From 6bff6bce879160c7802b32bd83c7847b29f9a840 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 20 Aug 2024 10:50:14 +0900 Subject: [PATCH] add figures Signed-off-by: Mamoru Sobue --- .../docs/bicycle_lane.drawio.svg | 740 ++++++++++++++++++ .../docs/bus_stop_area.drawio.svg | 420 ++++++++++ .../docs/extra_lanelet_subtypes.md | 6 +- .../docs/extra_regulatory_elements.md | 2 + 4 files changed, 1166 insertions(+), 2 deletions(-) create mode 100644 autoware_lanelet2_extension/docs/bicycle_lane.drawio.svg create mode 100644 autoware_lanelet2_extension/docs/bus_stop_area.drawio.svg diff --git a/autoware_lanelet2_extension/docs/bicycle_lane.drawio.svg b/autoware_lanelet2_extension/docs/bicycle_lane.drawio.svg new file mode 100644 index 0000000..598a5c9 --- /dev/null +++ b/autoware_lanelet2_extension/docs/bicycle_lane.drawio.svg @@ -0,0 +1,740 @@ + + + + + + + + + + + + + + +
+
+
+ road +
+
+
+ + road + + + + + + + +
+
+
+ road +
+
+
+ + road + + + + + + + +
+
+
+ road +
+
+
+ + road + + + + + + +
+
+
+ road +
+
+
+ + road + + + + + + + + +
+
+
road
+
+
+ + road + + + + + + +
+
+
+ road +
+
+
+ + road + + + + + + + +
+
+
+ road +
+
+
+ + road + + + + + + +
+
+
+ road +
+
+
+ + road + + + + + + + + + + + + +
+
+
+ + road_border + +
+
+
+ + road_border + + + + + + + + +
+
+
+ + road_border + +
+
+
+ + road_border + + + + + + + +
+
+
+ + + no road_shoulder, +
+ no pedestrian_lane +
+ + +
+
+
+ + no road_should... + + + + + + + +
+
+
+ + + no road_shoulder, +
+ no pedestrian lane +
+ + +
+
+
+ + no road_should... + + + + + + + + + + +
+
+
+ + bicycle_lane + +
+
+
+ + bicycle_la... + + + + + + + + + +
+
+
+ + bicycle_lane + +
+
+
+ + bicycle_la... + + + + + + + + + + + + +
+
+
+ road +
+
+
+ + road + + + + + + + +
+
+
+ road +
+
+
+ + road + + + + + + +
+
+
+ road +
+
+
+ + road + + + + + + + + + + +
+
+
+ + road_border + +
+
+
+ + road_border + + + + + + + +
+
+
+ + + road_shoulder +
+ + +
+
+
+ + road_should... + + + + + + +
+
+
+ + bicycle guide painting + +
+
+
+ + bicycle guide pai... + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Text is not SVG - cannot display + + + diff --git a/autoware_lanelet2_extension/docs/bus_stop_area.drawio.svg b/autoware_lanelet2_extension/docs/bus_stop_area.drawio.svg new file mode 100644 index 0000000..7fb0194 --- /dev/null +++ b/autoware_lanelet2_extension/docs/bus_stop_area.drawio.svg @@ -0,0 +1,420 @@ + + + + + + + + + + + + + + + +
+
+
+ bus +
+
+
+ + bus + + + + + + + +
+
+
+ bus +
+
+
+ + bus + + + + + + + + + + + + + + + + +
+
+
road lanelet
+
+
+ + road lanelet + + + + + + +
+
+
shoulder lanelet
+
+
+ + shoulder lanelet + + + + + + +
+
+
+
+ + Regulatory Element + +
+
+ bus_stop_area +
+
+
    +
  • + polygon +
    • +
+
+
+
+
+ + Regulatory Element... + + + + + + + +
+
+
+ + + 0..1 + + +
+
+
+ + 0..1 + + + + + + +
+
+
+ + + 1 + + +
+
+
+ + 1 + + + + + + + + + +
+
+
polygon
+
+
+ + polygon + + + + + + + +
+
+
+ + + 1 + + +
+
+
+ + 1 + + + + + + +
+
+
+ + + 1 + + +
+
+
+ + 1 + + + + + + + + + + +
+
+
road lanelet
+
+
+ + road lanelet + + + + + + +
+
+
+
+ + Regulatory Element + +
+
+ bus_stop_area +
+
+
    +
  • + polygon +
    • +
+
+
+
+
+ + Regulatory Element... + + + + + + + + +
+
+
polygon
+
+
+ + polygon + + + + + + +
+
+
+ + + 0..1 + + +
+
+
+ + 0..1 + + + + + + +
+
+
+ + + 1 + + +
+
+
+ + 1 + + + + + + +
+
+
+ + + 1 + + +
+
+
+ + 1 + + + + + + +
+
+
+ + + 1 + + +
+
+
+ + 1 + + + + + + + + + + + + +
+
+
+ + goal_pose + +
+
+
+ + goal_pose + + + + + + +
+
+
+ + goal_pose + +
+
+
+ + goal_pose + + + + + + + Text is not SVG - cannot display + + + diff --git a/autoware_lanelet2_extension/docs/extra_lanelet_subtypes.md b/autoware_lanelet2_extension/docs/extra_lanelet_subtypes.md index d5e8cab..e909826 100644 --- a/autoware_lanelet2_extension/docs/extra_lanelet_subtypes.md +++ b/autoware_lanelet2_extension/docs/extra_lanelet_subtypes.md @@ -51,8 +51,10 @@ Although `bicycle_lane` subtype is already defined in the original [Lanelet2 doc - refers: `road` lanelet adjacent to the objective `bicycle_lane` should share the same boundary LineString - specification: - A `bicycle_lane` is connected to/from only `bicycle_lane` lanelets and is adjacent to a `road` lanelet. Namely in Left(Right) hand side traffic rules, it is on the left(right) side of `road` lanelet. - - A `road_shoulder` lanelet must not be adjacent to a `bicycle_lane` because pullover on `bicycle_lane` is prohibited. For simplifying planning/prediction component, at format_version 2, a `bicycle_lane` should cover the adjacent area corresponding to `road_shoulder` or `pedestrian_lane`. -- The treatment of _navigation mark_, or the shift-arrow shaped painting on the side of the road without explicit separating line, is open to discussion. We can either identity them as part of the vehicle road or separate them as distinct bicycle lanes. + - A `road_shoulder` lanelet must not be adjacent to a `bicycle_lane` because pullover on `bicycle_lane` is prohibited. For simplifying planning/prediction component, at format_version 2, a `bicycle_lane` should cover the adjacent area corresponding to `road_shoulder` or `pedestrian_lane` and therefore should have `road_border` as either of its boundary. +- The treatment of _bicycle guide painting_, or the shift-arrow shaped painting on the side of the road without explicit separating line, is open to discussion. We can either identity them as part of the vehicle road or separate them as distinct bicycle lanes. + +![Bicycle lane](bicycle_lane.svg) Sample bicycle lane in .osm format is shown below: diff --git a/autoware_lanelet2_extension/docs/extra_regulatory_elements.md b/autoware_lanelet2_extension/docs/extra_regulatory_elements.md index e2eaa0c..bdd1be7 100644 --- a/autoware_lanelet2_extension/docs/extra_regulatory_elements.md +++ b/autoware_lanelet2_extension/docs/extra_regulatory_elements.md @@ -311,6 +311,8 @@ _An example:_ The area tagged with `bus_stop_area` can be used to limit the pullover space for bus-like vehicles. This area is referred from the road or road_shoulder subtype lanelets where the destination is positioned via the `BusStopArea` regulatory element. +![BusStopArea tagging](bus_stop_area.drawio.svg) + _An example:_ ```xml