OpenDRIVE Road Networks (.xodr)

@modelscript/opendrive (languages/opendrive) provides compiler, analytical 3D clothoid sampling, path-following DAE lowering, and vehicle dynamics integration for the ASAM OpenDRIVE standard.

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Supported Extensions & Standards

Extension	Standard / Format	Description
.xodr, .xml	ASAM OpenDRIVE v1.4–v1.7	Description of road networks, lanes, junctions, and spatial road geometry

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Key Capabilities

1. Analytical 3D Fresnel Clothoid Sampling

• Evaluates road reference lines parameterized by arc length $s$ with smooth curvature transitions:
  • Euler Clothoids: Spiral transitions computed via numerical Fresnel integrals:$$x(s)=x_0+{\int }_0^s\cos ({\theta }_0+{\kappa }_0\tau +\frac{\dot{\kappa }}{2}{\tau }^2)d\tau$$
  • Arcs & Polynomials: Straight lines, constant-curvature circular arcs, and cubic parameter polynomials.
• Computes elevation profiles ($z(s)$), crossfall/camber angles, and superelevation banking.

2. Multi-Lane Topology & Junction Network

• Analyzes lane sections (<laneSection>), driving lanes, sidewalks, and shoulders.
• Reconstructs predecessor/successor road connections, junction path conflicts, and lane boundary polylines.

3. Path-Following Vehicle DAE Lowering

• Compiles OpenDRIVE tracks directly into curvilinear Frenet-Serret coordinates ($s,d,{\theta }_e$) within @modelscript/runtime's DAEBuilder arena:$$\dot{s}=\frac{v\cos {\theta }_e}{1-d\cdot \kappa (s)},\dot{d}=v\sin {\theta }_e,{\dot{\theta }}_e=\dot{\psi }-\dot{s}\kappa (s)$$
• Enables high-speed closed-loop vehicle chassis simulation with @modelscript/simpack and @modelscript/adams.

4. GENSYS Track Export

• Projections (opendrive-to-gensys.ts) convert OpenDRIVE centerlines and gauge profiles into GENSYS .geom and .trax geometry files for railway and guideway vehicle testing.

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Static Analysis & Pre-Flight Linter Rules

8 rules6 error2 warning Run with msx opendrive lint

Code	Rule	Severity	Message
M7801	road-tangency-discontinuity	error	Tangency discontinuity between geometry segments in road '<roadId>' at s=<s>: position gap <value>m, heading gap <value>rad.
M7802	unlinked-lane-boundary	error	Unlinked lane connection: lane '<laneId>' in road '<roadId>' links to non-existent <dir> lane '<targetId>'.
M7803	clothoid-curvature-divergence	error	Clothoid curvature rate of change in road '<roadId>' at s=<s> diverges (<value> 1/m^2).
M7804	overlapping-junction-paths	warning	Connecting path in junction '<junctionId>' between road '<road1>' and '<road2>' conflicts without priority control.
M7805	elevation-gradient-extreme	warning	Extreme elevation gradient in road '<roadId>' at s=<s>: slope <value>% exceeds standard 15% safety threshold.
M7806	negative-lane-width	error	Negative or zero lane width in lane '<laneId>' of road '<roadId>' at sOffset=<sOffset>m.
M7807	duplicate-road-id	error	Duplicate road ID '<roadId>' detected in roadway network.
M7808	missing-center-lane	error	Lane section in road '<roadId>' at s=<s> is missing mandatory center lane (ID 0).

Generated from languages/opendrive/src/lints/rules.ts. All languages →

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CLI Usage

# Lint an OpenDRIVE road network
msx opendrive lint HighwayInterchange.xodr

# Sample 3D road centerline and lane boundaries at 0.5m resolution
msx opendrive track HighwayInterchange.xodr --step 0.5 -o track_points.json

# Lower road geometry to DAE path-following arena
msx opendrive to-dae HighwayInterchange.xodr --out=road.dae.json

# Project into GENSYS track geometry format
msx opendrive to-gensys HighwayInterchange.xodr -o TrackGeometry.geom