Driving environment design tool 2 – DeDT2 : enhanced capacity to produce complex and dynamic traffic environments

Driving environment Design Tool 2

– DeDT2

Enhanced capacity to produce complex and

dynamic traffic environments

ViP PM 2016-3

Authors

Martin Stenmarck, HiQ

Rickard Leandertz, HiQ

Cover picture: Martin Stenmarck, HiQ ACE AB Reg. No., VTI: 2012/0543-25

Preface

The DeDT2 (Driving environment Design Tool 2) project was a continuation of the earlier DeDT project, and a collaboration between, HiQ ACE AB, Dynagraph, AB Volvo (GTT) and the Swedish National Road and Transport Research Institute (VTI). The work was carried out within the

competence centre ViP Driving Simulation Centre (www.vipsimulation.se), financed by VINNOVA (the Swedish Governmental Agency for Innovation Systems; grant number 2011-03994) and the centre partners.

As in the DeDT project, the purpose of the DeDT2 project was to evolve the ViP internal tool for creating environment data for simulation. The delivered components from DeDT2, software and 3D assets, are for internal ViP purpose and will be available at ViPForge. The project results were demonstrated in Sim II during the ViP workshop in June 2013, and last reflections and conclusions from an established product owner group were presented at the ViP workshop in January 2014.

The source files can be found on ViPForge/DeDT2. For information contact Martin Stenmarck, HiQ (martin.stenmarck@hiq.se), Rickard Leandertz, HiQ (rickard.leandertz@hiq.se) or the ViPForge administrator Jonas Andersson Hultgren, VTI (jonas.andersson.hultgren@vti.se).

Linköping, September 2016

Martin Stenmarck Project manager

Quality review

Peer review was performed to 14 June 2015 by Carl Johan Andhill, Dynagraph and to 21 August 2015 by Matteo Manelli, Scania. The first author Martin Stenmarck has made alterations to the final

manuscript of the report. The ViP Director Lena Nilsson examined and approved the report for publication on 7 October 2016.

Table of contents

Executive summary ...9 1. Introduction ...11 1.1. DeDT ...12 2. Problem identification ...13 3. Goals ...14

4. Method and realization ...15

5. Animated models in VISIR ...16

5.1. Implementation details ...16

6. Results ...17

6.1. Road creator ...17

6.2. New functionality for connecting files ...17

6.3. Viewing panel ...17

7. Dissemination ...18

8. Conclusion and future activities ...19

References ...21

Appendix 1: Task list ...23

Appendix 2: Instructions Manual for DeDT2 ...27

Abbreviations

Arc A part of a circle with constant radius.

DeDT Driving environment Design Tool, a previous ViP project which led to an editor for creating road logics.

Greit Graphics engine interface, visualization component based on the game engine Unity3D.

GUI Graphical user interface.

OpenDRIVE Open format specification to describe the logic of a road network.

OpenSceneGraph Open source 3D graphics application programming interface.

Qt Cross-platform application framework for developing application software.

VISIR Visualization component used in the ViP platform.

XML Extensible Markup Language (XML) is a markup language to encode documents in a format which is both human-readable and machine-readable.

XODR File extension used for the OpenDRIVE format.

2D Two-dimensional space.

List of figures

Figure 1. VTI visualization system architecture. ... 11

Figure 2. VISIR load pipeline of models. ... 12

Figure 3. DeDT2 Graphical User Interface. ... 15

Driving environment Design Tool 2 – DeDT2

Enhanced capacity to produce complex and dynamic traffic environments

by Martin Stenmarck1_{, Rickard Leandertz}1 _{and Björn Blissing}2

1 _{HiQ ACE AB}

2 _{Swedish National Road and Transport Research Institute (VTI)}

Executive summary

The DeDT2 project is an extension of the DeDT project.

The design tool developed in DeDT had limitations from a use case perspective. Thus, more

functionality was desired. DeDT2 addresses these demands and is a more versatile tool for creating the simulated environment.

The scope of DeDT2 has been focused on the creation of roads and crossroads, not on the environment outside the road surface. DeDT2 has evolved to a tool which can create ordinary road segments of different characteristics and put them together to drivable entities. Included in the scope is preparing 3D assets, developed during the DeDT project, to be more suitable in simulation environments.

The result from DeDT2 is a second step towards designing a tool for the creation of more complete simulated driving environments. However, more steps are required, with different scopes, to complete the goal of a “world editor”. One such project, VipCity, is proposed as a future ViP project.

1.

Introduction

Most simulator experiments have specific purposes, either in the field of Simulator-Based Design, SBD, (Alm, 2007) or in areas where driving behaviour is in focus. In the SBD case the vehicle-based systems/products or infrastructural problems are the interesting parts. This means that other activities for setting up the simulator study must be as little resource-consuming as possible to keep the main part of the project budget for the key question. The same reasoning could be applied for behavioural studies.

One way to tackle these needs is to rationalize the production of driving environments by making the production tools more efficient and in parallel expand the library of re-usable environment

components. Also, expanding the capabilities of tools to enable the building of more complex and dynamic scenarios is of interest.

A basic requirement for the description of the driving environment in road-based driving simulators is the logic of the road network. The logic for the “drivable” surface used in the simulator defines e.g. how a lane is connected to an intersection or what drivable paths are available within a road junction.

A common format used for the logic of the road network is the description defined within the OpenDrive community1_{. The OpenDrive format is currently used within the VISIR driving}

environment definition model used at VTI and thus the actual graphical system in the ViP technical platform.

Currently the road network (Figure 1) is defined via the xml-based description named “Simple” together with the VTI tool OD-Mod. The result is an XODR file that describes the logic of the drivable surface (in the OpenDrive format). The XODR file also references several visual object descriptions via a resource file and the VTI tool landscape. The tool set completely defines the logic within and the visual appearance of the driving environment used in the ViP platform-based driving simulators.

In the first DeDT (Driving environment Design Tool) project the scope was to take the first steps towards a more complete design tool and to produce a number of re-usable objects for populating driving environments/scenarios (Alm, Hagemann & Andhill, 2012). In DeDT2 the goal is to further develop the design tool and put more efforts into integration with the simulator platform.

VISIR Simple (xml) OpenDrive XODR OD-Mod Open SceneGraph

DeDT design tool

1.1.

DeDT

The result of DeDT was a program, called Junction Creator, which is available on ViPForge2_{. It}

contains basic functionality for creating logical descriptions of intersections (Alm, Hagemann & Andhill, 2012). The program is based on OpenRoadEd, a GUI used to create OpenDrive compatible driving environments. OpenRoadEd is the result of a thesis work by two students at Chalmers (Kurteanu & Kurteanu, 2010). This software was further developed with C++/Qt3_{/OpenSceneGraph}4

in a Windows environment.

The Junction Creator program imports models in ive format and exports XODR files which can be used in the simulators as shown in Figure 2 below.

It is important to separate the two concepts; the graphical models are only used for the visualization while the XODR file is the logic that is interpreted by the simulator to place the vehicles correctly in the visual environment. VISIR can generate graphical objects from the XODR file but the simulator cannot generate logic from visual graphics data.

This is where the DeDT editor comes in, editing the logic XODR data while being able to display the graphics as an extra layer.

The junctions are extremely complex in the XODR format, with many connections required between lanes. At the graphical layer the crossing is mostly manually modelled by an artist. It is possible to generate the graphics of a crossing based on pure XODR data, and this was demonstrated in Sim II at the ViP Workshop in June 2013, but it is not at all as detailed as a hand modelled junction.

Figure 2. VISIR load pipeline of models.

2 _{https://www.vipforge.se} 3 _{http://www.qt.io/}

2.

Problem identification

In this project, building on the previous DeDT project, better integration with the simulator will be addressed. Today multiple XODR files cannot be loaded, meaning that connections between a crossing and incoming roads cannot be realized. This limitation is not acceptable since the capability to build entire road systems is essential in scenario construction.

Until now, no ViP projects have been carried out in urban settings. The DeDT2 project aims to open for such projects and thereby broaden the scope of activities in ViP.

When using DeDT as a starting point, the most evident issue is that the tool is specialized on junctions. The creation of connecting roads as well as common roads with no junctions is still a very time

consuming task. Technically, the original DeDT tool is not designed to edit and create the road segments between different intersections.

The original DeDT tool is also lacking the ability to load, view and edit an existing road (XODR file). The “product owner” group involved in the project identified two kinds of use cases; the first one was to work with roads with high realism and precise configuration, the other type was to work with randomized roads with variable curvature. This requires the tool to have a technical width to comply with both interests.

3.

Goals

The DeDT2 project will further develop the design tool from the earlier project, enabling it to edit not only intersections but also the road in between. The new design tool will also have added functionality and an improved user interface to make the road design process easier and more powerful.

The results of the DeDT2 project will be of a technical nature more than theoretical. The delivered documentations will be user guides and technical descriptions.

A final activity in the project will be to demonstrate data created by the design tool directly in one of the simulators in the ViP community.

4.

Method and realization

The work in DeDT2 started with a brainstorming meeting. At this meeting a “product owner” group was established and later, based on use cases, a list of requirements was created (see Task list in Appendix 1). By using a scrum methodology these requirements were prioritized to identify the most desired functionality and were later broken down into development tasks. The tasks were intended to take no longer than one week to finish. By focusing on the tasks with the highest impact first, the project could always continue to add the, at the time, most valuable functionality.

Since DeDT already had a framework set up, it was decided to start from the existing tool and add functionality and refinements to keep the tool familiar to existing users and not re-invent already polished functions. The previous code base required some adjustments to be compatible with the new functionality described in Chapter 6. The time spent making these adjustments were easily made up by using an already existing user interface (Figure 3) and basic functionality.

The developers had access to a simulation rig during the implementation phase to conduct tests to see that the results produced was correct.

5.

Animated models in VISIR

As a supplemental project part VISIR was extended to support loading and controlling the animated 3D models which were created in the previous DeDT project. Minor changes to some of the models also had to be performed since the export format used in the previous project had changed, i.e. the supported Autodesk FBX version had changed from OpenSceneGraph 2.8 to OpenSceneGraph 3.0.

5.1.

Implementation details

A new class of VISIR actors had to be implemented. As before these had to be controlled from the simulation kernel.

The export format did not support multiple animation patterns in the same file, therefore the model reader had to be adapted. To read multiple animation into one model the following process is used.

First a base model gets read, which include 3D geometry, bone structure and animation data. The 3D geometry and bone structure get stored inside the actor class. Then animation data in that file is extracted, assigned an identification number, and stored in a vector structure inside the actor class.

Then subsequent models are read. These models have to use the same 3D geometry and the same internal bone structure as the base model. From these additional models the 3D geometry and bone structure are discarded, since they are identical with the base model. Only the animation data are extracted and stored in the same vector as the animation data from the base model.

The animation also has to support continuous blending between animation modes, for example smooth transition from walking to running or idling to walking. This was implemented by weighting the effect that each animation will have on the model. Blend-in and blend-out times can be specified for each animation mode. When a model starts playing the model scales in the animation weight during the specified blend-in time. As one animation blends-in the previous playing animation starts to blend-out. When the animation weight scale reaches zero the animation stops playing, to prevent waste of

6.

Results

The DeDT2 project has produced two results, the first is a software for Microsoft Windows and the second is a set of corrected 3D assets. The developed program, called DeDT2, contains a GUI to create road environments in accordance with the OpenDrive standard.

The documentation produced, besides this report, is an “Instructions Manual for DeDT2“ (see Appendix 2) and a technical test description ”DeDT2 Test Document” (see Appendix 3).

The DeDT Application has been re-worked to focus on larger driving environments with support for frequently used functions like cut and fuse road segments and generate a set length of road with selectable curvature. The three main additions are the Road creator, a connection of files functionality (Figure 4), and the ability to create roads by clicking directly in the Viewing panel.

6.1.

Road creator

The tab formally known as “Advanced” has changed name to “Create road”. It still includes the same road properties and lane properties as before and in addition a feature that allows you to create a road with randomized properties.

6.2.

New functionality for connecting files

A new tab, called “Connect files”, has been added to the Creation view. This tab includes two new functions, merge files and split files. The merge file section is used to connect two XODR files whether it is a junction or a road.

6.3.

Viewing panel

A new feature to the Viewing panel is the possibility to create roads by directly clicking in the main user interface. This will generate an arc-formed road from the end of the last road to the coordinates selected with the mouse click. To enable this function press down the B key on your keyboard and then hit the right mouse button to create a new road segment.

7.

Dissemination

As in the DeDT project, the purpose of the DeDT2 project was to evolve the ViP internal tool for creating environment data for simulation. The delivered components from DeDT2 are for internal ViP purpose and will be available at ViPForge5_{. The Project results were demonstrated in Sim II during the}

ViP workshop in June 2013, and last reflections and conclusions from the product owner group were presented at the ViP workshop in January 2014.

8.

Conclusion and future activities

The resulting design tool still needs further development to fulfil the requirements of a “world editor”. The chosen technical platform on which DeDT, and furthermore DeDT2, is based has several issues and difficulties. Other, newer, frameworks are now available that could potentially solve the same task and is more suitable for future use.

It would be of interest to investigate future visualization platforms, for example Unity3D6 _{which the}

ViP project Greit already has demonstrated (Andhill, Blissing & Källgren, 2014), and how an environment creation tool could pair up with such technology. It would also be beneficial to look at applications with similar purpose and functionality, i.e. from the gaming industry.

It would be an advantage to further focus on integrating or hiding the logical requirements from the XODR format into a more intuitive editor. The user could then focus more on the visual elements which is far easier to relate to than keeping check on the underlying logic.

The increasing need for city environments will strain the DeDT structure. It would be interesting to investigate another way of incorporating the XODR format into a more grid structure which does not require the same amount of data. A city environment will also require the surrounding visualization to increase in detail and liveliness.

References

Alm, T. (2007). Simulator-Based Design – Methodology and vehicle display applications. Dissertation No. 1078 (http://www.diva-portal.org/liu/theses/abstract.xsql?dbid=8465). Linköping, Sweden: Linköping University/Institute of Technology.

Alm, T., Hagemann, A., & Andhill, C. J. (2012). Driving Environment Design Tool – DeDT:

Enhanced capacity to produce complex and dynamic traffic environments. ViP publication 2012-3

(www.vipsimulation.se

)

. Linköping Sweden: Swedish National Road and Transport Research Institute (VTI).

Andhill, C. J., Blissing, B., & Källgren, L. (2014). Greit – Graphics engine interface. ViP PM 2014 (www.vipsimulation.se

)

. Linköping Sweden: Swedish National Road and Transport Research Institute (VTI).

Kurteanu, D., & Kurteanu, E. (2010). Open-source road generation and editing software. Master Thesis, Department of Computer Science and Engineering. Gothenburg, Sweden: Chalmers University of Technology/University of Gothenburg.

Appendix 1: Task list

Appendix key

ID Unique identification of task.

Imp Impact, 1-4, higher value indicates more importance to the product owners.

Task slogan

Text (in Swedish) describing workflow desired.

Notes _{Extra comments.}

The section “borttagna” contains tasks decided to be outside the scope.

ID Imp Task slogan Notes

1 4 Jag vill snabbt och enkelt kunna skapa de vägar eller väg-/gatunät som min studie kräver.

Olika vägtyper, körfält, bredder, linjeföring, busshållplatser.

2 1 Jag vill kunna utgå från en verklig och inmätt väg vars data ska kunna importeras i DeDT och vara direkt körbar på ViP-plattformen.

Vi är osäkra på detta behov. Finns kanske redan tillräckligt av den "varan" (Known roads7 _etc.).

3 4 Jag vill kunna manipulera vägar genom att klippa in nya avsnitt, ändra kurvatur och göra justeringar i höjdled.

4 4 Jag vill kunna bygga en fiktiv väg genom att använda ett enkelt ritförfarande för att hantera sträckningar och kurvatur i plan- och höjdled.

5 2 Jag vill kunna rita vägar och vägnät mot ett

2D-kartunderlag på ”lagom” detaljnivå. Bakgrundsbild räcker.

6 3 Jag vill kunna tillföra vägdata ur tillgänglig databas till en fiktiv väg för att få den typväg jag behöver.

T.ex. x-filig motorväg, 90km/tim landsväg etc.

7 3 Jag vill kunna rita upp gatunät mer

automatiskt med angivande av karaktäristika som kvartersmått, gatubredder och

trottoarbredder/-höjder.

Framför allt viktigt att kunna få till en "körslinga".

8 4 Jag vill kunna koppla ihop flera modeller med olika karaktäristika.

Plocka ihop vägavsnitt, avfarter, korsningar, rondeller etc.

11 4 Jag vill kunna placera ut fasta objekt i ett 2D-fågelperspektiv.

Byggnader, skyltar, vegetation etc.

12 3 Jag vill kunna granska väg- och

omgivningsvyer i 3D från valfri utgångspunkt.

13 4 Jag vill inte behöva tänka på filformatet vid hopkoppling av olika enheter.

ViP-format, inte objekt man köper in.

15 1 Jag vill att det ska vara lätt att spara/göra backup (1) och ångra (3) kommandon.

20 4 Jag vill kunna visualisera den väg jag arbetar med och skriva ut bilden.

Kolla print Screen.

21 4 Jag vill kunna hantera korsningar. Kan behövas hjälpfunktioner för att göra användarvänligt.

Typkorsningar.

22 4 Jag vill också kunna placera rörliga objekt på och i anslutning till vägen.

Fotgängare, cyklister, älgar. Position/markering/mätning.

23 2 Jag vill att verktyget varnar/markerar vid regelbrott.

För skarp kurva, feldosering osv. Jfr pp 4 och 6.

24 4 Jag vill kunna skapa landsvägar/motorvägar utan att ha indata förberett, det räcker med vägtyp, längd + ev. antal filer och min-/maxkurvatur.

Utdata blir slumpade vägar som följer regler, men där ingen känner igen sig. Jfr p 4.

25 2 Jag vill kunna göra vägar som följer kartdata; GPS-spår + höjd m.m. för att t.ex. testa navigationsfunktioner mot google maps.

30 Jag vill kunna importera våra befintliga gamla Volvo-vägar och konvertera till

ViP-kompatibla dito.

Utred kostnad.

31 1 Jag vill kunna generera kompletta

rutnät/städer med få attribut som indata, via regelbaserad generator för variationens skull.

Jfr p 7.

32 1 Som tillverkare av filmsnuttar för demo/ disseminationer vill jag kunna importera detaljerade vägsnuttar/kvarter/städer som man kan köpa från nätet, och addera logik i efterhand, gärna via konvertering xyz -> ViP-format. Vi vill uppnå en hög detaljnivå som tål att visas på film utan att anställa

3D-konstnärer.

Borttagna

9 Jag vill kunna lägga till/ta bort statiska objekt, gärna från ett ViP-bibliotek.

Samma som p 11.

10 Jag vill också kunna lägga ut fasta objekt på vägen och i nära anslutning till vägen.

Samma som ovan och p 11.

16 Som icke van vägbyggare vill jag bli mer van, dvs verktyget måste vara enkelt. Att kunna skapa sina egna vägar ger kontroll och bättre överblick över projektets tidplan. Man kan testa sin sträcka tidigt, man behöver inte skapa scenarion på fel väg för att sen flytta på dem till rätt väg.

Samma som p 1 m fl.

17 Jag vill kunna välja bland linjemarkeringar, vägprofiler, dikesprofiler osv från en databas när det finns etablerade regler.

Samma som p 11.

18 Som van scenarioskapare vill jag kunna göra manuella ändringar av kurvatur, höjd,

linjemarkeringar, vägren, dike.

Samma som p 4.

19 Jag vill ha möjlighet att manipulera färdiga modeller med drag & drop.

26 Jag vill kunna tillföra standardvägmarkeringar på fiktiva vägar/vägavsnitt på ett enkelt sätt.

Jfr p 6.

27 Jag ska kunna gå in på någon del av vägen och göra en ändring.

Jfr p 3.

28 Jag vill kunna utgå från en befintlig väg och gör ändringar.

Jfr p 3.

29 Jag vill ha möjlighet att kombinera flera olika vägar och kopiera en bearbetad väg.

Jfr pp 3 och 8.

33 Jag vill visuellt kunna förflytta mig längs med vägen för att se hur modellen blir.

Jfr p 12.

34 Jag vill kunna generera ”endimensionella”

stadsrutter (inte kompletta rutnät/städer) med få attribut som indata, via regelbaserad generator för variationens skull.

Sträckan blir ung start----+---+--+---+---+----+--- slut.

Jfr p 7.

35 Jag vill kunna sätta ihop och dela olika vägar Jfr p 8.

36 Jag vill kunna lägga till avfart, påfart, korsning, rondell.

Jfr p 8.

37 Jag vill kunna rita en väg (logiskt) från scratch och få ut logik + grafik.

Appendix 2: Instructions Manual for DeDT2

Rickard Leandertz, HiQ

Innehållsförteckning

Introduction ... 28 Overview Road creator ... 29 Overview connect files ... 29 Overview Viewing panel ... 30 Overview zoom, pan, select ... 30 Tutorial 1, build a randomized road ... 31 Tutorial 2, build a road using the Viewing panel ... 34 Tutorial 3, Connect road with crossing using the Connect files folder. ... 38 Tutorial 4, Slit road using the Connect files folder. ... 41

Introduction

DeDT2 is an expansion of DeDT (Junction Creator) and is built in the same application. This manual will focus on the new features that have been added. For a more detailed description of the basics for this tool read “Junction Creator Manual”.

While DeDT focuses on the making of junctions, DeDT2’s main function is to create roads, but also to offer the possibility to combine xodr files as well as dividing them. This manual will start with an explanation of the functions and further on there will be a tutorial for each function.

Overview Road creator

The tab formally known as “Advanced” has changed name to “Create road”. It still includes the same road properties and lane properties as before and in addition a feature that allows you to create a road with randomized properties.

How to use Road properties and Lane properties is described in the Junction creator manual. Properties random road is used to automatically create roads with a button click.

Parameters are length (1m to 10km, default is 1km), number of left and right lanes and maximum curvature (scale 1 to 20 where 20 is max, default is 7). The parameter for elevation curvature is disabled. The checkbox new ROAD is used to create a new xodr node. This will make it easier to delete and redo the road.

The split file section does the opposite. It separates the xodr file into two new files.

“Connect files” is a separate application that has been integrated in dedt. This application only handles xodr files. This means roads in progress have to be saved as an xodr file to be either merged or spit.

Overview Viewing panel

A new feature to the Viewing panel is the possibility to create roads by clicking in directly into the window. This will generate an arc-formed road from the end of the end-coordinates of the last road to the coordinates selected with the mouse click. To enable this function press down the B key on your keyboard and then hit the right mouse button to create a new road segment.

Overview zoom, pan, select

Here are the mouse and keyboard commands for operating in the Viewing panel.

Zoom in/out Space + third mouse button, move mouse down/up.

Move Third mouse button, move mouse in moving direction.

Look Right mouse button, move mouse in looking direction.

Build road B key + right mouse button.

Tutorial 1, build a randomized road

In this tutorial we will build a single lane, 5 km long road with an undefined shape.

To build a road, always start with adding a New connecting road under the tab Create Junction.

This will create a small piece of road in the middle of the screen. This is where the road will begin and if more lanes are desired just hit the New left lane or New right lane button just under the New

connecting road button. Now enter the tab Create road.

To generate the road, look at Properties for random road. The first variable describes the length of the new road, default is 1000m. Change this to 500m. Number of right and left lanes indicates how many lanes there will be on each side. Since lanes are specific for each ROAD node in the xodr format, the number of lanes is decided by the starting road. If you wish to add more lanes, either change the Number of right lanes/Number of left lanes and check the new ROAD box or go back to the Create junction tab and add lanes there. In this case, we only want one lane on each side so leave these at default value one. Maximum curvature indicates on which interval the radius of each curve is randomized. Where smaller numbers mean bigger radius and straighter roads and vice versa. In this case change to 10. Leave Maximum elevation curvature. This function is not implemented. Check new ROAD box. This will create a new node in the xodr file for this road section. It is not crucial, but it helps if you want to redo.

Tutorial 2, build a road using the Viewing panel

In this tutorial we will build a two lane road with a ~200m straight road followed by a right curve and a left curve.

Start by adding a new road using the New connecting road button under the Create Junction tab. Then add a new left lane and a new right lane by hitting the New Left Lane and New Right Lane button once.

To be able to create roads or modifying them inside the Viewing panel, a surface is needed. This can be a model or a reference image. To add a model open File and then Open model…

When the geometry is selected two yellow squares appears on the road.

Select the left square (with left mouse button) and pull it to the left, make it about 200m.

Alt 1. Now press the B key and right-click where you want the curve to end, on the right side of the road-ending.

And now to the left.

Alt 2. Hit the “Add geometry Bezier curve”-button in the Create road folder.

The Bezier curve is editable in length and curvature. To edit length, pull the yellow square at the end of the road. To edit the curvature, pull the squares at the end of the red and green line.

Tutorial 3, Connect road with crossing using the Connect files

folder.

In this tutorial we will connect three xodr files, a randomized road created in the same manner as in a previous tutorial (tutorial 1), a junction and then we will attach the same road as the first again to the right turn in the junction.

Open up the “connect files” folder.

(1)Press “load file” and fetch the road you want to extend. (2)Then press the second “load file” and fetch the junction you want to add. (3)Since the “adding file” is a junction check the “Junction box”.

1 2

3

(1)Write the name of the road I the junction you want to connect to. In this case write “right_turn”. (2)Press ”Save as” and write a new name for the new file which will be generated. (3) Press Merge to merge the two files. If you now open up save road it should look something like this.

We will now attach the same randomized road to the road called right turn. So open up the “connect files” folder again.

(1)Press load file and open up the file you saved in the last step. (2)Since the last road (right_turn) is a part of a junction check the “Junction box”. (3)Write the name of the road you want to connect with in the junction. In this case “right_turn”. (4)Press “Load file” for the “adding file” and choose the randomized road used before.

Right_turn 1 2 3 4 1 2

(1)Press “Save as” and write a new name for the new file. (2) Press merge to generate the new road. This should look like this.

Tutorial 4, Slit road using the Connect files folder.

In this tutorial we will split the randomized road from the previous tutorial (tutorial 3) after 400 meters.

Press “Load file” and fetch the file you want to part. In this case the same randomized road from tutorial 3.

Enter the length of the first road. In this case, write 500 meters. Then press “SPLIT”. In the same folder as your randomize road there will now be two more files with the same name plus the extension “_1” and “_2”. For example, in this case the original road is called “tut3_random” and the two new roads a called “tut3_random_1” and “tut3_random_2”, where tut3_random_1 is the first part of the road which should be about 400 meters.

First part of the parted file: tut3_random_1.xodr.

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in ing se pa rat e x odr f il es . tt ing an e x ist ing r oad i n to tw o se g m ent s. ing a r o ad se g m ent t o ano the r r o ad s egm ent . ec ti ng a r oad se g m ent t o a c ros si ng . ec ti ng a cr os si ng t o a r o ad s egm ent . e r o ad g eo m et ry . ht r oad g eom et ry . ed r o ad g eom et ry . iz ed r oa ds of d es ir ed l eng th and m in and m ax c ur v at u re . e xodr f il e. n t es t edi ti on o f V isi r. ing se par at e x odr f il es . ion T es t s tep E x pect ed r es u lt T es t re sul t ec t f il es’ tap C li ck on t he ‘ C onnec t f il es ’ t ab . T he ‘ C onn ec t f il es’ tab w il l open up. Pass ed t xod r f il e C li ck the ’ Lo ad f il e’ bu tt on in t he l ef t co lum n i n the ‘Me rg e f il es’ - fi el d. T he ‘ O pen f il e’ w in dow w il l op en . Pass ed Sel ec t xo dr f il e in t he ‘ O pe n f il e’ w indow and pr es s ope n . T he se lec ted fi le w il l show in t h e l abe l abov e the but ton. Pass ed on d xod r f il e C li ck t he ’ Lo ad f il e’ bu tt on in t he c ent re c ol um n in t he ‘ Me rg e f il es f iel d. T he ‘ O pen f il e’ w in dow w il l op en . Pass ed Sel ec t xo dr f il e in t he ‘ O pe n f il e’ w indow and pr es s ope n . T he se lec ted fi le w il l show in t h e l abe l abov e the but ton. Pass ed

46 V iP P M 201 6 -3 6 Sav e f il e t o f o lde r C li ck the ’ Sav e a s’ bu tt on i n t he ri ght col um n i n the ‘Me rg e f il es’ - fi el d. T he ‘ sav e f il e’ w indow w il l open. Pass ed 7 T y pe na m e of f il e T y pe na m e of t he s av ed f il e, and p res s Sav e. T he nam e a nd add re ss t o t h e s av e f il e w il l sh ow i n the labe l ab ov e t he b ut ton. Pass ed 8 Me rg e f il es C li ck t he ‘ Me rg e’ b ut ton in the ri ght c ol um n i n the ‘Me rg e f il es’ - fi el d. ( o p en s av ed f il e t o v er if y ). T he f il e w il l be m er g ed. Pass ed T est 2 : A f unc ti on fo r cu tt ing an e xi st ing r oad i nt o tw o se g m ent s. T es t st ep ID T es t de sc ri pt ion T es t s tep E x pect ed re su lt T es t res ul t 1 O pen ’ C onn ec t f il es’ tap C li ck on t he ‘ C onnec t f il es ’ t ab. T he ‘ C onn ec t f il es’ tab w il l open up. Pass ed 2 Sel ec t the fi rs t xod r f il e C li ck the ’ Lo ad f il e’ bu tt on in t he ‘ Spl it f il e’ - fi el d. T he ‘ O pen f il e’ w in dow w il l op en . Pass ed 3 C hoose f il e Sel ec t xo dr f il e in t he ‘ O pe n f il e’ w indow . T he se lec ted fi le w il l show in t h e l abe l abov e the but ton. Pass ed 4 T y pe wher e t o sp li t Ente r a leng th a long ’ s’ w her e the fi le w il l be di v ided. Pass ed 5 Spli t C li ck the ’ Sp li t’ but ton in t he ‘ Sp li t f il e’ - fie ld. T he f il e has bee n di v ided in to t w o se pa ra te fi les w it h the s am e a ddr ess an d nam e a s t h e or ig ina l f il e, wi th t he di ff er enc e of t he nam e e xt ensi on s _1 a nd _2. Pass ed

47 ing a r oad s egm ent t o ano th er r o ad s eg m ent . ion T est st ep E x pect ed re su lt T es t re sul t 1 Sam e a s T est 1 Sam e a s T est 1 Sam e a s T est 1 ec ti ng a r oa d se g m ent t o a cr oss ing . ion T es t s tep E x pect ed re su lt T es t r es u lt ec t f il es’ C li ck on t he ‘ C onnec t f il es ’ t ab. T he ‘ C onn ec t f il es’ tab w il l open up. Pass ed t xod r C li ck the ’ Lo ad f il e’ bu tt on in t he l ef t co lum n i n t he ‘Me rg e f il es f iel d . T he ‘ O pen f il e’ w in dow w il l op en . Pass ed jun ct ion) Sel ec t xo dr f il e in t he ‘ O pe n f il e’ w indow . T he se lec ted fi le w il l show in t h e l abe l abov e the but ton. Pass ed ju nct ion C hec k t he ‘ jun ct ion’ -box i n t he lef t c ol um n i n the ‘Me rg e fi les ’-fi el d. Pass ed r oad in o T y pe i n the nam e of t he c o nnec ti ng r oa d -el em ent i n t h e junc ti on i n the tex t f ie ld in the r ig ht col um n i n t he ‘M er ge fi les f iel d. Pass ed on d C li ck the ’ Lo ad f il e’ bu tt on in t he cent re c ol um n in the ‘Me rg e f il es f iel d . T he ‘ O pen f il e’ w in dow w il l op en . Pass ed Sel ec t xo dr f il e in t he ‘ O pe n f il e’ w indow . T he se lec ted fi le w il l show in t h e l abe l abov e the but ton. Pass ed o lde r C li ck the ’ Sav e a s’ bu tt on i n t he ri ght col um n i n the ‘Me rg e f il es f iel d . T he ‘ sav e f il e’ w indow w il l open. Pass ed f il e T y pe na m e of t he s av ed f il e, and p res s Sav e . T he nam e a nd add re ss t o t h e s av e f il e w il l sh ow i n the labe l ab ov e t he b ut ton. Pass ed C li ck t he ‘ Me rg e’ b ut ton in the ri ght c ol um n i n the ‘Me rg e f il es f iel d . ( op en s av ed f il e t o v er if y ). T he r o ad wi ll b e m er g ed wit h t h e junc ti on . Pass ed

48 V iP P M 201 6 -3 T est 5 : A f unc ti on fo r conn ec ti ng a c ro ss ing t o a road segm ent . T es t st ep ID T es t de sc ri pt ion T es t s tep E x pe ct ed re su lt T es t re sul t 1 O pen ’ C onn ec t f il es’ tap C li ck on t he ‘ C onnec t f il es ’ t ab . T he ‘ C onn ec t f il es’ tab w il l open up. Pass ed 2 Sel ec t the fi rs t xod r f il e C li ck the ’ Lo ad f il e’ bu tt on in t he l ef t co lum n i n t he ‘Me rg e f il es f iel d . T he ‘ O pen f il e’ w in dow w il l op en . Pass ed 3 C hoose f il e Sel ec t xo dr f il e in t he ‘ O pe n f il e’ w indow . T he se lec ted fi le w il l show in t h e l abe l abov e the but ton. Pass ed 4 Sel ec t the s ec on d xod r fi le C li ck the ’ Lo ad f il e’ bu tt on in t he cent re c ol um n i n the ‘Me rg e f il es’ - fie ld. T he ‘ O pen f il e’ w in dow w il l op en . Pass ed 5 C hoose s ec ond f il e (j un ct ion) Sel ec t xo dr f il e in t he ‘ O pe n f il e’ w indow . T he se lec ted fi le w il l show in t h e l abe l abov e the but ton. Pass ed 6 Ma rk i t as a ju nct ion C hec k t he ‘ jun ct ion’ -box i n t he lef t c ol um n i n the ‘Me rg e f il es ’-fi el d. Pass ed 7 C hoose w h ich road in the junc ti o n t o conn ec t to T y pe i n the nam e of t he c o nnec ti ng r oa d -el em ent i n the junc ti o n i n the t ext f iel d i n t he r ig ht co lum n i n t h e ‘Me rg e f il es f iel d . Pass ed 8 Sav e f il e t o f o lde r C li ck t he ’ Sav e a s’ bu tt on i n t he ri ght col um n i n the ‘Me rg e f il es f iel d . T he ‘ sav e f il e’ w indow w il l open. Pass ed 9 T y pe na m e of f il e T y pe na m e of t he s av ed f il e, and p res s Sav e . T he nam e a nd add re ss t o t h e s av e f il e w il l sh ow i n the labe l ab ov e t he b ut ton . Pass ed 10 Me rg e f il es C li ck the ‘ Me rg e’ b ut ton in the ri ght c ol um n i n the ‘Me rg e f il es f iel d . ( op en s av ed f il e t o v er if y ). T he j un ct ion w il l be m er g ed wit h the roa d . Pass ed

49 e r oad g eom et ry . ion T es t s tep E x pect ed re su lt T es t re sul t Ju nct ion ’ C li ck on t he ‘ C rea te Junc ti on’ tab . T he ‘ C rea te Ju nct ion ’ t ab w il l open . Pass ed C li ck the ’ N ew co nnec ti ng r oad ’ bu tt on in the ‘R oad cr ea ti on’ f iel d. T he ‘ C rea te i ncom ing r oad’ w indow w il l appe ar . Pass ed oi n t N am e t he r oad. Set pr edec ess or to 99 , and cl ick ’ O k’ in t he ’ C rea te incom ing r oa d’ w ind ow and c li ck ‘R ev er se ’ i n t he ‘ D ir ect ion er ro r’ w indow . A road g eom et ry w il l show i n t he V iewing pane l an d in t h e Ro ad tr ee t o t he lef t on t he sc ree n . Pass ed ht r oad g eom et ry . ion T es t s tep E x pect ed re su lt T es t re sul t e r oa d Sam e a s s tep 1,2,3 & 4 fr o m T es t 6 . Pass ed ’ t ab C li ck o n t he ‘ C rea te road ’ t ab . T he ‘ C rea te r oad’ ta b w il l o pen. Pass ed ht r oad C li ck on t he ’ A dd g eom et ry li ne’ b ut ton . A st rai g ht r oad g eom et ry w il l show in the V iewing pane l and in the Roa d t ree t o t he le ft o n t h e s cr ee n . Pass ed oad g eom et ry . ion T es t s tep E x pect ed re su lt T es t re sul t e r oa d Sam e a s s tep 1,2,3 & 4 fr o m T es t 6 . Pass ed ’ t ab C li ck on t he ‘ C rea te road ’ t ab . T he ‘ C rea te r oad’ ta b w il l o pen. Pass ed oa d C li ck on t he ’ A dd g eom et ry B ez ier cur ve’ bu tt on . A cur v ed roa d g eom et ry w il l s how i n the V iewi ng pane l and in the Roa d t ree t o t he le ft o n t h e s cr ee n . Pass ed

50 V iP P M 201 6 -3 T est 9 : C rea ti on of r andom iz ed r oads of d es ir ed le ng th and m in and m ax c ur v at u re . T es t st ep ID T es t de sc ri pt ion T es t s tep E x pect ed re su lt T es t re sul t 1 C rea te s im pl e r oa d. Sam e a s s tep 1,2,3 & 4 fr o m T es t 6 . Pass ed 2 O pen ’ C rea te Road ’ t ab C li ck on t he ‘ C rea te road ’ t ab . T he ‘ C rea te r oad’ ta b w il l o pen . Pass ed 3 C hang e l eng th o f t h e random iz ed r oad T y pe t h e l eng th of t he r oa d in t h e t ext f iel d af te r t h e labe l ‘ L eng th of r an dom r oad’ in t he ‘ Pr ope rt ie s random r oad ’ f ie ld. Pass ed 4 C hang e t he m axi m u m cur v at u re o f t h e random iz e r oad T y pe t h e m axi m u m cu rv at ur e i n t h e t ex t fi el d af te r t h e labe l ’ Ma xi m um cur vat ur e’ in t he ‘ Pr op er ti es r andom road ’ f ie ld. Pass ed 5 C rea te r andom iz ed r oad C li ck the ‘ C rea te r oad’ but ton. A r oad wi th random iz ed g eom et ri es w il l ap pea r i n the V iewing pane l an d i n the R oad t ree t o the le ft o n t h e sc re en. Pass ed T est 1 0: A f unc ti o n t o sa v e xodr f il e. T es t st ep ID T es t D es cr ipt ion T es t s tep E x pect ed re su lt T es t re sul t 1 C rea te a r oad Sam e a s T est 9 . Pass ed 2 O pen s av e f il e window C li ck ‘ Fi le ’ on the m enu ba r and ‘Sav e’ in t he ‘F il e’ m enu. T he ‘ Sav e f il e’ w indow w ill open. Pass ed 3 C hoose n am e a nd sa v e T ype t he na m e of the n ew f il e and c li ck ‘ Sav e’ . ( open fi le t o v er if y ). T he r o ad wi ll b e s av ed a s x odr und er t he chos en na m e and a dd res s. Pass ed

51 e on te st e di ti o n of V is ir . ion T es t s tep E x pect ed re su lt T es t re sul t Sam e a s T est 9 . Pass ed l to t h e l ef t T o add m at er ia ls to t he l ef t lane , go t o t he ‘ R oad t ree ’ on t he le ft . Sel ec t ‘ La ne 0 ’ (R oad -> Road 0 ->Road lane se ct ion ->Lef t l ane s->L ane 0 ). O pen t he ‘ C rea te r oad tab ’ and c li ck th e ‘ Set lane m at er ia l’ . S et sur fac e na m e i n t he ri g ht -si de m enu. Whe n ‘Lane 0’ is se lec ted the ‘ Se t l ane m at er ial ’ but ton w il l b e e n abl ed. Cl ic k ing t hi s bu tt on w il l gene rat e a n ew sec ti on und er the t ab ‘Lane 0’ ->’ Lane m at er ia l’ ca ll ed ‘Lan e m at er ia l 0 ’ i n the ‘ R oad tr ee ’. T h is wi ll al so s h ow t h e Lan e s et ti ng s m enu on t he ri g ht si de of t he edi tor . T hes e s et ti ng s i n cl u de a t ex tf ie ld for edi ti ng t he r o ad s u rf ace . Pass ed l to t h e T o add m at er ia ls to t he l ef t lane , go t o t he ‘ R oad t ree ’ on t he le ft . Sel ec t ‘ La ne 0 ’ (R oad -> Road 0 ->Road lane se ct ion ->Cent er l an es ->Lane 0 ). O pen t he ‘ C rea te r oad tab ’ and c li ck th e ‘ Set lane m at er ia l’ . S et sur fac e n am e i n t he ri g ht -si de m enu. Whe n ‘Lane 0’ is se lec ted the ‘ Se t l ane m at er ial ’ but ton w il l b e e n abl ed. Cl ic k ing t hi s bu tt on w il l gene rat e a n ew sec ti on und er the t ab ‘Lane 0’ ->’ Lane m at er ia l’ ca ll ed ‘Lan e m at er ia l 0 ’ i n the ‘ R oad tr ee ’. T h is wi ll al so s h ow t h e Lan e s et ti ng s m enu on t he ri g ht si de of t he edi tor . T hes e s et ti ng s i n cl u de a t ex tf ie ld for edi ti ng t he r o ad s u rf ace . Pass ed l to t h e r ig ht T o add m at er ia ls to t he l ef t lane , go t o t he ‘ R oad t ree ’ on t he le ft . Sel ec t ‘ La ne 0 ’ (R oad -> R oad 0 ->Road lane se ct ion ->Rig ht l ane s->Lane 0 ). O pen t he ‘ C rea te r oad tab ’ and c li ck th e ‘ Set lane m at er ia l’ . S et sur fac e na m e i n t he ri g ht -si de m enu. Whe n ‘Lane 0’ is se lec ted the ‘ Se t l ane m at er ial ’ but ton w il l b e e n abl ed. Cl ic k ing t hi s bu tt on w il l g ene rat e a n ew sec ti on und er the t ab ‘Lane 0’ ->’ Lane m at er ia l’ ca ll ed ‘Lan e m at er ia l 0 ’ i n the ‘ R oad tr ee ’. T h is wi ll al so s h ow t h e Lan e s et ti ng s m enu on t he ri g ht si de of t he edi tor . T hes e s et ti ng s i n cl u de a t ex tf ie ld for edi ti ng t he r o ad s u rf ace . Pass ed nec es sar y Wr it e di rec tl y i n to xod r fi le usi ng <us er d at a code = v al ue= t y pe= > . Pass ed R un v isi r. exe . R oad i s showi ng i n V is ir . Pass ed

ViP

Virtual Prototyping and Assessment by Simulation

ViP is a joint initiative for development and application of driving simulator

methodology with a focus on the interaction between humans and technology

(driver and vehicle and/or traffic environment). ViP aims at unifying the extended

but distributed Swedish competence in the field of transport related real-time

simulation by building and using a common simulator platform for extended

co-operation, competence development and knowledge transfer. Thereby strengthen

Swedish competitiveness and support prospective and efficient (costs, lead times)

innovation and product development by enabling to explore and assess future vehicle

and infrastructure solutions already today.

Centre of Excellence at VTI funded by Vinnova and ViP partners VTI, Scania, Volvo Trucks, Volvo Cars, Swedish Transport Administration,