Draft for discussion: Logical Lanes in OSI

This patch shows how logical lanes could be implemented inside OSI.
These logical lanes (plus the lane assignments) would make it much easier
to create agent models that work on OSI.
For OpenDRIVE, the new data structures ensure that the lane information
from OpenDRIVE is not lost (currently all the junction lane information
from OpenDRIVE cannot be represented in OSI).

Signed-off-by: Thomas Bleher <thomas.tb.bleher@bmw.de>

Author: tbleher

CMakeLists.txt

@@ -76,6 +76,7 @@ set(OSI_PROTO_FILES
     osi_trafficcommand.proto
     osi_roadmarking.proto
     osi_lane.proto
+    osi_logicallane.proto
     osi_featuredata.proto
     osi_logicaldetectiondata.proto
     osi_object.proto

osi_common.proto

@@ -338,6 +338,45 @@ message Spherical3d
     optional double elevation = 3;
 }
 
+//
+// \brief Assignment of an object to a logical lane
+//
+// An object is assigned to a logical lane if it overlaps the logical lane.
+// Assignment happens even if the reference point is outside the lane, and only
+// a part of the object overlaps.
+//
+// As an exception to this, \c TrafficSign and \c TrafficLight are assigned to
+// a logical lane if they control traffic on that lane.
+//
+message LogicalLaneAssignment
+{
+    // ID of the LogicalLane the object is assigned to.
+    //
+    optional Identifier assigned_lane_id = 1;
+
+    // S position of the object reference point on the lane, in the ST
+    // coordinate system of the lane.
+    //
+    // s_position might be outside [s_start,s_end] of the lane (and even
+    // outside [startS,endS] of the reference line) if the reference point is
+    // outside the lane, but the object overlaps the lane or a TrafficSign or
+    // TrafficLight is assigned to a lane.
+    //
+    optional double s_position = 2;
+
+    // T position of the object reference point on the lane, in the ST
+    // coordinate system of the lane.
+    //
+    optional double t_position = 3;
+
+    // Angle of the object relative to the lane.
+    // See the ReferenceLine description how the angle is calculated.
+    //
+    // Unit: rad
+    //
+    optional double angle_to_lane = 4;
+}
+
 //
 // \brief The base attributes of a stationary object or entity.
 //
@@ -398,6 +437,10 @@ message BaseStationary
     // The polygon is defined counter-clockwise.
     //
     repeated Vector2d base_polygon = 4;
+
+    // Assignment of this object to logical lanes
+    //
+    repeated LogicalLaneAssignment logical_lane_assignment = 5;
 }
 
 //
@@ -520,6 +563,10 @@ message BaseMoving
     // The polygon is defined counter-clockwise.
     //
     repeated Vector2d base_polygon = 7;
+
+    // Assignment of this object to logical lanes
+    //
+    repeated LogicalLaneAssignment logical_lane_assignment = 9;
 }
 
 //

osi_groundtruth.proto

@@ -9,6 +9,7 @@ import "osi_trafficsign.proto";
 import "osi_trafficlight.proto";
 import "osi_roadmarking.proto";
 import "osi_lane.proto";
+import "osi_logicallane.proto";
 import "osi_object.proto";
 import "osi_occupant.proto";
 
@@ -171,4 +172,16 @@ message GroundTruth
     // derives street geometries automatically from a map reference.
     //
     optional string model_reference = 16;
+
+    // Reference lines used by LogicalLane
+    //
+    repeated ReferenceLine reference_line = 17;
+
+    // Logical lane boundaries used by LogicalLane
+    //
+    repeated LogicalLaneBoundary logical_lane_boundary = 18;
+
+    // Logical lanes used e.g. by traffic agents
+    //
+    repeated LogicalLane logical_lane = 19;
 }