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Standards Reference Documentation

Ownership & Origin​

The reference documents in this folder describe technical standards developed and maintained by their respective standards organizations. This project does not claim ownership of any of these standards.

ASAM OpenDRIVE​

  • Owner: ASAM e.V. (Association for Standardization of Automation and Measuring Systems), Altlaufstr. 40, 85635 Höhenkirchen, Germany
  • Standard: ASAM OpenDRIVE — Open Dynamic Road Information for Vehicle Environment
  • Current version: V1.8.1 (released 21 Nov 2024). Note: ASAM's publications page may also serve a newer draft (V1.9.0-RC2). This project's reference documentation describes V1.8.1 sections, but the geometry engine (libOpenDRIVE) targets OpenDRIVE 1.4.
  • License: In alteration to the regular ASAM license terms, ASAM allows unrestricted distribution of this standard. §2 (1) of ASAM's regular license terms is substituted by: "The licensor grants everyone a basic, non-exclusive and unlimited license to use the standard ASAM OpenDRIVE." Source: https://publications.pages.asam.net/standards/ASAM_OpenDRIVE/ASAM_OpenDRIVE_Specification/v1.8.1/specification/index.html
  • Specification: https://publications.pages.asam.net/standards/ASAM_OpenDRIVE/ASAM_OpenDRIVE_Specification/v1.8.1/specification/
  • XSD Schema: Included in opendrive/xsd/ (downloaded from the official ASAM deliverables).
  • Copyright: © ASAM e.V. ASAM OpenDRIVE is a registered trade mark of ASAM e.V.

ASAM OSI (Open Simulation Interface)​

OMEGA PRIME​

  • Owner: IKA, RWTH Aachen University
  • Standard: OMEGA PRIME — Open, Modular, Exchangeable Ground truth Annotations for Perception Research In Modular Environments
  • Repository: https://github.com/ika-rwth-aachen/omega-prime
  • License: MPL-2.0 (Mozilla Public License 2.0)

Foxglove / Lichtblick Schemas​

ISO 8855​

  • Owner: International Organization for Standardization (ISO)
  • Standard: ISO 8855:2011 — Road vehicles — Vehicle dynamics and road-holding ability — Vocabulary
  • License: Proprietary. Available for purchase from ISO or national standards bodies (e.g., DIN, BSI, ANSI).
  • Note: This standard defines the vehicle dynamics coordinate system conventions referenced by both ASAM OpenDRIVE (§8.2) and ASAM OSI.

Document Index​

FileContentPrimary Standard
ASAM_OpenDRIVE_Standard.mdComplete OpenDRIVE technical referenceASAM OpenDRIVE V1.8.1
ASAM_OSI_Coordinate_System.mdOSI coordinate system & proto definitionsASAM OSI V3.7.0, OMEGA PRIME
Foxglove_SceneUpdate_Schema.mdFoxglove visualization schema referencefoxglove-sdk
FEATURE_MAPPING_TABLE.mdFull feature mapping: Standard → libOpenDRIVE → TS → FoxgloveAll standards + libOpenDRIVE

Purpose​

These reference documents serve as the authoritative technical basis for all geometry computations, coordinate transformations, and data model mappings implemented in this converter. Every function in the codebase references the relevant standard section using bracket notation (e.g., [ODR §9.5]) to trace the implementation back to the specification.

These documents are NOT a substitute for the official standards. They are technical reference summaries for developer use. For the authoritative text, consult the original standards from their respective publishers.

Citation Convention​

Throughout the codebase and documentation, the following citation keys are used:

KeyStandard
[ODR]ASAM OpenDRIVE V1.8.1
[ODR §X.Y]Specific section of the OpenDRIVE specification
[OSI]ASAM OSI V3.7.0
[OMEGA]OMEGA PRIME specification & proto definitions
[FG-SCENE]Foxglove SceneUpdate / SceneEntity schemas
[FG-SDK]foxglove-sdk repository
[ISO8855]ISO 8855:2011
[A&S]Abramowitz & Stegun, Handbook of Mathematical Functions (external math ref, not part of OpenDRIVE spec)
[REP103]ROS REP-103 coordinate conventions