®
OpenDRIVE
®
Format Specification, Rev. 1.5
Refer to protection notice DIN/ISO 16016. Use of this data is subject to the OpenDRIVE public license policy
Table of Contents
1 Preface ............................................................................................................................................................................... 7
1.1 Scope ........................................................................................................................................ 7
1.2 XML Syntax ............................................................................................................................... 7
1.3 Developers ................................................................................................................................ 7
1.4 Point of Contact ......................................................................................................................... 7
1.5 Example for a Quick Start ......................................................................................................... 8
2 Conventions ..................................................................................................................................................................... 12
2.1 Naming Conventions ............................................................................................................... 12
2.2 Units ........................................................................................................................................ 12
2.3 Co-ordinate Systems ............................................................................................................... 13
2.3.1 Overview .......................................................................................................................... 13
2.3.2 Inertial System ................................................................................................................. 14
2.3.3 Track System ................................................................................................................... 15
2.3.4 Local System .................................................................................................................. 16
2.3.5 Geo-Referencing.............................................................................................................. 17
2.3.6 Curvature ......................................................................................................................... 17
3 Road Layout ..................................................................................................................................................................... 18
3.1 General.................................................................................................................................... 18
3.2 Reference Line (Track) ........................................................................................................... 19
3.3 Lanes....................................................................................................................................... 20
3.3.1 General ............................................................................................................................ 20
3.3.2 Lane Offset ...................................................................................................................... 20
3.3.3 Lane Sections .................................................................................................................. 21
3.3.4 Lane Properties ................................................................................................................ 22
3.4 Superelevation and Crossfall .................................................................................................. 23
3.5 Lateral Profile .......................................................................................................................... 24
3.6 Road Linkage .......................................................................................................................... 25
3.6.1 Overview .......................................................................................................................... 25
3.6.2 Junctions .......................................................................................................................... 26
3.6.2.1 Basics ....................................................................................................................... 26
3.6.2.2 Junction Groups ....................................................................................................... 27
3.6.3 Neighbors ......................................................................................................................... 28
3.7 Surface .................................................................................................................................... 29
3.8 Alternative Layouts .................................................................................................................. 30
3.9 Railroad Elements ................................................................................................................... 31
3.9.1 Railroad Tracks ................................................................................................................ 31
3.9.2 Railroad Switches ............................................................................................................ 31
3.9.3 Railroad Stations.............................................................................................................. 32
4 File ................................................................................................................................................................................... 33
4.1 Format ..................................................................................................................................... 33
4.2 Extension ................................................................................................................................ 33
4.3 Structure .................................................................................................................................. 33
4.4 Notation ................................................................................................................................... 33
4.5 Schema ................................................................................................................................... 33
4.6 Combining Files ...................................................................................................................... 33
4.7 Overview of Beads .................................................................................................................. 34
5 File Entries ....................................................................................................................................................................... 37
5.1 Enclosing Tag ......................................................................................................................... 37
5.2 Header..................................................................................................................................... 37
5.2.1 Geo Reference ................................................................................................................. 38
5.3 Road Records ......................................................................................................................... 38
5.3.1 Road Header Record ....................................................................................................... 39
5.3.2 Road Link Record ............................................................................................................ 39
5.3.2.1 Road Predecessor .................................................................................................... 40
5.3.2.2 Road Successor ....................................................................................................... 40
5.3.2.3 Road Neighbor ......................................................................................................... 42
