ISO 16016. Use of this data is subject to the OpenDRIVE public license policy
1
2
3
4
5
®
Table of Contents
1.1
1.2
1.3
1.4
1.5
2.1
2.2
2.3
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
4.1
4.2
4.3
4.4
4.5
4.6
4.7
5.1
5.2
5.3
3.6.3
3.6.1
3.6.2
3.6.2.1
3.6.2.2
3.3.1
3.3.2
3.3.3
3.3.4
Preface ............................................................................................................................................................................... 7
Scope ........................................................................................................................................................................ 7
XML Syntax ............................................................................................................................................................... 7
Developers ................................................................................................................................................................ 7
Point of Contact ......................................................................................................................................................... 7
Example for a Quick Start .......................................................................................................................................... 8
Conventions ..................................................................................................................................................................... 12
Naming Conventions ............................................................................................................................................... 12
Units ........................................................................................................................................................................ 12
Co-ordinate Systems ............................................................................................................................................... 13
Overview......................................................................................................................................................... 13
2.3.1
Inertial System ................................................................................................................................................ 14
2.3.2
Track System .................................................................................................................................................. 15
2.3.3
Local System ................................................................................................................................................. 16
2.3.4
Geo-Referencing ............................................................................................................................................ 17
2.3.5
2.3.6
Curvature ........................................................................................................................................................ 17
Road Layout ..................................................................................................................................................................... 18
General ................................................................................................................................................................... 18
Reference Line (Track) ............................................................................................................................................ 19
Lanes ...................................................................................................................................................................... 20
General ........................................................................................................................................................... 20
Lane Offset ..................................................................................................................................................... 20
Lane Sections ................................................................................................................................................. 21
Lane Properties .............................................................................................................................................. 22
Superelevation and Crossfall ................................................................................................................................... 23
Lateral Profile .......................................................................................................................................................... 24
Road Linkage .......................................................................................................................................................... 25
Overview......................................................................................................................................................... 25
Junctions ........................................................................................................................................................ 26
Basics .................................................................................................................................................... 26
Junction Groups ..................................................................................................................................... 27
Neighbors ....................................................................................................................................................... 28
Surface .................................................................................................................................................................... 29
Alternative Layouts .................................................................................................................................................. 30
Railroad Elements ................................................................................................................................................... 31
Railroad Tracks ............................................................................................................................................... 31
3.9.1
Railroad Switches ........................................................................................................................................... 31
3.9.2
3.9.3
Railroad Stations ............................................................................................................................................ 32
File ................................................................................................................................................................................... 33
Format ..................................................................................................................................................................... 33
Extension................................................................................................................................................................. 33
Structure .................................................................................................................................................................. 33
Notation ................................................................................................................................................................... 33
Schema ................................................................................................................................................................... 33
Combining Files ....................................................................................................................................................... 33
Overview of Beads .................................................................................................................................................. 34
File Entries ....................................................................................................................................................................... 36
Enclosing Tag .......................................................................................................................................................... 36
Header .................................................................................................................................................................... 36
Geo Reference ............................................................................................................................................... 37
Road Records.......................................................................................................................................................... 38
Road Header Record ...................................................................................................................................... 38
Road Link Record ........................................................................................................................................... 38
Road Predecessor ................................................................................................................................. 39
Road Successor ..................................................................................................................................... 39
Road Neighbor ....................................................................................................................................... 40
Road Type Record .......................................................................................................................................... 41
Speed Record ........................................................................................................................................ 41
Road Plan View Record .................................................................................................................................. 42
Road Geometry Header Record ............................................................................................................. 42
Geometry, Line Record ...................................................................................................................... 43
Geometry, Spiral Record (Clothoids) ................................................................................................. 43
Geometry, Arc Record ....................................................................................................................... 44
Geometry, Cubic Polynomial Record ................................................................................................. 45
Geometry, Parametric Cubic Curve Record ....................................................................................... 46
Road Elevation Profile Record ........................................................................................................................ 47
Road Elevation Record .......................................................................................................................... 47
Road Lateral Profile Record ............................................................................................................................ 48
Road Superelevation Record ................................................................................................................. 48
5.3.4.1.1
5.3.4.1.2
5.3.4.1.3
5.3.4.1.4
5.3.4.1.5
5.3.2.1
5.3.2.2
5.3.2.3
5.3.1
5.3.2
5.3.5
5.3.6
5.3.5.1
5.3.3
5.3.4
5.3.3.1
5.3.4.1
5.3.6.1
5.2.1
Date: November 04, 2015
Name: Marius Dupuis e.a.
VIRES GmbH
Title:
OpenDRIVE® Format Specification, Rev. 1.4
Document No.:
VI2014.107
Issue:
H
Page:
4 of 103
Refer to protection notice DIN/ISO 16016. Use of this data is subject to the OpenDRIVE public license policy
®
5.3.7
5.3.8.2
5.3.8.2.1
5.3.8.3
5.3.8.3.1
5.3.8.4
5.3.8.4.1
5.3.7.2.1
5.3.7.2.1.1
5.3.7.2.1.1.1
5.3.7.2.1.1.4.1
5.3.8
5.3.8.1
5.3.7.1
5.3.7.2
5.3.6.2
5.3.6.3
5.3.7.2.1.1.4.1.1
5.3.8.1.1
5.3.8.1.2
5.3.8.1.2.1
5.3.8.1.2.2
5.3.7.2.1.1.1.1
5.3.7.2.1.1.1.2
5.3.8.1.3
5.3.8.1.4
5.3.8.1.5
5.3.8.1.6
5.3.7.2.1.1.2
5.3.7.2.1.1.3
5.3.7.2.1.1.4
Crossfall Record .................................................................................................................................... 49
Road Shape Record ............................................................................................................................... 50
Road Lanes Record ........................................................................................................................................ 51
Road Lane Offset Record ....................................................................................................................... 51
Road Lane Section Record .................................................................................................................... 52
Left / Center / Right Records .............................................................................................................. 53
Lane Record .............................................................................................................................. 53
Lane Link Record .............................................................................................................. 54
Lane Predecessor ..................................................................................................... 54
Lane Successor ......................................................................................................... 54
Lane Width Record ............................................................................................................ 55
Lane Border Record .......................................................................................................... 57
Road Mark Record ............................................................................................................ 59
Road Mark Type ........................................................................................................ 60
Road Mark Type – Line Definition ...................................................................... 60
Lane Material Record ........................................................................................................ 61
5.3.7.2.1.1.5
Lane Visibility Record ........................................................................................................ 61
5.3.7.2.1.1.6
Lane Speed Record ........................................................................................................... 62
5.3.7.2.1.1.7
Lane Access Record .......................................................................................................... 62
5.3.7.2.1.1.8
Lane Height Record ........................................................................................................... 63
5.3.7.2.1.1.9
Lane Rule Record ........................................................................................................... 64
5.3.7.2.1.1.10
Road Objects Record ...................................................................................................................................... 65
Object Record ........................................................................................................................................ 65
Object Repeat Record ....................................................................................................................... 67
Object Outline Record........................................................................................................................ 68
CornerRoad ............................................................................................................................... 68
CornerLocal ............................................................................................................................... 69
Object Material Record ...................................................................................................................... 70
Lane Validity Record .......................................................................................................................... 70
Parking Space Record ....................................................................................................................... 71
Parking Space Marking Record ......................................................................................................... 71
Object Reference Record ....................................................................................................................... 72
Lane Validity Record .......................................................................................................................... 72
Tunnel Record ....................................................................................................................................... 73
Lane Validity Record .......................................................................................................................... 73
Bridge Record ........................................................................................................................................ 74
Lane Validity Record .......................................................................................................................... 74
Road Signals Record ...................................................................................................................................... 75
Signal Record ........................................................................................................................................ 75
Lane Validity Record .......................................................................................................................... 76
Signal Dependency Record ............................................................................................................... 76
Signal Reference Record ....................................................................................................................... 77
Lane Validity Record .......................................................................................................................... 77
Surface ........................................................................................................................................................... 78
Curved Regular Grid Record .................................................................................................................. 78
Railroad Elements .......................................................................................................................................... 81
Railroad Switches .................................................................................................................................. 81
Main Track ...................................................................................................................................... 82
5.3.11.1.1
Side Track ....................................................................................................................................... 82
5.3.11.1.2
5.3.11.1.3
Partner Switch ................................................................................................................................. 82
Controller Record .................................................................................................................................................... 83
Control Entry Record ...................................................................................................................................... 83
Junction Record ....................................................................................................................................................... 84
Connection Record ......................................................................................................................................... 85
Junction Lane Link Record ..................................................................................................................... 85
Junction Priority Record .................................................................................................................................. 86
Junction Controller Record .............................................................................................................................. 86
Junction Group Record ............................................................................................................................................ 87
Junction Reference Record ............................................................................................................................. 87
Stations ................................................................................................................................................................... 88
Platform Record .............................................................................................................................................. 89
Segment Record .................................................................................................................................... 89
Ancillary Data .......................................................................................................................................................... 90
Include Tag .............................................................................................................................................................. 90
Alternative Layouts (Sets) ................................................................................................................................... 91
5.10.1
Layout Instance .............................................................................................................................................. 91
Constants ......................................................................................................................................................................... 92
Road Type Information ............................................................................................................................................ 92
Road Mark Type Information ................................................................................................................................... 92
Road Mark Weight Information ................................................................................................................................ 92
Road Mark Color Information ................................................................................................................................... 92
5.3.9.1.1
5.3.9.1.2
5.4.1
5.5.1
5.5.2
5.5.3
5.6.1
5.7.1
5.3.10
5.3.11
5.3.10.1
5.3.11.1
5.3.9
5.3.9.1
5.3.9.2
5.3.9.2.1
5.5.1.1
5.7.1.1
6
5.4
5.5
5.6
5.7
5.8
5.9
5.10
6.1
6.2
6.3
6.4
Date: November 04, 2015
Name: Marius Dupuis e.a.
VIRES GmbH
Title:
OpenDRIVE® Format Specification, Rev. 1.4
Document No.:
VI2014.107
Issue:
H
Page:
5 of 103
Refer to protection notice DIN/ISO 16016. Use of this data is subject to the OpenDRIVE public license policy
®
6.5
6.6
6.7
6.8
6.9
6.10
6.11
7.1
Lane Type Information ............................................................................................................................................. 93
Object Types ........................................................................................................................................................... 93
Tunnel Types ........................................................................................................................................................... 94
Bridge Types ........................................................................................................................................................... 94
Access Restriction Types ......................................................................................................................................... 94
Signal Country Codes ......................................................................................................................................... 94
Signal Types ....................................................................................................................................................... 95
Further Explanations and Examples ................................................................................................................................. 96
Road and Lane Linkage ........................................................................................................................................... 96
Direct Link of Roads and Lanes ...................................................................................................................... 96
Links using Junctions ...................................................................................................................................... 98
Junction Control ..................................................................................................................................................... 101
Roundabouts ......................................................................................................................................................... 103
7.1.1
7.1.2
7.2
7.3
7
Date: November 04, 2015
Name: Marius Dupuis e.a.
VIRES GmbH
Title:
OpenDRIVE® Format Specification, Rev. 1.4
Document No.:
VI2014.107
Issue:
H
Page:
6 of 103
Refer to protection notice DIN/ISO 16016. Use of this data is subject to the OpenDRIVE public license policy
1 Preface
®
1.1 Scope
The OpenDRIVE® format provides a common base for describing track-based road networks using
Extensible Markup Language (XML) syntax. The data stored in an OpenDRIVE® file describes – in an
analytical way – the geometry of roads as well as features along the roads that influence the logics
(e.g. lanes, signs, signals).
The format is organized in nodes which can be extended with user-defined data. By this, a high
degree of specialization for individual applications is feasible while maintaining the commonality
required for the exchange of data between different applications.
1.2 XML Syntax
OpenDRIVE® adheres to the XML definition 1.0 (see http://www.w3.org/TR/2008/REC-xml-
20081126/). With OpenDRIVE® 1.4, an individual namespace has been introduced which will allow
users to combine contents of various XML namespaces within a single context.
1.3 Developers
The initial OpenDRIVE® format was developed by VIRES Simulationstechnologie GmbH, Germany, in
close co-operation with Daimler Driving Simulator, Sindelfingen, Germany.
The contents of the file format are reviewed by a core team before publication. For the current
members of the core team, please visit the OpenDRIVE® website (www.opendrive.org).
This standard has been created for its users. So, if you feel anything is missing, should be clarified or
modified, please don't hesitate to contact us.
Special thanks to the colleagues of German Aerospace Center (DLR) in Braunschweig, Germany, who
have provided exceptionally good and detailed feedback during the specification and revision process
leading to the current version 1.4
1.4 Point of Contact
Further assistance on OpenDRIVE® is provided
via the OpenDRIVE® website
via email
and via the "classic style" of direct contact with human beings:
http://www.opendrive.org
opendrive@opendrive.org
VIRES Simulationstechnologie GmbH
Grassinger Strasse 8
83043 Bad Aibling
Germany
phone +49.8061.939093-0
fax +49.8061.939093-13
A bug- and feature-tracking system has been introduced for OpenDRIVE which you may use for
reporting and monitoring issues (i.e. tickets). For the former operation, a registration is mandatory. The
system may be accessed via
http://tracking.vires.com
Date: November 04, 2015
Name: Marius Dupuis e.a.
VIRES GmbH
Title:
OpenDRIVE® Format Specification, Rev. 1.4
Document No.:
VI2014.107
Issue:
H
Page:
7 of 103
Refer to protection notice DIN/ISO 16016. Use of this data is subject to the OpenDRIVE public license policy
®
1.5 Example for a Quick Start
The following example shall guide through this specification. It does not contain all available nodes of
the format but illustrates very well the key principles. It's an endless two-lane country road with a four-
way crossing in the center. This example is also available as free download on the OpenDRIVE
website.
The example also contains traffic signs and traffic lights at the intersection:
The structure of the OpenDRIVE file of this small road network shall be explained in excerpts on the
following pages. For the complete example file, please see the download section on the OpenDRIVE
website.
All tags are enclosed by the OpenDRIVE declaration:
:
The header contains basic information about the road network:
Date: November 04, 2015
Name: Marius Dupuis e.a.
VIRES GmbH
Title:
OpenDRIVE® Format Specification, Rev. 1.4
Document No.:
VI2014.107
Issue:
H
Page:
8 of 103
Refer to protection notice DIN/ISO 16016. Use of this data is subject to the OpenDRIVE public license policy
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