export
Export road network to OpenDRIVE
Description
export(
exports the roads, lanes, and junctions in a driving scenario to the OpenDRIVE® 1.4H file format. There may be variations between the original scenario and
the exported scenario. For details, see Limitations.scenario,'OpenDRIVE',filename)
Examples
Export OpenStreetMap Road Network to OpenDRIVE File
Create a driving scenario.
inputScenario = drivingScenario;
Import a OpenStreetMap road network into the driving scenario. For more information about the osm file, see [1].
fileName = 'chicago.osm'; roadNetwork(inputScenario,'OpenStreetMap',fileName);
Export to OpenDRIVE file.
fileName = 'chicago.xodr'; export(inputScenario,'OpenDRIVE',fileName);
Warning: There may be minor variation between the actual driving scenario and the exported OpenDRIVE road networks. For more information, see <a href="matlab:helpview(fullfile(docroot,'toolbox','driving','helptargets.map'),'exportOpenDriveCLI')">export</a>.
Read the exported OpenDRIVE file by using the roadNetwork function.
scenario = drivingScenario;
roadNetwork(scenario,'OpenDRIVE',fileName);Plot the exported scenario. Notice that the display for the exported road network is flipped along the x and y dimensions and does not have the border lines.
figure
plot(inputScenario)
zoom(2);
title('Actual Scenario')
figure
plot(scenario)
zoom(2);
title('Exported Scenario')
Appendix
[1] The osm file is downloaded from https://www.openstreetmap.org, which provides access to crowd-sourced map data all over the world. The data is licensed under the Open Data Commons Open Database License (ODbL), https://opendatacommons.org/licenses/odbl/.
Create S-Curve Road and Export to OpenDRIVE Format
Create the driving scenario with one road having an S-curve.
scenario = drivingScenario; roadcenters = [-35 20 0; -20 -20 0; 0 0 0; 20 20 0; 35 -20 0];
Create the lanes and add them to the road.
lm = [laneMarking('Solid','Color','w') ... laneMarking('Dashed','Color','y') ... laneMarking('Dashed','Color','y') ... laneMarking('Solid','Color','w')]; ls = lanespec(3,'Marking',lm); road(scenario,roadcenters,'Lanes',ls);
Plot the scenario.
plot(scenario)
Export the road network in the scenario to OpenDRIVE file.
fileName = 'scurveroad.xodr'; export(scenario,'OpenDRIVE',fileName)
Warning: There may be minor variation between the actual driving scenario and the exported OpenDRIVE road networks. For more information, see <a href="matlab:helpview(fullfile(docroot,'toolbox','driving','helptargets.map'),'exportOpenDriveCLI')">export</a>.
You can import the OpenDRIVE file to MATLAB workspace by using the roadNetwork function.
scenario = drivingScenario;
roadNetwork(scenario,'OpenDRIVE',fileName)
plot(scenario)
Input Arguments
Limitations
The
exportfunction does not export the actors and their properties from the original scenario to the OpenDRIVE format.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 OpenDRIVE format.
Input Road Exported OpenDRIVE Road 
The junctions of the road network are processed without lane connection information and so, the junction shapes may not be accurate in the exported scenario.
Input Road Exported OpenDRIVE Road 
The limitations in OpenDRIVE import applies to OpenDRIVE export, if you export a driving scenario object that contains an imported OpenDRIVE scenario. You can import an OpenDRIVE scenario to a
drivingScenarioobject by using theroadNetworkfunction. For information on limitations in OpenDRIVE import, seeroadNetwork.