Roads and Road Sections

Roads

Roads are simple python scripts within simulation/models/env_db.

from simulation.utils.road.road import Road
from simulation.utils.road.sections import *

road = Road()

road.append(StraightRoad())  # Replace with other road sections
simple_straight_road
Using python scripts has advantages:

  • No XML! 🎉 😃

  • Use standard loops and python math module

  • Create random roads with python random module

  • Use environment variables to quickly change the road without editing road files

  • pre-commit-hook formatting, autocomplete

  • future: integrate roads as graphs, form closed loops

Road Sections

To create more complex roads a sequence of modular sections is placed one after another. This simple fact allows creating a large variety of roads using just a few different simulation.utils.road.sections.

Example: ParkingArea

This is an example of how to create a ParkingArea with two ParkingSpots on the left:

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parking_area = ParkingArea(
    length=4,
    start_line=True,
    left_lots=[
        ParkingLot(
            spots=[
                ParkingSpot(kind=ParkingSpot.OCCUPIED, obstacle=ParkingObstacle()),
                ParkingSpot(kind=ParkingSpot.BLOCKED),
            ],
        ),
        ParkingLot(
            start=2,
            opening_angle=math.radians(40),
            spots=[
                ParkingSpot(),
                ParkingSpot(kind=ParkingSpot.OCCUPIED, obstacle=ParkingObstacle()),
            ],
        ),
    ],
    right_lots=[
        ParkingLot(
            start=1,
            depth=0.4,
            spots=[
                ParkingSpot(kind=ParkingSpot.FREE, width=0.5),
                ParkingSpot(
                    kind=ParkingSpot.OCCUPIED, width=0.7, obstacle=ParkingObstacle()
                ),
                ParkingSpot(kind=ParkingSpot.BLOCKED),
            ],
        )
    ],
)
../../_images/example_parking_area.jpg

Others

Also available:

  • Circular arcs, left and right

  • ZebraCrossing

  • Intersection (4-way, 3-way, turn straight, left, right, sloping

  • Bezier curves

  • Place traffic signs, obstacles and surface markings

  • StaticObstacle

Coming soon:

  • Blocked ParkingArea

  • TrafficIsland

Not yet available:

  • MovingObstacle

  • Ramp

  • Pedestrian

See Road Sections for more details.