Table of Contents
This section gives few information about the design of the BSSD extension for OpenDRIVE. To understand the BSSD extension it is absolutely necessary that you are familiar with the OpenDRIVE map format.
For detailed information about the BSSD extension for OpenDRIVE check out this work of M. Berghöfer: Entwicklung eines Konzepts zur Integration der verhaltenssemantischen Szeneriebeschreibung in hochgenaue Karten (engl.: Development of a Concept for the Integration of the Behavior-Semantic Scenery Description into High Definition Maps)
Attention German language only, feel free to use DeepL etc. for translation
The following figure shows the overall structure of the BSSD integration in OpenDRIVE.
All elements resulting from the BSSD integration are shown in orange and conventional OpenDRIVE elemens are shown in blue. The <userData> element, which enables user-defined data to be inserted, is inserted into a road on the OpenDRIVE map below the <lanes> element, which exists exactly once for each road. Any number of BSSD segments are subordinated to the <userData> element, each of which is represented by a <segment> element. According to the specification of the BSSD, a BSSD segment has the subordinate elements <right> and <left>, which are used to group the BSSD <lane> elements. The latter contain the subordinate elements <behaviorAlong> and <behaviorAgainst>, which each contain the atomic behavior space valid in the BSSD <lane> element. On the other hand, it is necessary for each BSSD <lane> element to have a subordinate auxiliary structure that enables a unique assignment of this BSSD <lane> element to an OpenDRIVE <lane> element for each 𝑠-coordinate at which the higher-level BSSD segment is defined. An auxiliary structure is defined as part of the concept detailing described in this section. The BSSD-<lane> elements preceding and following a BSSD-<lane> element are implicitly defined via the <predecessor> or <successor> elements of the OpenDRIVE-<lane> element, which is linked to the auxiliary structure for this BSSD-<lane> element.
The following UML-Diagram gives additional information about the different elements.
The following figure shows the minimal BSSD data structure that is necessary for extending OpenDRIVE maps with BSSD data.
Within an OpenDRIVE XML file the code will look like this:
<userData code="BSSD" value="BSSD_segments">
<segment sStart="2.1213323070000001e+03">
<right>
<lane id="-4">
<assignLaneOpenDRIVE>
<linkedLane sLaneSection="2.1213323070000001e+03" id="-4"/>
</assignLaneOpenDRIVE>
<behaviorAlong>
<boundary>
<longitudinal crossing=""/>
<lateral>
<left crossing=""/>
<right crossing=""/>
</lateral>
</boundary>
<reservation id="" type=""/>
<overtake permission=""/>
<speed max=""/>
</behaviorAlong>
<behaviorAgainst>
<boundary>
<longitudinal crossing=""/>
<lateral>
<left crossing=""/>
<right crossing=""/>
</lateral>
</boundary>
<reservation id="" type=""/>
<overtake permission=""/>
<speed max=""/>
</behaviorAgainst>
</lane>
<lane id="-3">
<assignLaneOpenDRIVE>
<linkedLane sLaneSection="2.1213323070000001e+03" id="-3"/>
</assignLaneOpenDRIVE>
<behaviorAlong>
<boundary>
<longitudinal crossing=""/>
<lateral>
<left crossing=""/>
<right crossing=""/>
</lateral>
</boundary>
<reservation id="" type=""/>
<overtake permission=""/>
<speed max="2.5000000000000000e+02"/>
</behaviorAlong>
<behaviorAgainst>
<boundary>
<longitudinal crossing=""/>
<lateral>
<left crossing=""/>
<right crossing=""/>
</lateral>
</boundary>
<reservation id="" type=""/>
<overtake permission=""/>
<speed max=""/>
</behaviorAgainst>
</lane>
<lane id="-2">
<assignLaneOpenDRIVE>
<linkedLane sLaneSection="2.1213323070000001e+03" id="-2"/>
</assignLaneOpenDRIVE>
<behaviorAlong>
<boundary>
<longitudinal crossing=""/>
<lateral>
<left crossing=""/>
<right crossing=""/>
</lateral>
</boundary>
<reservation id="" type=""/>
<overtake permission=""/>
<speed max="2.5000000000000000e+02"/>
</behaviorAlong>
<behaviorAgainst>
<boundary>
<longitudinal crossing=""/>
<lateral>
<left crossing=""/>
<right crossing=""/>
</lateral>
</boundary>
<reservation id="" type=""/>
<overtake permission=""/>
<speed max=""/>
</behaviorAgainst>
</lane>
<lane id="-1">
<assignLaneOpenDRIVE>
<linkedLane sLaneSection="2.1213323070000001e+03" id="-1"/>
</assignLaneOpenDRIVE>
<behaviorAlong>
<boundary>
<longitudinal crossing=""/>
<lateral>
<left crossing=""/>
<right crossing=""/>
</lateral>
</boundary>
<reservation id="" type=""/>
<overtake permission=""/>
<speed max="2.5000000000000000e+02"/>
</behaviorAlong>
<behaviorAgainst>
<boundary>
<longitudinal crossing=""/>
<lateral>
<left crossing=""/>
<right crossing=""/>
</lateral>
</boundary>
<reservation id="" type=""/>
<overtake permission=""/>
<speed max=""/>
</behaviorAgainst>
</lane>
</right>
<left>
<lane id="1">
<assignLaneOpenDRIVE>
<linkedLane sLaneSection="2.1213323070000001e+03" id="1"/>
</assignLaneOpenDRIVE>
<behaviorAlong>
<boundary>
<longitudinal crossing=""/>
<lateral>
<left crossing=""/>
<right crossing=""/>
</lateral>
</boundary>
<reservation id="" type=""/>
<overtake permission=""/>
<speed max="2.5000000000000000e+02"/>
</behaviorAlong>
<behaviorAgainst>
<boundary>
<longitudinal crossing=""/>
<lateral>
<left crossing=""/>
<right crossing=""/>
</lateral>
</boundary>
<reservation id="" type=""/>
<overtake permission=""/>
<speed max=""/>
</behaviorAgainst>
</lane>
</left>
</segment>
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