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| 1 | +syntax = "proto2"; |
| 2 | + |
| 3 | +option optimize_for = SPEED; |
| 4 | + |
| 5 | +import "osi_common.proto"; |
| 6 | + |
| 7 | +package osi3; |
| 8 | + |
| 9 | +// |
| 10 | +// \brief A route in the road network |
| 11 | +// |
| 12 | +// A route is an e.g. planned or suggested path for an agent to travel from one |
| 13 | +// location to another within the road network. It is composed of a list of route |
| 14 | +// segments, which form a continuous path through the road network and should be |
| 15 | +// traversed in the order they are listed. |
| 16 | +// The route allows the simulation environment to provide agents with high level |
| 17 | +// path information, similar to that of a map or a navigation system, without the |
| 18 | +// need for the agent model to perform complex path planning on its own. This |
| 19 | +// allows for an efficient control of the agent's general direction, while |
| 20 | +// simultaneously giving it enough freedom on how to traverse the path. |
| 21 | +// |
| 22 | +// ## Example |
| 23 | +// |
| 24 | +// The example below shows the \link Route route\endlink of a vehicle. |
| 25 | +// |
| 26 | +// \image html OSI_Planned_Route.png "Route" width=850px |
| 27 | +// |
| 28 | +// The route is composed of three \link RouteSegment route segments\endlink RS1-3, |
| 29 | +// each indicated by a yellow outline. Two of the route segments |
| 30 | +// (RS2 and RS3) only contain a single \link LogicalLaneSegment logical lane segment\endlink |
| 31 | +// (highlighted in blue), while RS1 is composed of three |
| 32 | +// logical lane segments (green, blue and red). |
| 33 | +// |
| 34 | +message Route |
| 35 | +{ |
| 36 | + // The unique id of the route. |
| 37 | + // |
| 38 | + // \note This field is mandatory. |
| 39 | + // |
| 40 | + // \note This id must be unique within all route messages exchanged with |
| 41 | + // one traffic participant. |
| 42 | + // |
| 43 | + optional Identifier route_id = 1; |
| 44 | + |
| 45 | + // Route segments that form the route of an agent. |
| 46 | + // |
| 47 | + // Consecutive segments should be connected without gaps, meaning that the |
| 48 | + // two of them should form a continuous area. |
| 49 | + // |
| 50 | + repeated RouteSegment route_segment = 2; |
| 51 | + |
| 52 | + // |
| 53 | + // \brief A segment of a logical lane. |
| 54 | + // |
| 55 | + // \note The LogicalLaneSegment allows that start_s > end_s. |
| 56 | + // If start_s < end_s, then the traffic agent should traverse the |
| 57 | + // segment in the logical lane's reference line definition direction. |
| 58 | + // If end_s > start_s, then the traffic agent should traverse the |
| 59 | + // segment in the opposite of the logical lane's reference line |
| 60 | + // definition direction. |
| 61 | + // |
| 62 | + message LogicalLaneSegment |
| 63 | + { |
| 64 | + // The ID of the logical lane this segment belongs to. |
| 65 | + // |
| 66 | + // \rules |
| 67 | + // refers_to: LogicalLane |
| 68 | + // \endrules |
| 69 | + // |
| 70 | + optional Identifier logical_lane_id = 1; |
| 71 | + |
| 72 | + // S position on the logical lane where the segment starts. |
| 73 | + // |
| 74 | + optional double start_s = 2; |
| 75 | + |
| 76 | + // S position on the logical lane where the segment ends. |
| 77 | + // |
| 78 | + optional double end_s = 3; |
| 79 | + } |
| 80 | + |
| 81 | + // |
| 82 | + // \brief A segment of a route. |
| 83 | + // |
| 84 | + // A route segment describes a segment of a traffic agent's route through the |
| 85 | + // logical lanes of the road network. |
| 86 | + // |
| 87 | + // Each time there is a successor-predecessor relation between the logical |
| 88 | + // lanes along the route (i.e. a logical lane ends, and is continued by another |
| 89 | + // logical lane, e.g. at a junction border), a new RouteSegment starts. The |
| 90 | + // RouteSegment then lists the logical lane segments that can be used to |
| 91 | + // travel through this space of the road. |
| 92 | + // |
| 93 | + // Together, the listed logical lane segments should form a continuous area, |
| 94 | + // where the traffic agent can move freely. These will mostly be parallel |
| 95 | + // lanes, though lanes may overlap (e.g. if one lane splits into two on a |
| 96 | + // junction). In general, the logical lane segments in a RouteSegment will |
| 97 | + // have the same length, though there are exceptions (e.g. if a lane |
| 98 | + // widening occurs, the newly appearing lane will have a shorter length). |
| 99 | + // |
| 100 | + // Typically a route segment will be either |
| 101 | + // - a set of parallel lanes between two junctions, or |
| 102 | + // - parallel lanes on an intersection with the same driving direction |
| 103 | + // |
| 104 | + // ## Example |
| 105 | + // |
| 106 | + // Consider the \link RouteSegment route segment\endlink between two intersections, |
| 107 | + // shown in the image below. |
| 108 | + // |
| 109 | + // \image html OSI_Route_Segment.png "RouteSegment" width=850px |
| 110 | + // |
| 111 | + // In the example, a single route segment RS with three |
| 112 | + // \link LogicalLaneSegment logical lane segments\endlink LL1, LL2 and LL3 is |
| 113 | + // shown. The segments are indicated by the green, blue and red highlighted areas, |
| 114 | + // one for each underlying logical lane The starting |
| 115 | + // s-position of each segment is indicated by the yellow dotted line and the s- prefix |
| 116 | + // (note that the start of LL2 lies further to the left, outside of the image), |
| 117 | + // while the ending s-position of all segments is shown by the yellow dotted line e-RS. |
| 118 | + // |
| 119 | + // As it can be seen in the example, all logical lane segments are parallel, |
| 120 | + // but two of them are opening at a later position, so their starting |
| 121 | + // s-positions will be different. |
| 122 | + // |
| 123 | + message RouteSegment |
| 124 | + { |
| 125 | + |
| 126 | + // Logical lane segments that form a route segment. |
| 127 | + // |
| 128 | + // The logical lane segments of a route segment should be connected without |
| 129 | + // gaps, meaning that, together, the lane segments should form a continuous |
| 130 | + // area. |
| 131 | + // |
| 132 | + repeated LogicalLaneSegment lane_segment = 1; |
| 133 | + } |
| 134 | +} |
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