export
Export driving scenario to ASAM OpenDRIVE or ASAM OpenSCENARIO file
Syntax
Description
export(
exports the roads, lanes, junctions, and actors in a driving scenario to the ASAM OpenDRIVE® file format, describing the static content of driving scenario. There may be
variations between the original scenario and the exported scenario. For details, see Limitations.scenario
,"OpenDRIVE",filename
)
The function supports exporting driving scenarios to OpenDRIVE® file versions V1.4, V1.5, and ASAM OpenDRIVE file version V1.6.
export(
exports the road network, actors, and trajectories in a driving scenario to the ASAM OpenSCENARIO® file format, describing the dynamic content of driving scenario. Exporting to
an ASAM OpenSCENARIO file also exports several data files. For more information, see Data Files Exported with ASAM OpenSCENARIO File. To know about the
default actor parameters that the function exports, see ASAM OpenSCENARIO Representations.scenario
,"OpenSCENARIO",filename
)
The function supports exporting driving scenarios to ASAM OpenSCENARIO file versions V1.0 and V1.1.
Note
The function interpolates additional waypoints between the ones specified in the driving scenario, to generate smooth trajectories for exported actors in the output ASAM OpenSCENARIO file.
The function does not support exporting reverse waypoints of actors to an ASAM OpenSCENARIO file.
export(___,
specifies
options using one or more name-value arguments and any of the input argument combinations
from previous syntaxes. For example,
Name=Value
)export(scenario,"OpenDRIVE",filename,OpenDRIVEVersion=1.5)
exports the
driving scenario to V1.5 of the of OpenDRIVE file format.
Examples
Input Arguments
Limitations
ASAM OpenDRIVE Export Limitations
Roads
The cubic polynomial and the parametric cubic polynomial geometry types in the scenario are exported as spiral geometry types. This causes some variations in the exported road geometry if the road is a curved road. For example, in the figure below, notice that the sharp corners in the input road became relatively smooth when exported to the ASAM OpenDRIVE format.
Input Road Exported ASAM OpenDRIVE Road When segments of adjacent roads overlap with each other, the function does not export the overlapping segments of the roads.
Input Roads Exported ASAM OpenDRIVE Roads
Lanes
When a road with multiple lane specifications has any segment containing only one lane, the function does not export multiple lane specifications. Instead the specifications of the first road segment are applied to the entire road while exporting.
Input Road Exported ASAM OpenDRIVE Road The first segment of the original road has only one lane.
The entire exported road has the same specification as the first segment of the input road.
When a road with multiple lane specifications contains a taper between two road segments, the function exports the road without taper.
Input Road Exported ASAM OpenDRIVE Road When a road consisting of multiple segments is connected to a junction, the function does not export the road.
Junctions
The junctions of the road network are processed without lane connection information, so the junction shapes may not be accurate in the exported scenario.
Input Road Exported ASAM OpenDRIVE Road
Actors
The
export
function does not export any actor that is present either on a junction or on a road with multiple road segments.While exporting a user-defined actor, the function sets the type of object to
'none'
.
ASAM OpenDRIVE Import
When you export a driving scenario object that contains an imported ASAM OpenDRIVE scenario, the limitations of ASAM OpenDRIVE import apply to ASAM OpenDRIVE export. You can import an ASAM OpenDRIVE scenario to a
drivingScenario
object by using theroadNetwork
function. For information on the limitations of ASAM OpenDRIVE import, seeroadNetwork
.