Page History
...
We did not want the view to become too cluttered. Thus, parts of the simulation like traffic signs or vehicle information are only drawn on demand. They can be toggled in this part. The explanation of the toggled descriptions can be found on the bottom of this page. Please note that the view below might be outdated (more toggles might exist), but it still works the same way.
Obstacles and IDs
The loaded Commonroad scenario may define obstacles. The obstacle ID set in Commonroad is interpreted as the ID of the vehicle in the scenario. This is especially important if you choose to use the movement defined for the obstacle to be used as trajectory for a real vehicle. In this case, the real vehicle with the same ID will respond to the message.
...
Additional information about the goal states are shown at the bottom of the Commonroad-Tab.
Lanelet Information
Additional information about the lanelets are shown below the goal information. The lanelet IDs can be toggled to know which lanelet the information belongs to.
Most information that are not visible in this table are visible implicitly or explicitly on the MapView (and / or can be toggled as additional information).
Using Commonroad as Part of the Simulation
...
| Info | ||
|---|---|---|
| ||
As soon as you press Deploy, the obstacles disappear. This is done on purpose! The obstacle simulation, as all other simulation, is performed as soon as the lab simulation is started in the Timer Tab. As soon as the timer is started, the obstacles will reappear. |
Further information
...
Descriptions for obstacles, lanelets etc. use few latters to save space. Their meaning is explained here.
...
| Symbol | Meaning |
|---|---|
| E | Pose is exact |
| I | Pose is not exact |
| M | Obstacle is moving |
| S | Obstacle is static |
| Unk | Unknown obstacle |
| Car | Obstacle is a car |
| Truck | Obstacle is a truck |
| Bus | Obstacle is a bus |
| MCycle | Obstacle is a motorcycle |
| BCycle | Obstacle is a bicycle |
| Ped | Obstacle is a pedestrian |
| Prio | Obstacle is a priority vehicle |
| Train | Obstacle is a train |
| Taxi | Obstacle is a taxi |
| Constr | Obstacle is a construction zone |
| Parked | Obstacle is a parked vehicle |
| Boundary | Obstacle is a road boundary |
| Building | Obstacle is a building (not on the road) |
| Pillar | Obstacle is a pillar (should not be on the road) |
| Median | Obstacle is a median strip in between lanes |
Descriptions for Traffic Signs
The text drawn for traffic signs is taken from its definition in the commonroad Commonroad file:
Traffic Sign ID (list of additional values) Traffic Sign ID (list of additional values) Traffic Sign ID (list of additional values) ...
Descriptions for
...
Descriptions for Goal States
...
Goal States
ID (ID of the planning problem) - time when the goal should be reached (mean), v speed within the goal (mean)
Color Code for Obstacles
| Color | Meaning |
|---|---|
| Filled Orange | Dynamic obstacle with exact position |
| Filled Violet | Dynamic obstacle with inexact position |
| Orange Border, not filled | Non-Dynamic obstacle (static or environment) with exact position |
| Violet Border, not filled | Non-Dynamic obstacle (static or environment) with inexact position |
Lanelet Orientation Arrows
| Arrowhead | Meaning |
|---|---|
| Arrow / Triangle | Gives the lanelet orientation. No user is allowed to use the lanelet in the other direction. |
| Circle / Point | At least one user is allowed to use the lanelet in both directions. The Lanelet information table, given the ID of the Lanelet (if shown, which can be toggled), shows which user is allowed to use the lanelet in both directions (e.g. a bicycle). |
Lanelet Border Colors
| Color | Meaning |
|---|---|
| Blue | Lanelets are adjacent and have the same driving direction → Crossing this line should be allowed |
| Black | All other lanelets |
| Light grey | Lanelets for which no_marking was defined. Is overwritten by blue in case of adjacency to another lanelet. |
| Info | ||
|---|---|---|
| ||
The Lanelet Border Style can be defined in the Commonroad file (e.g. dashed or broad). Unknown and no_marking are not easy to draw. Thus, unknown is drawn like any solid line, and no_marking is drawn in a transparent grey color. Both colors can be overwritten by blue in case of adjacency (this information is more important). |
Overview
Content Tools