Computation of lane width

CommonRoad-IO
1

hi all,

I would like to ask whether there exist some methods/functions to compute the lane width in the Commonroad scenario.

Now I use the distance between vertices as follows. But I’m not sure if this is valid for different lane configurations.

scenario.lanelet_network.lanelets[0].left_vertices[0][1]-scenario.lanelet_network.lanelets[0].right_vertices[0][1]

Thanks in advance and best regards,
Yuanfei

2

Hi Yuanfei,

currently, such a function is not integrated in CommonRoad-io.
We will consider it for future releases.

In case of your solution, you have to consider the Euclidean distance between two points. You are only consider the y-position.

Note that the width can change between two “indices” of the polyline. Depending on what you want to do, you have to interpolate the position on the polyline.

Best,
Sebastian

3

Hi Sebastian,

thanks for the tips! It now makes sense. :slight_smile:

best regards,
Yuanfei

4

Hi Yuanfei,

One possible option would be creating road polygons with the function boundary.create_road_polygons, like in the specified example:

create_road_polygons(scenario, method = ‘lane_polygons’, resample=1, buffer=1, triangulate=True)

https://commonroad.in.tum.de/docs/commonroad-drivability-checker/sphinx/api_boundary.html

Then it would be possible to operate with the corresponding pycrcc polygons that are contained in the returned pycrcc.ShapeGroup, one polygon for each lane. A way to determine the width of the resulting triangulated lane polygon is adding it into a pycrcc.CollisionChecker object and calling the CollisionChecker.raytrace function for that polygon. It would allow you to measure the lane width like with a ruler, at any desired position or angle. See tutorial 1 and tutorial 3 for more details.

https://commonroad.in.tum.de/drivability_checker