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# -*- yaml -*-
#
# BSD 3-Clause License
#
# Copyright (c) 2026, Woven by Toyota. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
#
# * Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# * Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
odr_signal_types:
# Standard three-bulb vertical traffic light (Red above Yellow above Green).
- odr_representation:
type: "1000001"
subtype: "-1"
country: "OpenDRIVE"
country_revision: null
name: "*"
properties:
device_type: TrafficLight
description: "Standard three-bulb vertical traffic light with red, yellow, and green bulbs."
# List of bulbs
bulbs:
- id: "RedBulb"
# Position relative to traffic light frame (meters).
position_traffic_light:
orientation_traffic_light:
# Bulb color: must be one of {Red, Yellow, Green}.
color: "Red"
# Bulb type: must be one of {Round, Arrow, ArrowLeft, ArrowRight, ArrowUp, ArrowUpperLeft, ArrowUpperRight, UTurnLeft, UTurnRight, Walk, DontWalk}.
type: "Round"
# Possible states this bulb can be in: subset of {Off, On, Blinking}.
states:
# Optional: custom bounding box for this bulb.
# If omitted, uses maliput default (~12" lens: 0.356m tall x 0.356m wide x 0.177m deep).
bounding_box:
p_min:
p_max:
- id: "YellowBulb"
position_traffic_light:
orientation_traffic_light:
color: "Yellow"
type: "Round"
states:
- id: "GreenBulb"
position_traffic_light:
orientation_traffic_light:
color: "Green"
type: "Round"
states:
# Rule conditions: map bulb state combinations to Right-Of-Way rule values.
# Each condition defines a set of (bulb_id, state) pairs.
# When these conditions are met, the corresponding rule value is applied.
rule_states:
# Red only: Stop.
- conditions:
- bulb_id: "RedBulb"
state: "On"
- bulb_id: "YellowBulb"
state: "Off"
- bulb_id: "GreenBulb"
state: "Off"
value: "Stop"
# Red blinking: Stop and prepare to proceed.
- conditions:
- bulb_id: "RedBulb"
state: "Blinking"
- bulb_id: "YellowBulb"
state: "Off"
- bulb_id: "GreenBulb"
state: "Off"
value: "StopThenGo"
# Yellow solid: Stop if safe, otherwise proceed with caution.
- conditions:
- bulb_id: "RedBulb"
state: "Off"
- bulb_id: "YellowBulb"
state: "On"
- bulb_id: "GreenBulb"
state: "Off"
value: "StopIfSafe"
# Yellow blinking: Proceed with caution.
- conditions:
- bulb_id: "RedBulb"
state: "Off"
- bulb_id: "YellowBulb"
state: "Blinking"
- bulb_id: "GreenBulb"
state: "Off"
value: "ProceedWithCaution"
# Green solid: Proceed.
- conditions:
- bulb_id: "RedBulb"
state: "Off"
- bulb_id: "YellowBulb"
state: "Off"
- bulb_id: "GreenBulb"
state: "On"
value: "Go"
# Three-bulb traffic light with specific arrow support.
- odr_representation:
type: "1000011"
subtype: "40"
country: "OpenDRIVE"
country_revision: null
name: "*"
properties:
device_type: TrafficLight
description: "Three-bulb traffic light with dual arrows (straight/left)."
bulbs:
- id: "RedBulb"
position_traffic_light:
orientation_traffic_light:
color: "Red"
type: "ArrowUpperLeft"
states:
- id: "YellowBulb"
position_traffic_light:
orientation_traffic_light:
color: "Yellow"
type: "ArrowUpperLeft"
states:
- id: "GreenArrow"
position_traffic_light:
orientation_traffic_light:
color: "Green"
type: "ArrowUpperLeft"
states:
rule_states:
- conditions:
- bulb_id: "RedBulb"
state: "On"
- bulb_id: "YellowBulb"
state: "Off"
- bulb_id: "GreenArrow"
state: "Off"
value: "Stop"
- conditions:
- bulb_id: "RedBulb"
state: "Off"
- bulb_id: "YellowBulb"
state: "On"
- bulb_id: "GreenArrow"
state: "Off"
value: "StopIfSafe"
- conditions:
- bulb_id: "RedBulb"
state: "Off"
- bulb_id: "YellowBulb"
state: "Off"
- bulb_id: "GreenArrow"
state: "On"
value: "Go"
# Three-bulb traffic light with arrow support.
# Can display turn arrows in green (left, straight, right).
- odr_representation:
type: "1000011"
subtype: "10"
country: "OpenDRIVE"
country_revision: null
name: "*"
properties:
device_type: TrafficLight
description: "Three-bulb traffic light with optional arrow support (left/straight/right)."
bulbs:
- id: "RedBulb"
position_traffic_light:
orientation_traffic_light:
color: "Red"
type: "Round"
states:
- id: "YellowBulb"
position_traffic_light:
orientation_traffic_light:
color: "Yellow"
type: "Round"
states:
- id: "GreenArrow"
position_traffic_light:
orientation_traffic_light:
color: "Green"
type: "Arrow"
states:
# Arrow orientation in radians, measured along bulb +X axis relative to +Y axis.
# 0.0 rad = arrow points in +Y direction (right from approaching vehicle perspective).
# π/2 rad = arrow points in +Z direction (straight).
# π rad = arrow points in -Y direction (left).
arrow_orientation_rad: 1.5707963267948966 # π/2 rad (straight).
rule_states:
- conditions:
- bulb_id: "RedBulb"
state: "On"
- bulb_id: "YellowBulb"
state: "Off"
- bulb_id: "GreenArrow"
state: "Off"
value: "Stop"
- conditions:
- bulb_id: "RedBulb"
state: "Off"
- bulb_id: "YellowBulb"
state: "On"
- bulb_id: "GreenArrow"
state: "Off"
value: "StopIfSafe"
- conditions:
- bulb_id: "RedBulb"
state: "Off"
- bulb_id: "YellowBulb"
state: "Off"
- bulb_id: "GreenArrow"
state: "On"
value: "Go"
# Pedestrian signal with walk/don't walk.
- odr_representation:
type: "1000002"
subtype: "-1"
country: "OpenDRIVE"
country_revision: null
name: "*"
properties:
device_type: TrafficLight
description: "Pedestrian walk/don't walk signal (red standing figure on black background / green walking figure on black background)."
bulbs:
# Black background with red standing figure hand (Don't Walk).
- id: "DontWalkBulb"
position_traffic_light:
orientation_traffic_light:
color: "Red"
type: "Round"
states:
# Black background with green walking figure (Walk).
- id: "WalkBulb"
position_traffic_light:
orientation_traffic_light:
color: "Green"
type: "Round"
states:
rule_states:
- conditions:
- bulb_id: "DontWalkBulb"
state: "On"
- bulb_id: "WalkBulb"
state: "Off"
value: "Stop"
- conditions:
- bulb_id: "DontWalkBulb"
state: "Off"
- bulb_id: "WalkBulb"
state: "On"
value: "Go"
- conditions:
- bulb_id: "DontWalkBulb"
state: "Off"
- bulb_id: "WalkBulb"
state: "Blinking"
value: "ProceedWithCaution"
# Stop sign (static traffic sign, not a traffic light).
- odr_representation:
type: "206"
subtype: "-1"
country: "OpenDRIVE"
country_revision: null
name: "*"
properties:
device_type: TrafficSign
device_semantics: Stop
description: "Stop sign. Requires a complete stop before entering the intersection."
# Stop signs have no bulbs.
bulbs:
rule_states:
- conditions:
value: "StopThenGo"
# Unknown sign.
- odr_representation:
type: "999"
subtype: "-1"
country: "OpenDRIVE"
country_revision: null
name: "*"
properties:
device_type: TrafficSign
description: "Unknown sign. No specific behavior defined."
rule_states:
- conditions:
value: ""