Junction Art

Procedural Generation of Intersections for HD Maps for Autonomous Vehicle Development and Test. It's built using pyodrx library. It generates road networks in Open drive format. Detailed documentation with architecture can be found in the *docs folder of the repository.

The documentation moved to https://junctionart.readthedocs.io/

Citations

We have two peer-review papers and one preprint in this project. Please, cite the one that's most relevant to your research.

1. HD Road Generation - complete city like maps

Paper

@article{Muktadir2022ProceduralGO,
    author = {Muktadir, Golam Md and Jawad, Abdul and Paranjape, Ishaan and Whitehead, Jim and Shepelev, Aleksey},
    year = {2022},
    month = {05},
    pages = {22},
    title = {Procedural Generation of High-Definition Road Networks for Autonomous Vehicle Testing and Traffic Simulations},
    volume = {6},
    journal = {SAE International Journal of Connected and Automated Vehicles},
    doi = {10.4271/12-06-01-0007}
}

2. Roundabout Generation - classic and turbo roundabouts

Paper

@INPROCEEDINGS{10186533,
    author={Ikram, Zarif and Muktadir, Golam Md and Whitehead, Jim},
    booktitle={2023 IEEE Intelligent Vehicles Symposium (IV)}, 
    title={Procedural Generation of Complex Roundabouts for Autonomous Vehicle Testing}, 
    year={2023},
    volume={},
    number={},
    pages={1-6},
    doi={10.1109/IV55152.2023.10186533}
}

3. Intersection Generation - most expressive intersection generator today

Paper

@unknown{Muktadir2022Intersections,
    author = {Muktadir, Golam Md and Jawad, Abdul and Shepelev, Aleksey and Paranjape, Ishaan and Whitehead, Jim},
    year = {2022},
    month = {05},
    pages = {},
    title = {P r e -P r i n t Realistic Road Generation: Intersections},
    doi = {10.13140/RG.2.2.30541.51683}
}

Installation

Steps:

1. install dependencies
2. create config.yaml (instructions below)
3. create output folder (a folder called "output" in the root directory)

Dependencies:

Python 3.7+

1. pyodrx (included with the project. No need to install)
2. dill
3. pyyaml
4. scipy, numpy, matplotlib, pytest, unittest
5. methodtools.
6. flask and jinja2 (for web-ui)
7. scikit-spatial
8. z3
9. seaborn
10. shapely, (requres installation of osgeo
11. pandas
12. tqdm
13. sympy
14. geos

Conda commands:

1. conda install dill
2. conda install -c anaconda pyyaml
3. conda install -c anaconda scipy
4. conda install -c conda-forge matplotlib
5. conda install -c anaconda unittest2
6. conda install -c conda-forge scikit-spatial
7. conda install -c asmeurer z3 (optional for road generation)
8. conda install -c anaconda seaborn (for analysis)
9. conda install -c conda-forge shapely
10. conda install -c conda-forge pandas
11. conda install tqdm
12. conda install -c conda-forge shapely
13. conda install -c conda-forge geos

Configuration - create config.yaml

copy the contents of config-sample.yaml file and create a new file "config.yaml" in the root directory of the project. Now change these configurations:

1. esminipath - the folder containing the bin folder of esmini
2. rootPath - the path to the root folder of this project.

Conventions:

1. successor is connected to one's end.
2. predecessor is connected to one's start.

Immutable objects: (recreate instead of edits because they are shared amount different users)

1. raw geometries in planview (Line, Arc, Spiral, ParamPoly, etc.)
2. any lane
3. any link

API

Road Generators:

Documentation: Road Generators

SequentialJunctionBuilder

Detailed documentation: docs/Sequential-RoadBuilder.md

JunctionHarvester

This is the class that harvests junctions.

Common use-cases:

2 roads 2 lanes: harvest2ways2Lanes

3 roads from 2 roads: harvest3WayJunctionsFrom2Ways