®
OpenDRIVE
®
Format Specification, Rev. 1.4
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 ....................................................................................................................................................................... 36
5.1 Enclosing Tag .......................................................................................................................................................... 36
5.2 Header .................................................................................................................................................................... 36
5.2.1 Geo Reference ............................................................................................................................................... 37
5.3 Road Records.......................................................................................................................................................... 38
5.3.1 Road Header Record ...................................................................................................................................... 38
5.3.2 Road Link Record ........................................................................................................................................... 38
5.3.2.1 Road Predecessor ................................................................................................................................. 39
5.3.2.2 Road Successor ..................................................................................................................................... 39
5.3.2.3 Road Neighbor ....................................................................................................................................... 40
5.3.3 Road Type Record .......................................................................................................................................... 41
5.3.3.1 Speed Record ........................................................................................................................................ 41
5.3.4 Road Plan View Record .................................................................................................................................. 42
5.3.4.1 Road Geometry Header Record ............................................................................................................. 42
5.3.4.1.1 Geometry, Line Record ...................................................................................................................... 43
5.3.4.1.2 Geometry, Spiral Record (Clothoids) ................................................................................................. 43
5.3.4.1.3 Geometry, Arc Record ....................................................................................................................... 44
5.3.4.1.4 Geometry, Cubic Polynomial Record ................................................................................................. 45
5.3.4.1.5 Geometry, Parametric Cubic Curve Record ....................................................................................... 46
5.3.5 Road Elevation Profile Record ........................................................................................................................ 47
5.3.5.1 Road Elevation Record .......................................................................................................................... 47
5.3.6 Road Lateral Profile Record ............................................................................................................................ 48
5.3.6.1 Road Superelevation Record ................................................................................................................. 48
wu5447982802018-09-29很好的资源
qichedianzi4022020-10-19全英文，看不太懂啊
liuya1985liuya2019-04-09不错的资源，谢谢分享
clyangling2020-03-06到现在找到的最详细的高精地图数据格式，不错的资源，推荐
求道玉2019-01-19只是官方文档而已，擦
