Page History
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We have not (yet) implemented the whole commonroad specification. Intersections, crossings, and signals are currently being ignored and print Some unsupported features and minor problems during parsing lead to warnings visible in the LCC Errors Tab. More severe warnings will lead to an error message (see below). Traffic lights are currently not being simulated, but their position is shown, if possible. We also do not (yet) have a consistent handling of inexact positional values (we currently use the average) and rotations for shapes. The assumed default value for positions is (0,0) (origin). |
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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 Please note that the view below might be outdated (more toggles might exist), but it still works the same way.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.
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We only allow for obstacle IDs up to 256 due to the message types in use (uint8_t for ID) (TODO?), thus the ID is taken mod 256 if it is higher than that - we do not expect that you need to use more than 256 obstacles within one scenario (this might also have bad consequences for the performance of a simulation). |
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Commonroad defines DynamicObstacle, StaticObstacle and EnvironmentObstacle as different obstacle classes. We only allow for trajectory simulation for the first two, as environment obstacles should not be on the lanelet (and don't move as well). Static obstacles may include static vehicles, so we decided to allow trajectory simulation for them, although they also never move (as their name already implies). |
Goal Information
Additional information about the goal states are shown at the bottom of the Commonroad-Tab. Please note that goals are only drawn in the MapView if a position for the goal was set.
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
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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
We use different color codings for inexact positions of drawn obstacles, where obstacles with exact positions are orange.
Descriptions for obstacles, lanelets etc. use few latters to save space. Their meaning is explained here.
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Symbol | Meaning |
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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
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Descriptions for Goal States
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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 |
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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 |
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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 |
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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. |
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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). |