Road Segment - woven-planet/opensafety-mbse GitHub Wiki
A chunk of road uninterrupted by any Intersection or Road departure is a Road Segment. This means that at an upcoming Intersection, the Ego Vehicle’s Road Segment will end and one or more other Road Segments will emerge from each Intersection outlet.
This abstraction is necessary so that we can establish the left and right sides of the Road from the perspective of the Ego Vehicle. Without Road Segments we could reach contradictory answers. Consider the example below:
From the perspective of an Ego Vehicle facing multiple forking Roads, as shown below, Road Segments make it possible to establish clear left-right boundaries for all perceivable Roads.
- ID
Each Road Segment is assigned a unique ID upon detection.
Type: Road ID based on Nominal type
The detected or marked grade of this Road Segment indicating its slope immediately up ahead.
Type: Road Grade
The category of surface material detected immediately up ahead.
Note: The Lane Reconfiguration Subsystem will capture distances further ahead where there are changes in the surface material as well as other sequential changes to Road Segment properties.
Type: Surface Material
The overall quality of the surface.
Type: Surface Condition
The average distance between the left and right boundaries from the front of the Ego Vehicle to some predetermined distance forward.
Type: Distance
The effect of weather on the road surface such as icy, wet, dry and so forth.
Type: Surface Weather