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docs(lanelet2_extension): add brief description for crosswalk traffic…
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docs(lanelet2_extemsion): add brief description for crosswalk traffic light

Signed-off-by: satoshi-ota <[email protected]>
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satoshi-ota authored Sep 21, 2023
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41 changes: 41 additions & 0 deletions tmp/lanelet2_extension/docs/lanelet2_format_extension.md
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Expand Up @@ -231,6 +231,47 @@ _An example:_
</relation>
```

### Traffic Lights for Crosswalks

It can define not only traffic lights for vehicles but also for crosswalk users by using regulatory element. In this case, the crosswalk lanelet needs to refer the traffic light regulatory element.

![crosswalk_traffic_light](crosswalk_traffic_light.svg)

_An example:_

```xml
<way id="179745">
<nd ref="179743"/>
<nd ref="179744"/>
<tag k="type" v="traffic_light"/>
<tag k="subtype" v="solid"/>
<tag k="height" v="0.5"/>
</way>

...

<relation id="179750">
<member type="way" role="refers" ref="179745"/>
<member type="way" role="refers" ref="179756"/>
<tag k="type" v="regulatory_element"/>
<tag k="subtype" v="traffic_light"/>
</relation>

...

<relation id="1556">
<member type="way" role="left" ref="1449"/>
<member type="way" role="right" ref="1450"/>
<member type="relation" role="regulatory_element" ref="179750"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="crosswalk"/>
<tag k="speed_limit" v="10"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="no"/>
<tag k="participant:pedestrian" v="yes"/>
</relation>
```

### Safety Slow Down for Crosswalks

If you wish ego vehicle to slow down to a certain speed from a certain distance while passing over a
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