Road Edge - woven-planet/opensafety-mbse GitHub Wiki

A Road Segment is defined as a drivable path with detectable right and left edges. If either or both Road Edge’s are undetected, the vehicle could be in a parking lot or grass field environment where none of the road structure rules apply. So it is important to acquire both Road Edges (either through detection, map or assumption) before attempting to apply road rules.

Each Road Edge will coincide with an innermost or outermost Lane Division.

Identifiers

  1. Road segment + Side

Attributes

Side

The side of the Road Segment from the perspective of the Ego Vehicle’s forward direction when it is oriented in the legal direction of traffic. This means that if, for some reason, the Ego Vehicle is pointed in the wrong way direction, the Road Edge that you see to the right looking out of the front windshield is, in fact, the left edge of the Road. (That is, in fact, a good sign that you are pointed the wrong way!)

Type: Left Right [ left | right ]

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