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GenerateCurRoad.py
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import xml.etree.ElementTree as ET
import numpy as np
import math
from scipy import optimize
from sklearn.metrics import mean_squared_error
def prettyXml(element, indent, newline, level = 0): # elemnt为传进来的Elment类，参数indent用于缩进，newline用于换行
if element: # 判断element是否有子元素
if element.text == None or element.text.isspace(): # 如果element的text没有内容
element.text = newline + indent * (level + 1)
else:
element.text = newline + indent * (level + 1) + element.text.strip() + newline + indent * (level + 1)
#else: # 此处两行如果把注释去掉，Element的text也会另起一行
#element.text = newline + indent * (level + 1) + element.text.strip() + newline + indent * level
temp = list(element) # 将elemnt转成list
for subelement in temp:
if temp.index(subelement) < (len(temp) - 1): # 如果不是list的最后一个元素，说明下一个行是同级别元素的起始，缩进应一致
subelement.tail = newline + indent * (level + 1)
else: # 如果是list的最后一个元素， 说明下一行是母元素的结束，缩进应该少一个
subelement.tail = newline + indent * level
prettyXml(subelement, indent, newline, level = level + 1) # 对子元素进行递归操作
def LaneNode(lane_id,lane_type,isBelongToCent,lane_width,lane_dir,mark_type,mark_width,mark_color):
#laneNode for straight road
'''
if lane_direction:
lane_dir="forward"
else:
lane_dir="backward"
'''
lane_node=ET.Element('lane',id=str(lane_id),level='false',type=lane_type)
if isBelongToCent==0:
width=ET.SubElement(lane_node,"width",a=str(lane_width),b="0",c="0",d="0",sOffset="0.0000000000000000e+0")
roadMark=ET.SubElement(lane_node,"roadMark",sOffset="0.0000000000000000e+0",type=mark_type, material="standard", color=mark_color ,laneChange="none")
userData=ET.SubElement(roadMark,"userData")
vectorLane=ET.SubElement(userData,"vectorLane",travelDir=lane_dir)
else:
roadMark=ET.SubElement(lane_node,"roadMark",sOffset="0.0000000000000000e+0",material="standard", type="solid solid", width="1.2500000000000000e-1",color="yellow", laneChange="none")
return lane_node
def LaneNode_rightturn(laneconnect,lane_id,lane_type,isBelongToCent,lane_width,lane_dir,mark_type,mark_width,mark_color):
#lane_Node_link for connection road in junction
lane_node=ET.Element('lane',id=str(lane_id),level='false',type=lane_type)
if isBelongToCent==0:
link=ET.SubElement(lane_node,"link")
predecessor=ET.SubElement(link,"predecessor",id=str(laneconnect[0]))
successor=ET.SubElement(link,"successor",id=str(laneconnect[1]))
width=ET.SubElement(lane_node,"width",a=str(lane_width),b="0",c="0",d="0",sOffset="0.0000000000000000e+0")
roadMark=ET.SubElement(lane_node,"roadMark",sOffset="0.0000000000000000e+0",type=mark_type, material="standard", color=mark_color ,laneChange="none")
userData=ET.SubElement(roadMark,"userData")
vectorLane=ET.SubElement(userData,"vectorLane",travelDir=lane_dir)
else:
roadMark=ET.SubElement(lane_node,"roadMark",sOffset="0.0000000000000000e+0",type=mark_type, material="standard", color=mark_color ,laneChange="none")
#roadMark=ET.SubElement(lane_node,"roadMark",sOffset="0.0000000000000000e+0",material="standard", type="solid solid", width="1.2500000000000000e-1",color="yellow", laneChange="none")
return lane_node
def RightTurnNode_new(predecessor_id,successor_id,hdgree,hdgree2,contact_Point,start_point, end_point):
deltaX=abs(start_point[0]-end_point[0])
deltaY=abs(start_point[1]-end_point[1])
straight_length= abs(deltaX-deltaY)
if predecessor_id[0]>successor_id[0]:
xs=start_point[0]
ys=start_point[1]
xe=end_point[0]
ye=end_point[1]
else:
xs=end_point[0]
ys=end_point[1]
xe=start_point[0]
ye=start_point[1]
if deltaX>deltaY:
cur=-1/deltaY
arc_length=abs(1/cur)*np.pi*2/4
length1=arc_length
length2=straight_length
x1=xs
y1=ys
if hdgree2>=0:
x2=xs+deltaY
else:
x2=xs-deltaY
y2=ye
curorder=1
else:
cur=-1/deltaX
arc_length=abs(1/cur)*np.pi*2/4
length1=straight_length
length2=arc_length
x1=xs
y1=ys
x2=xs
y2=ye-deltaX
curorder=0
s_length=length1+length2
CRoad_id=successor_id[0]*10+predecessor_id[0]*9
#arc_sign={'right_turn':-1.0,'straight':10000,'left_turn':1.0}
#cur=-1/abs(start_point[0]-end_point[0])
#arc_length=abs(1/cur)*np.pi*2/4
CRoad_node=ET.Element('road',name="Road"+" "+str(CRoad_id) ,length=str(s_length), id=str(CRoad_id), junction="4")
link=ET.SubElement(CRoad_node,'link')
if predecessor_id[0]>successor_id[0]:
predecessor=ET.SubElement(link,'predecessor',elementType="road", elementId=str(predecessor_id[0]),contactPoint=contact_Point[0])
successor=ET.SubElement(link,'successor',elementType="road", elementId=str(successor_id[0]),contactPoint=contact_Point[1])
else:
predecessor=ET.SubElement(link,'predecessor',elementType="road", elementId=str(successor_id[0]),contactPoint=contact_Point[1])
successor=ET.SubElement(link,'successor',elementType="road", elementId=str(predecessor_id[0]),contactPoint=contact_Point[0])
type=ET.SubElement(CRoad_node,'type', s="0.0000000000000000e+0" ,type="town")
planView=ET.SubElement(CRoad_node,'planView')
if predecessor_id[0]>successor_id[0]:
if curorder==1:
geometry1=ET.SubElement(planView,'geometry',s='0',x=str(x1),y=str(y1),hdg=str(hdgree),length=str(length1))
arc=ET.SubElement(geometry1,'arc',curvature=str(cur))
geometry2=ET.SubElement(planView,'geometry',s=str(length1),x=str(x2),y=str(y2),hdg=str(hdgree2),length=str(length2))
line=ET.SubElement(geometry2,'line')
elif curorder==0:
geometry1=ET.SubElement(planView,'geometry',s='0',x=str(x1),y=str(y1),hdg=str(hdgree),length=str(length1))
line=ET.SubElement(geometry1,'line')
geometry2=ET.SubElement(planView,'geometry',s=str(length1),x=str(x2),y=str(y2),hdg=str(hdgree),length=str(length2))
arc=ET.SubElement(geometry2,'arc',curvature=str(cur))
else:
if curorder==1:
geometry1=ET.SubElement(planView,'geometry',s='0',x=str(x1),y=str(y1),hdg=str(hdgree),length=str(length1))
arc=ET.SubElement(geometry1,'arc',curvature=str(-cur))
geometry2=ET.SubElement(planView,'geometry',s=str(length1),x=str(x2),y=str(y2),hdg=str(hdgree2),length=str(length2))
line=ET.SubElement(geometry2,'line')
elif curorder==0:
geometry1=ET.SubElement(planView,'geometry',s='0',x=str(x1),y=str(y1),hdg=str(hdgree),length=str(length1))
line=ET.SubElement(geometry1,'line')
geometry2=ET.SubElement(planView,'geometry',s=str(length1),x=str(x2),y=str(y2),hdg=str(hdgree),length=str(length2))
arc=ET.SubElement(geometry2,'arc',curvature=str(-cur))
elevationProfile=ET.SubElement(CRoad_node,'elevationProfile')
elevation1=ET.SubElement(elevationProfile,'elevation',s="0.0000000000000000e+0" ,a="0.0000000000000000e+0", b="0.0000000000000000e+0" ,c="0.0000000000000000e+0" ,d="0.0000000000000000e+0")
elevation2=ET.SubElement(elevationProfile,'elevation',s=str(length1),a="0.0000000000000000e+0", b="0.0000000000000000e+0" ,c="0.0000000000000000e+0" ,d="0.0000000000000000e+0")
lanes=ET.SubElement(CRoad_node,'lanes')
laneOffset1=ET.SubElement(lanes,'laneOffset',s="0.0000000000000000e+0", a="0.0000000000000000e+0" ,b="0.0000000000000000e+0", c="0.0000000000000000e+0", d="0.0000000000000000e+0")
laneOffset2=ET.SubElement(lanes,'laneOffset',s=str(length1), a="0.0000000000000000e+0" ,b="0.0000000000000000e+0", c="0.0000000000000000e+0", d="0.0000000000000000e+0")
laneSection1=ET.SubElement(lanes,'laneSection',s="0")
if predecessor_id[0]>successor_id[0]:
center=ET.SubElement(laneSection1,'center')
right=ET.SubElement(laneSection1,'right')
lane1=LaneNode_rightturn([predecessor_id[1],-1],-1,'driving',0,3.5,"forward","none",0.2,"white")
lane2=LaneNode_rightturn([0,0],0,'none',1,0,"forward","none",0.1,"white")
right.insert(0,lane1)
center.insert(0,lane2)
else:
left=ET.SubElement(laneSection1,'left')
center=ET.SubElement(laneSection1,'center')
lane1=LaneNode_rightturn([successor_id[1],1],1,'driving',0,3.5,"backward","none",0.2,"white")
lane2=LaneNode_rightturn([0,0],0,'none',1,0,"forward","none",0.1,"white")
left.insert(0,lane1)
center.insert(1,lane2)
laneSection2=ET.SubElement(lanes,'laneSection',s=str(length1))
if predecessor_id[0]>successor_id[0]:
center=ET.SubElement(laneSection2,'center')
right=ET.SubElement(laneSection2,'right')
lane1=LaneNode_rightturn([-1,successor_id[1]],-1,'driving',0,3.5,"forward","none",0.2,"white")
lane2=LaneNode_rightturn([0,0],0,'none',1,0,"forward","none",0.1,"white")
right.insert(0,lane1)
center.insert(0,lane2)
else:
left=ET.SubElement(laneSection2,'left')
center=ET.SubElement(laneSection2,'center')
lane1=LaneNode_rightturn([1,predecessor_id[1]],1,'driving',0,3.5,"backward","none",0.2,"white")
lane2=LaneNode_rightturn([0,0],0,'none',1,0,"forward","none",0.1,"white")
left.insert(0,lane1)
center.insert(1,lane2)
return CRoad_node,CRoad_id
################################################left turn road######################################
def LaneNode_leftturn(laneconnect,lane_id,lane_type,isBelongToCent,lane_width,lane_dir,mark_type,mark_width,mark_color):
lane_node=ET.Element('lane',id=str(lane_id),level='false',type=lane_type)
if isBelongToCent==0:
link=ET.SubElement(lane_node,"link")
predecessor=ET.SubElement(link,"predecessor",id=str(laneconnect[0]))
successor=ET.SubElement(link,"successor",id=str(laneconnect[1]))
width=ET.SubElement(lane_node,"width",a=str(lane_width),b="0",c="0",d="0",sOffset="0.0000000000000000e+0")
roadMark=ET.SubElement(lane_node,"roadMark",sOffset="0.0000000000000000e+0",type=mark_type, material="standard", color=mark_color ,laneChange="none")
userData=ET.SubElement(roadMark,"userData")
vectorLane=ET.SubElement(userData,"vectorLane",travelDir=lane_dir)
else:
roadMark=ET.SubElement(lane_node,"roadMark",sOffset="0.0000000000000000e+0",type=mark_type, material="standard", color=mark_color ,laneChange="none")
#roadMark=ET.SubElement(lane_node,"roadMark",sOffset="0.0000000000000000e+0",material="standard", type="solid solid", width="1.2500000000000000e-1",color="yellow", laneChange="none")
return lane_node
def LeftTurnNode_new(predecessor_id,successor_id,start_point,end_point,hdgree,contact_Point):
#contact_Point=[]
deltaX=abs(start_point[0]-end_point[0])
deltaY=abs(start_point[1]-end_point[1])
if deltaX>deltaY:
cur=-1/deltaY
else:
cur=-1/deltaX
length2=abs(1/cur)*np.pi*2/4
length1= abs(deltaX-deltaY)
s_length=length2+length1
CRoad_id=successor_id[0]*100+predecessor_id[0]*7
#CRoad_id=100
if (successor_id[0]==2 and predecessor_id[0]==1) or(successor_id[0]==3 and predecessor_id[0]==0):
cur=-abs(cur)
else:
cur=abs(cur)
CRoad_node=ET.Element('road',name="Road"+" "+str(CRoad_id) ,length=str(s_length), id=str(CRoad_id), junction="4")
link=ET.SubElement(CRoad_node,'link')
predecessor=ET.SubElement(link,'predecessor',elementType="road", elementId=str(predecessor_id[0]),contactPoint=contact_Point[0])
successor=ET.SubElement(link,'successor',elementType="road", elementId=str(successor_id[0]),contactPoint=contact_Point[1])
planView=ET.SubElement(CRoad_node,'planView')
geometry1=ET.SubElement(planView,'geometry',s='0',x=str(start_point[0]),y=str(start_point[1]),hdg=str(hdgree),length=str(length1))
line=ET.SubElement(geometry1,'line')
#arc1=ET.SubElement(geometry,'arc',curvature=str(cur))
if predecessor_id[0]==0:
x2=(start_point[0]+abs(deltaX-deltaY))
else:
x2=(start_point[0]-abs(deltaX-deltaY))
print(x2)
geometry2=ET.SubElement(planView,'geometry',s=str(length1),x=str(x2),y=str(start_point[1]),hdg=str(hdgree),length=str(length2))
arc2=ET.SubElement(geometry2,'arc',curvature=str(cur))
elevationProfile=ET.SubElement(CRoad_node,'elevationProfile')
elevation1=ET.SubElement(elevationProfile,'elevation',s="0.0000000000000000e+0" ,a="0.0000000000000000e+0", b="0.0000000000000000e+0" ,c="0.0000000000000000e+0" ,d="0.0000000000000000e+0")
elevation2=ET.SubElement(elevationProfile,'elevation',s=str(length1) ,a="0.0000000000000000e+0", b="0.0000000000000000e+0" ,c="0.0000000000000000e+0" ,d="0.0000000000000000e+0")
lanes=ET.SubElement(CRoad_node,'lanes')
laneOffset1=ET.SubElement(lanes,'laneOffset',s="0.0000000000000000e+0", a="0.0000000000000000e+0" ,b="0.0000000000000000e+0", c="0.0000000000000000e+0", d="0.0000000000000000e+0")
laneOffset2=ET.SubElement(lanes,'laneOffset',s=str(length1), a="0.0000000000000000e+0" ,b="0.0000000000000000e+0", c="0.0000000000000000e+0", d="0.0000000000000000e+0")
if (successor_id[0]==3 and predecessor_id[0]==1) or(successor_id[0]==2 and predecessor_id[0]==0):
if predecessor_id[0]==1:
s_l=1
e_l=-1
else:
s_l=-1
e_l=1
laneSection1=ET.SubElement(lanes,'laneSection',s="0")
center1=ET.SubElement(laneSection1,'center')
right1=ET.SubElement(laneSection1,'right')
lane11=LaneNode_rightturn([s_l,-1],-1,'driving',0,3.5,"forward","none",0.2,"white")
lane21=LaneNode_rightturn([0,0],0,'none',1,0,"forward","none",0.1,"white")
right1.insert(0,lane11)
center1.insert(0,lane21)
laneSection2=ET.SubElement(lanes,'laneSection',s=str(length1))
center2=ET.SubElement(laneSection2,'center')
right2=ET.SubElement(laneSection2,'right')
lane12=LaneNode_rightturn([-1,e_l],-1,'driving',0,3.5,"forward","none",0.2,"white")
lane22=LaneNode_rightturn([0,0],0,'none',1,0,"forward","none",0.1,"white")
right2.insert(0,lane12)
center2.insert(0,lane22)
else:
if predecessor_id[0]==1:
s_l=-1
e_l=-1
else:
s_l=1
e_l=1
laneSection1=ET.SubElement(lanes,'laneSection',s="0")
left1=ET.SubElement(laneSection1,'left')
center1=ET.SubElement(laneSection1,'center')
lane11=LaneNode_rightturn([s_l,1],1,'driving',0,3.5,"forward","none",0.2,"white")
lane21=LaneNode_rightturn([0,0],0,'none',1,0,"forward","none",0.1,"white")
left1.insert(0,lane11)
center1.insert(0,lane21)
laneSection2=ET.SubElement(lanes,'laneSection',s=str(length1))
left2=ET.SubElement(laneSection2,'left')
center2=ET.SubElement(laneSection2,'center')
lane12=LaneNode_rightturn([1,e_l],1,'driving',0,3.5,"forward","none",0.2,"white")
lane22=LaneNode_rightturn([0,0],0,'none',1,0,"forward","none",0.1,"white")
left2.insert(0,lane12)
center2.insert(0,lane22)
return CRoad_node,CRoad_id
#################################################################J
def Junction(connectionRoad_IDs,incomingRoad_IDs,laneconnect):
JunctionNode=ET.Element('junction',id="4" ,name="junction4")
#print(laneconnect)
for f in range(4):
if incomingRoad_IDs[f]==2 or 3:
connecting_road='start'
else:
connecting_road='end'
connection=ET.Element('connection',id=str(f), incomingRoad=str(incomingRoad_IDs[f]) ,connectingRoad=str(connectionRoad_IDs[f]), contactPoint=connecting_road)
lanelink=ET.SubElement(connection,'laneLink',fro=str(laneconnect[f][0]), to=str(laneconnect[f][1]))
JunctionNode.insert(f+1,connection)
left_incomingRoad_IDs=[1,1,0,0]
left_connectionRoad_IDs=[307,207,200,300]
left_laneconnect=[[1,-1],[-1,1],[1,-1],[1,1]]
for f in range(4):
connection=ET.Element('connection',id=str(f+4), incomingRoad=str(left_incomingRoad_IDs[f]) ,connectingRoad=str(left_connectionRoad_IDs[f]), contactPoint='start')
lanelink=ET.SubElement(connection,'laneLink',fro=str(left_laneconnect[f][0]), to=str(left_laneconnect[f][1]))
JunctionNode.insert(f+5,connection)
return JunctionNode
def MainRoadNode(road_id,road_length,far_near_end,start_point,driving_lane_count,side_walk_count):
road_node=ET.Element('road',name="Road"+" "+str(road_id) ,length=str(road_length), id=str(road_id), junction="-1")
link=ET.SubElement(road_node,'link')
if far_near_end=='far':
successor=ET.SubElement(link,'successor',elementType="junction" ,elementId="4")
else:
predecessor=ET.SubElement(link,'predecessor',elementType="junction" ,elementId="4")
type=ET.SubElement(road_node,'type', s="0.0000000000000000e+0" ,type="town")
speed_type=ET.SubElement(type,'speed', max="40" ,unit="mph")
planView=ET.SubElement(road_node,'planView')
geometry=ET.SubElement(planView,'geometry',s='0.0000000000000000e+0',x=str(start_point[0]),y=str(start_point[1]),hdg=str(start_point[2]),length=str(road_length))
line=ET.SubElement(geometry,'line')
elevationProfile=ET.SubElement(road_node,'elevationProfile')
elevation=ET.SubElement(elevationProfile,'elevation',s="0.0000000000000000e+0" ,a="0.0000000000000000e+0", b="0.0000000000000000e+0" ,c="0.0000000000000000e+0" ,d="0.0000000000000000e+0")
lanes=ET.SubElement(road_node,'lanes')
laneOffset=ET.SubElement(lanes,'laneOffset',s="0.0000000000000000e+0", a="0.0000000000000000e+0" ,b="0.0000000000000000e+0", c="0.0000000000000000e+0", d="0.0000000000000000e+0")
laneSection=ET.SubElement(lanes,'laneSection',s="0.0000000000000000e+0")
left=ET.SubElement(laneSection,'left')
center=ET.SubElement(laneSection,'center')
center_lane=LaneNode(0,'none',1,0.125,"solid","solid",0.125,"white")
center.insert(0,center_lane)
right=ET.SubElement(laneSection,'right')
if driving_lane_count[0]>0:
for f in reversed(range(1,driving_lane_count[0]+1)):
lane=LaneNode(f,'driving',0,3.5,"backward","broken",0.2,"white")
order=(driving_lane_count[0]+1-f)
left.insert(order,lane)
if driving_lane_count[1]>0:
for f in range(1,driving_lane_count[1]+1):
lane=LaneNode(-f,'driving',0,3.5,"forward","broken",0.2,"white")
right.insert(f,lane)
if side_walk_count[0]>0:
for f in reversed(range(1+driving_lane_count[0],side_walk_count[0]+1+driving_lane_count[0])):
lane=LaneNode(f,'sidewalk',0,3.0,"undirected","none",0.2,"white")
order=side_walk_count[0]+1+driving_lane_count[0]-f
left.insert(order,lane)
if side_walk_count[1]>0:
for f in range(1+driving_lane_count[1],side_walk_count[1]+1+driving_lane_count[1]):
lane=LaneNode(-f,'sidewalk',0,3.0,"undirected","none",0.2,"white")
right.insert(f,lane)
#print(road_node.attrib)
return road_node
def piecewise_v1(x,x0,y0,k0,k1,k2):
return np.piecewise(x , [x <= x0, x>x0] ,
[lambda x:k0*(x-x0) + y0,
lambda x:k2*(x-x0)**2+k1*(x-x0)+y0])
def piecewise_v2(x,x0,y0,k0,k1,k2):
return np.piecewise(x , [x <= x0, x>x0] ,
[lambda x:k2*(x-x0)**2+k1*(x-x0)+y0,
lambda x:k0*(x-x0) + y0])
def CurFit(sample_pts):
from scipy import optimize
x=sample_pts[:,0]
y=sample_pts[:,1]
iteration=1000
perr_min1 = np.inf
p_best1 = None
perr_min2 = np.inf
p_best2 = None
for n in range(iteration):
k = np.random.rand(5)*20
p1 , e1 = optimize.curve_fit(piecewise_v1, x, y,p0=k,maxfev=50000)
perr1 = np.sum(np.abs(y-piecewise_v1(x, *p1)))
if(perr1 < perr_min1):
perr_min1 = perr1
p_best1 = p1
p2 , e2 = optimize.curve_fit(piecewise_v2, x, y,p0=k,maxfev=50000)
perr2 = np.sum(np.abs(y-piecewise_v2(x, *p2)))
if(perr2 < perr_min2):
perr_min2 = perr2
p_best2 = p2
if perr_min1<perr_min2:
P=p_best1
fitfunction=1
else:
P=p_best2
fitfunction=2
return P,fitfunction
def curve_len_cal(startp,endp,dt,p):
t = np.arange(startp,endp, dt)
x=t
k2=p[4]
#k3=p[4]
y0=p[1]
x0=p[0]
k1=p[3]
y = k2*(x-x0)**2+k1*(x-x0)+y0
#y = k1*x+y0-k1*x0
len_list = []
len_list = [np.sqrt( (x[i]-x[i-1])**2 + (y[i]-y[i-1])**2 ) for i in range(1,len(t))]
length = sum(len_list)
return length
def CurLenCalculate(startPts,endPts,currad):
stringLen=np.sqrt((startPts[0]-endPts[0])**2+(startPts[1]-endPts[1])**2)
angle=2*math.asin(stringLen/2/currad)
CurLen=currad*angle
return CurLen
def RoadGeoConstruction(p_best,x_start,x_end,func_type):
x_vec=[x_start,p_best[0],x_end]
sample_n=1000 #total sample points
seg_n=500 #section count
pts_seg=int(sample_n/seg_n) #points per section
#xxx = np.linspace(x_start,x_end,sample_n)
if func_type == 1:
xxx = np.linspace(x_vec[1],x_vec[2],sample_n)
yvals=piecewise_v1(xxx, *p_best) # choose function type
xxx_line=np.linspace(x_vec[0],x_vec[1],sample_n)
yyy_line=piecewise_v1(xxx_line, *p_best)
else:
xxx = np.linspace(x_vec[0],x_vec[1],sample_n)
yvals=piecewise_v2(xxx, *p_best)
xxx_line=np.linspace(x_vec[1],x_vec[2],sample_n)
yyy_line=piecewise_v2(xxx_line, *p_best)
kk=np.gradient(yvals)
kkk=np.gradient(kk)
hdg_line=math.atan(p_best[2])
print(xxx[0])
cur_list=np.zeros([1,seg_n])
cur_len_list=np.zeros([1,seg_n])
cur_start_list=np.ones([2,seg_n])
hdg_cur = np.zeros([1,seg_n])
for n in range(0,seg_n):
cur_p=np.zeros([1,pts_seg])
for i in range(pts_seg*n,pts_seg*(n+1)):
cur_p[0,i%pts_seg]=((1 + (kk[i])**2)**1.5) / np.absolute(kkk[i])
cur_list[0,n]=np.mean(1/cur_p[0,])
startPts=[xxx[pts_seg*n],yvals[pts_seg*n]]
endPts=[xxx[min(pts_seg*(n+1),sample_n-1)],yvals[min(pts_seg*(n+1),sample_n-1)]]
currad=1/cur_list[0,n]
cur_len_list[0,n]=CurLenCalculate(startPts,endPts,currad)
hdg_cur[0,n]=math.atan(2*p_best[4]*xxx[pts_seg*n]+p_best[3])
cur_start_list[0,n]=startPts[0]
cur_start_list[1,n]=startPts[1]
if n==0:
print(startPts)
print(cur_start_list[:,0])
cur_len=curve_len_cal(xxx[0],xxx[-1],0.01,p_best)
print(cur_len)
line_start=[xxx_line[0],yyy_line[0]]
line_len=np.sqrt((xxx_line[0]-xxx_line[-1])**2+(yyy_line[0]-yyy_line[-1])**2)
#print(cur_l)
return cur_list,cur_len_list,cur_start_list,hdg_cur,line_len,line_start,hdg_line
def CurRoadNode_new(road_id,far_near_end,driving_lane_count,side_walk_count,function_flag,cur_array, cur_len, cur_position, cur_hdg, line_len, line_start, line_hdg):
#_,seg_list = CalculateCur(road_samples,2,30)
road_length=np.sum(cur_len)+line_len
road_node=ET.Element('road',name="Road"+" "+str(road_id) ,length=str(road_length), id=str(road_id), junction="-1")
link=ET.SubElement(road_node,'link')
if far_near_end=='far':
successor=ET.SubElement(link,'successor',elementType="junction" ,elementId="4")
else:
predecessor=ET.SubElement(link,'predecessor',elementType="junction" ,elementId="4")
type=ET.SubElement(road_node,'type', s="0.0000000000000000e+0" ,type="town")
speed_type=ET.SubElement(type,'speed', max="40" ,unit="mph")
planView=ET.SubElement(road_node,'planView')
s_start=0
if function_flag ==1:
x_num=line_start[0]
y_num=line_start[1]
seg_len=line_len
hdg_val=line_hdg
geometry=ET.SubElement(planView,'geometry',s=str(s_start),x=str(x_num),y=str(y_num),hdg=str(hdg_val),length=str(seg_len))
line=ET.SubElement(geometry,'line')
s_start=line_len
for i in range(len(cur_array[0])):
print(i)
x_num=cur_position[0,i]
y_num=cur_position[1,i]
seg_len=cur_len[0][i]
hdg_val=cur_hdg[0][i]
geometry=ET.SubElement(planView,'geometry',s=str(s_start),x=str(x_num),y=str(y_num),hdg=str(hdg_val),length=str(seg_len))
arc=ET.SubElement(geometry,'arc',curvature=str(cur_array[0][i]))
s_start+=seg_len
else:
s_start=0
for i in range(len(cur_array[0])):
x_num=cur_position[0,i]
y_num=cur_position[1,i]
seg_len=cur_len[0][i]
hdg_val=cur_hdg[0][i]
geometry=ET.SubElement(planView,'geometry',s=str(s_start),x=str(x_num),y=str(y_num),hdg=str(hdg_val),length=str(seg_len))
arc=ET.SubElement(geometry,'arc',curvature=str(cur_array[0][i]))
s_start+=seg_len
x_num=line_start[0]
y_num=line_start[1]
seg_len=line_len
hdg_val=line_hdg
geometry=ET.SubElement(planView,'geometry',s=str(s_start),x=str(x_num),y=str(y_num),hdg=str(hdg_val),length=str(seg_len))
line=ET.SubElement(geometry,'line')
elevationProfile=ET.SubElement(road_node,'elevationProfile')
elevation=ET.SubElement(elevationProfile,'elevation',s="0.0000000000000000e+0" ,a="0.0000000000000000e+0", b="0.0000000000000000e+0" ,c="0.0000000000000000e+0" ,d="0.0000000000000000e+0")
lanes=ET.SubElement(road_node,'lanes')
laneOffset=ET.SubElement(lanes,'laneOffset',s="0.0000000000000000e+0", a="0.0000000000000000e+0" ,b="0.0000000000000000e+0", c="0.0000000000000000e+0", d="0.0000000000000000e+0")
laneSection=ET.SubElement(lanes,'laneSection',s="0.0000000000000000e+0")
left=ET.SubElement(laneSection,'left')
center=ET.SubElement(laneSection,'center')
center_lane=LaneNode(0,'none',1,0.125,"solid","solid",0.125,"white")
center.insert(0,center_lane)
right=ET.SubElement(laneSection,'right')
if driving_lane_count[0]>0:
for f in reversed(range(1,driving_lane_count[0]+1)):
lane=LaneNode(f,'driving',0,3.5,"backward","broken",0.2,"white")
order=(driving_lane_count[0]+1-f)
left.insert(order,lane)
if driving_lane_count[1]>0:
for f in range(1,driving_lane_count[1]+1):
lane=LaneNode(-f,'driving',0,3.5,"forward","broken",0.2,"white")
right.insert(f,lane)
if side_walk_count[0]>0:
for f in reversed(range(1+driving_lane_count[0],side_walk_count[0]+1+driving_lane_count[0])):
lane=LaneNode(f,'sidewalk',0,3.0,"undirected","none",0.2,"white")
order=side_walk_count[0]+1+driving_lane_count[0]-f
left.insert(order,lane)
if side_walk_count[1]>0:
for f in range(1+driving_lane_count[1],side_walk_count[1]+1+driving_lane_count[1]):
lane=LaneNode(-f,'sidewalk',0,3.0,"undirected","none",0.2,"white")
right.insert(f,lane)
#print(road_node.attrib)
return road_node
def replace(file_path, old_str, new_str):
f = open(file_path,'r+')
all_lines = f.readlines()
f.seek(0)
f.truncate()
for line in all_lines:
line = line.replace(old_str, new_str)
f.write(line)
f.close()
def GenerateRoad(sample_pts,filename,roadID,driving_lane_count,sidewalk_lane_count):
rootNode=ET.Element('OpenDRIVE')
headerNode=ET.SubElement(rootNode,'header',revMajor="1" ,revMinor="4" ,name="" ,version="1" ,date="2019-04-15T11:01:06" ,north="1.0059999847412109e+2", south="-9.9889999389648438e+1" ,east="1.1941999816894531e+2", west="-1.2104999542236328e+2", vendor="VectorZero")
userData=ET.SubElement(headerNode,'userData')
vectorScene=ET.SubElement(userData,'vectorScene',program="RoadRunner" ,version="2019.0.2 (build fcf98526c)")
# add main road coming to junction
ppp1,function_flag=CurFit(sample_pts)
Cur_array, Cur_len, Cur_position, Cur_hdg, Line_len, Line_start, Line_hdg= RoadGeoConstruction(ppp1,sample_pts[0,0],
sample_pts[-1,0],
function_flag)
roadnode=CurRoadNode_new(roadID,driving_lane_count,sidewalk_lane_count,function_flag,
Cur_array,Cur_len, Cur_position, Cur_hdg, Line_len, Line_start, Line_hdg)
#roadnode=CurRoadNode(0,sample_pts,[2,2],[1,1])
rootNode.insert(1,roadnode)
prettyXml(rootNode, '\t', '\n') #format normalization
#ET.dump(rootNode)
Newtree=ET.ElementTree(rootNode)
#ET.dump(rootNode)
Newtree.write(filename)
#replace(filename, 'fro', 'from')
def GenerateIntersection(filename,Intersection_bb,road_len,driving_lane_counts,edit_flag,Cur_samples):
#constant internal parameters
#the order should be left, right, up and down.
#Cur_samples=list[array1,array2,array3,array4]
hdg_mat=np.array([0,0,-np.pi/2,-np.pi/2]).reshape((4,1))
start_points=np.concatenate((Intersection_bb,hdg_mat),axis=1)
start_points=np.concatenate((start_points,road_len),axis=1)
start_points[0,0]-=road_len[0]
start_points[2,1]+=road_len[2]
print(start_points)
SPts=start_points
SPts_position=['far','near','far','near']
RTOrder=[[3,1],[1,2],[2,0],[0,3]] #right turn order
RTconnectPts=[['start','start'],['start','end'],['end','end'],['end','start']]
RThdgree=[np.pi/2,-np.pi/2,-np.pi/2,np.pi/2]
RThdgree2=[0,0,-np.pi,-np.pi]
RTOrderArray=np.array([[3,1],[1,2],[2,0],[0,3]])
#calculate parameters
RTlaneconnect=[[driving_lane_counts[3,0],-driving_lane_counts[1,1]],[driving_lane_counts[1,1],driving_lane_counts[2,0]],[-driving_lane_counts[2,1],driving_lane_counts[0,0]],[-driving_lane_counts[0,1],-driving_lane_counts[3,1]]] #order in 3 1 2 0
RTstartPts=Intersection_bb[[3,1,2,0],:]
RTstartPts[0,0]+=(driving_lane_counts[3,0]-1)*3.5
RTstartPts[1,1]+=(driving_lane_counts[1,0]-1)*3.5
RTstartPts[2,0]-=(driving_lane_counts[2,1]-1)*3.5
RTstartPts[3,1]-=(driving_lane_counts[0,0]-1)*3.5
RTendPts=Intersection_bb[[1,2,0,3],:]
RTendPts[0,1]-=(driving_lane_counts[1,0]-1)*3.5
RTendPts[1,0]+=(driving_lane_counts[2,0]-1)*3.5
RTendPts[2,1]+=(driving_lane_counts[0,0]-1)*3.5
RTendPts[3,0]-=(driving_lane_counts[3,1]-1)*3.5
print(RTstartPts)
print(RTendPts)
rootNode=ET.Element('OpenDRIVE')
headerNode=ET.SubElement(rootNode,'header',revMajor="1" ,revMinor="4" ,name="" ,version="1" ,date="2019-04-15T11:01:06" ,north="1.0059999847412109e+2", south="-9.9889999389648438e+1" ,east="1.1941999816894531e+2", west="-1.2104999542236328e+2", vendor="VectorZero")
userData=ET.SubElement(headerNode,'userData')
vectorScene=ET.SubElement(userData,'vectorScene',program="RoadRunner" ,version="2019.0.2 (build fcf98526c)")
# add main road coming to junction
for i in range(4):
if i==edit_flag:
sample_pts=Cur_samples
ppp1,function_flag=CurFit(sample_pts)
Cur_array, Cur_len, Cur_position, Cur_hdg, Line_len, Line_start, Line_hdg= RoadGeoConstruction(ppp1,sample_pts[0,0],
sample_pts[-1,0],
function_flag)
roadnode=CurRoadNode_new(i,SPts_position[i],driving_lane_counts[i,:],[1,1],function_flag,
Cur_array,Cur_len, Cur_position, Cur_hdg, Line_len, Line_start, Line_hdg)
rootNode.insert(i+1,roadnode)
else:
roadnode=MainRoadNode(i,SPts[i,3],SPts_position[i],SPts[i,0:3],driving_lane_counts[i,:],[1,1])
rootNode.insert(i+1,roadnode)
# add right turn road
rightRoad_IDs=[]
for i in range(4):
rightnode,road_id=RightTurnNode_new([RTOrder[i][0],RTlaneconnect[i][0]],[RTOrder[i][1],RTlaneconnect[i][1]],RThdgree[i],RThdgree2[i],RTconnectPts[i][0:2],RTstartPts[i,:],RTendPts[i,:])
print(road_id,RTstartPts[i,:],RTendPts[i,:])
rootNode.insert(i+5,rightnode)
rightRoad_IDs.append(road_id)
# add left turn road
leftRoad_IDs=[]
Left_predecessor=[[1,0],[1,0],[0,0],[0,0]]
Left_successor = [[3,0],[2,0],[2,0],[3,0]]
Left_start_point=[Intersection_bb[1],Intersection_bb[1],Intersection_bb[0],Intersection_bb[0]]
Left_end_point=[Intersection_bb[3],Intersection_bb[2],Intersection_bb[2],Intersection_bb[3]]
Left_hdgree=[-np.pi,-np.pi,0,0]
LTcontact_Point=RTconnectPts
for i in range(4):
leftnode,road_id=LeftTurnNode_new(Left_predecessor[i],Left_successor[i],Left_start_point[i],Left_end_point[i],Left_hdgree[i],LTcontact_Point[i])
print(road_id,RTstartPts[i,:],RTendPts[i,:])
rootNode.insert(i+9,leftnode)
leftRoad_IDs.append(road_id)
#leftnode,left_road_id=LeftTurnNode_new()
#rootNode.insert(9,leftnode)
LaneConnJun=[[driving_lane_counts[3,0],-1],[driving_lane_counts[2,0],1],[-driving_lane_counts[2,1],-1],[-driving_lane_counts[3,1],1]]
print(LaneConnJun)
JunctionNode=Junction(rightRoad_IDs,[3,2,2,3],LaneConnJun)
rootNode.insert(13,JunctionNode)
prettyXml(rootNode, '\t', '\n') #format normalization
#ET.dump(rootNode)
Newtree=ET.ElementTree(rootNode)
#ET.dump(rootNode)
Newtree.write(filename)
replace(filename, 'fro', 'from')