merge master to 1px branch

.gitignore

@@ -217,14 +217,27 @@ CATKIN_IGNORE
 *.pb.cc
 *.pb.h
 *.swp
+!src/driver/driver_cloud_grpc_client_BS/*.grpc.pb.cc
+!src/driver/driver_cloud_grpc_client_BS/*.grpc.pb.h
 
 # thirdpartylib
-/thirdpartylib/*
+thirdpartylib/*
 
 # ivversion_def
-/include/ivversion_def.h
+include/ivversion_def.h
+
+# system_def
+include/systemdef.pri
+src/common/modulecomm/systemdef.pri
 
 # Qt-Creator build
 build-*-Debug
 build-*-Release
 
+# vscode
+*.vscode
+
+# proto interface & ivprotoif
+src/common/makeprotointerface/makeprotointerface
+src/common/ivprotoif/*
+include/ivprotoif.h

autogen_lib.sh

@@ -116,3 +116,36 @@ rm .qmake.stash
 cd ../../../
 
 
+cd src/common/makeprotointerface/
+$qtmake makeprotointerface.pro
+make $MAKEOPT
+make clean
+cp makeprotointerface ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+PWD=`pwd`
+
+PROTOPATH=$PWD/src/include/proto
+MSGTYPEPATH=$PWD/src/include/msgtype
+PROFOLDERPATH=$PWD/src/common
+
+echo $PROTOPATH
+echo $MSGTYPEPATH
+echo $PROFOLDERPATH
+
+$PWD/bin/makeprotointerface $PROTOPATH $MSGTYPEPATH $PROFOLDERPATH
+
+cp $PWD/src/common/ivprotoif/ivprotoif.h $PWD/include
+
+cd src/common/ivprotoif/
+$qtmake ivprotoif.pro
+make $MAKEOPT
+make clean
+cp libivprotoif.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+

doc/工具/view_message使用说明.md

@@ -0,0 +1,44 @@
+#  view_message功能介绍
+view_message的功能类似rviz，能查看proto格式的消息。
+
+# 编译模块
+需要使用autogen_lib.sh生成libivprotoif.so,实现系统内所有probo消息的包含。autogen_lib.sh内的相关脚步如下：
+cd src/common/makeprotointerface/
+$qtmake makeprotointerface.pro
+make $MAKEOPT
+make clean
+cp makeprotointerface ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+PWD=`pwd`
+
+PROTOPATH=$PWD/src/include/proto
+MSGTYPEPATH=$PWD/src/include/msgtype
+PROFOLDERPATH=$PWD/src/common
+
+echo $PROTOPATH
+echo $MSGTYPEPATH
+echo $PROFOLDERPATH
+
+$PWD/bin/makeprotointerface $PROTOPATH $MSGTYPEPATH $PROFOLDERPATH
+
+cp $PWD/src/common/ivprotoif/ivprotoif.h $PWD/include
+
+cd src/common/ivprotoif/
+$qtmake ivprotoif.pro
+make $MAKEOPT
+make clean
+cp libivprotoif.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+
+# 使用方法
+编译view_message，使用刷新消息列表查看共享内存内的消息，使用查看可以打开查看窗口，查看窗口可以打开多个同时查看不同消息，查看窗口可以调整大小适应内容。
+只支持proto格式的消息查看。
+后面会逐步把所有消息修改为proto。
+
+

include/linuxsystemtest.sh

@@ -5,27 +5,38 @@ OSDEFINFO=$(echo "DEFINES += SYSTEM_UBUNTU1804")
 
 ubuntu1804="18.04."
 ubuntu1604="16.04."
-resultos=$(echo $systemname | grep "Ubuntu")
+ubuntu2004="20.04."
+resultos=$(echo $systemname | grep "tegra")
 if [ "$resultos" != "" ]
 then
-  result=$(echo $systemname | grep "${ubuntu1804}")
-  if [ "$result" != "" ]
-  then
-#      echo "ubuntu 18.04"
-      OSDEFINFO=$(echo "DEFINES += SYSTEM_UBUNTU1804")
-  fi
-
-  result=$(echo $systemname | grep "${ubuntu1604}")
-  if [ "$result" != "" ]
-  then
-#      echo "ubuntu 16.04"
-      OSDEFINFO=$(echo "DEFINES += SYSTEM_UBUNTU1604")
-  fi
+  OSDEFINFO=$(echo "DEFINES += SYSTEM_AGX")
 else
-resultos=$(echo $systemname | grep "tegra")
+  resultos=$(echo $systemname | grep "Ubuntu")
   if [ "$resultos" != "" ]
   then
-    OSDEFINFO=$(echo "DEFINES += SYSTEM_AGX")
+    systemname=`lsb_release -a`
+    
+    result=$(echo $systemname | grep "${ubuntu1804}")
+    if [ "$result" != "" ]
+    then
+#        echo "ubuntu 18.04"
+        OSDEFINFO=$(echo "DEFINES += SYSTEM_UBUNTU1804")
+    fi
+
+    result=$(echo $systemname | grep "${ubuntu1604}")
+    if [ "$result" != "" ]
+    then
+#        echo "ubuntu 16.04"
+        OSDEFINFO=$(echo "DEFINES += SYSTEM_UBUNTU1604")
+    fi
+    
+    result=$(echo $systemname | grep "${ubuntu2004}")
+    if [ "$result" != "" ]
+    then
+#        echo "ubuntu 20.04"
+        OSDEFINFO=$(echo "DEFINES += SYSTEM_UBUNTU1804") # 20210930 parameters of 20.04 temporarily same as 18.04
+    fi
+    
   fi
 fi
 

map/dongli_bizhangxianlutiaozheng_0929.xodr

@@ -0,0 +1,11338 @@
+<?xml version="1.0" ?>
+<OpenDRIVE>
+    <header revMajor="1" revMinor="1" name="adcmap" version="1.1" date="2021-07-21" north="0.0000000000000000e+00" south="0.0000000000000000e+00" east="0.0000000000000000e+00" west="0.0000000000000000e+00" lat0="3.9067764300000000e+01" lon0="1.1735483680000000e+02" hdg0="3.6000000000000000e+02" vendor="adc" />
+    <road name="" length="1.6219042379150739e+01" id="10001" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800000" contactPoint="start" />
+            <successor elementType="junction" elementId="800001" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.7371139847523338e+01" y="-1.0027933610548020e+02" hdg="4.3154417225422357e+00" length="1.6219042379150739e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6856575444237070e+00" b="1.9499245903697770e-03" c="-1.6537192373956361e-04" d="2.4989411196293447e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.9562315399664305e+00" b="-1.6248351744922767e-02" c="7.2512653662643110e-04" d="-9.1794809710303353e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.8967604394936961e+00" b="7.3207595250667867e-04" c="-2.9728632736727824e-05" d="3.7145135259947416e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="5" t="0" id="69" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="6" t="0" id="70" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="16.219" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="6.9420696415221343e+01" id="10002" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800001" contactPoint="start" />
+            <successor elementType="junction" elementId="800002" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.1627865149781179e+01" y="-1.3423039616258293e+02" hdg="4.3167759282036320e+00" length="6.9420696415221343e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6434768721263806e+00" b="-9.6835673349559030e-04" c="5.6006187609479075e-06" d="-2.3526642141263908e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="-3.5538200000000001e-04" c="7.1096599999999996e-06" d="-3.2708599999999997e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="-2.1875599999999999e-04" c="2.6050300000000000e-06" d="-8.4013900000000005e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="6" t="0" id="73" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="7" t="0" id="74" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="0" t="0" id="75" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="0" t="0" id="87" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="5" t="0" id="8" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="69.421" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="6.5855973388251115e+01" id="10003" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800002" contactPoint="start" />
+            <successor elementType="junction" elementId="800004" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-9.1480796761279606e+01" y="-2.2962486122342838e+02" hdg="4.3198843667250113e+00" length="1.6321743083610119e+01">
+                <line />
+            </geometry>
+            <geometry s="1.6321743083610119e+01" x="-9.7723924861968641e+01" y="-2.4470539996731156e+02" hdg="4.3395384970733266e+00" length="2.1884692102230048e+00">
+                <line />
+            </geometry>
+            <geometry s="1.8510212293833124e+01" x="-9.8521121917541606e+01" y="-2.4674350554325210e+02" hdg="4.3284778069423293e+00" length="2.3765123358120736e+01">
+                <line />
+            </geometry>
+            <geometry s="4.2275335651953860e+01" x="-1.0742234391817588e+02" y="-2.6877868957066880e+02" hdg="4.3167390999456314e+00" length="2.3330244714069899e+00">
+                <line />
+            </geometry>
+            <geometry s="4.4608360123360853e+01" x="-1.0832151008514354e+02" y="-2.7093147924649980e+02" hdg="4.3193107965084154e+00" length="2.1247613264890262e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7434062138484387e+00" b="-1.4852546315919600e-03" c="1.1942240042300422e-05" d="-1.0066460227083705e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="-1.8056800000000000e-03" c="3.7336799999999998e-05" d="-2.0796900000000000e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="-9.7848100000000006e-06" c="-6.8588700000000003e-07" d="7.2301900000000002e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="65.856" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="1.0569452238817439e+02" id="10004" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10026" contactPoint="end" />
+            <successor elementType="road" elementId="10011" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.3673442056392764e+00" y="1.3917149468303933e+01" hdg="2.7484464326396099e+00" length="1.2836595436550207e+01">
+                <line />
+            </geometry>
+            <geometry s="1.2836595436550207e+01" x="-1.6224614305540769e+01" y="1.8834804212147144e+01" hdg="2.7267410823044207e+00" length="2.2367937656577559e+00">
+                <line />
+            </geometry>
+            <geometry s="1.5073389202207963e+01" x="-1.8271674624366739e+01" y="1.9736353102209975e+01" hdg="2.7381412137292105e+00" length="2.0906042106359813e+01">
+                <line />
+            </geometry>
+            <geometry s="3.5979431308567776e+01" x="-3.7499201062733640e+01" y="2.7943960769173064e+01" hdg="2.7728049042650116e+00" length="2.3403501008688226e+00">
+                <line />
+            </geometry>
+            <geometry s="3.8319781409436601e+01" x="-3.9682197792437663e+01" y="2.8787621763138205e+01" hdg="2.7425312363158145e+00" length="6.7374740978737790e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6959318111543684e+00" b="-1.4670793262296268e-04" c="8.6569318241781369e-07" d="-6.2991565170928901e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7985551183501998e+00" b="-4.5119083029963662e-05" c="8.5588791556377879e-09" d="9.1048366103748747e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.4987319655672761e+02" id="10005" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10011" contactPoint="end" />
+            <successor elementType="road" elementId="10006" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1082739390066655e+02" y="5.5470435576140325e+01" hdg="2.7227695527866445e+00" length="3.2649553836957530e+00">
+                <line />
+            </geometry>
+            <geometry s="3.2649553836957530e+00" x="-1.1381015331622656e+02" y="5.6798245775834538e+01" hdg="2.6845299383218002e+00" length="1.0045801197283986e+00">
+                <line />
+            </geometry>
+            <geometry s="4.2695355034241516e+00" x="-1.1471161593096053e+02" y="5.7241581282184427e+01" hdg="2.6492013730625334e+00" length="8.0815897757850230e+00">
+                <arc curvature="-3.1286322746283610e-02" />
+            </geometry>
+            <geometry s="1.2351125279209175e+01" x="-1.2127709601110274e+02" y="6.1916980379864981e+01" hdg="2.4733050450177565e+00" length="2.3099689436930615e+00">
+                <line />
+            </geometry>
+            <geometry s="1.4661094222902236e+01" x="-1.2309015341505189e+02" y="6.3348336160518983e+01" hdg="2.4284153083798281e+00" length="5.9191855135359459e+00">
+                <arc curvature="1.4013979401305688e-02" />
+            </geometry>
+            <geometry s="2.0580279736438182e+01" x="-1.2772214937285003e+02" y="6.7030901130106997e+01" hdg="2.4895770699154722e+00" length="8.4277361592407118e-01">
+                <line />
+            </geometry>
+            <geometry s="2.1423053352362253e+01" x="-1.2839203841370687e+02" y="6.7542287520850465e+01" hdg="2.5195125954833704e+00" length="3.7610672102004954e+00">
+                <line />
+            </geometry>
+            <geometry s="2.5184120562562747e+01" x="-1.3144853779484797e+02" y="6.9733962244145289e+01" hdg="2.8080146832982931e+00" length="8.9361309278668122e-01">
+                <line />
+            </geometry>
+            <geometry s="2.6077733655349427e+01" x="-1.3229289214063621e+02" y="7.0026554278124820e+01" hdg="2.5121107416842161e+00" length="3.3080919152328576e+01">
+                <arc curvature="1.7778358391826704e-02" />
+            </geometry>
+            <geometry s="5.9158652807678003e+01" x="-1.6308203200513506e+02" y="8.0759394091970080e+01" hdg="3.2151546524981085e+00" length="2.3274603257494642e+00">
+                <line />
+            </geometry>
+            <geometry s="6.1486113133427466e+01" x="-1.6540319779835963e+02" y="8.0588335832005896e+01" hdg="3.2452811661859888e+00" length="4.4100256896390619e+01">
+                <arc curvature="2.1912440203194931e-02" />
+            </geometry>
+            <geometry s="1.0558637002981808e+02" x="-2.0071252019218545e+02" y="5.7106986438766043e+01" hdg="4.2761242981181971e+00" length="2.3446291199167586e+00">
+                <line />
+            </geometry>
+            <geometry s="1.0793099914973484e+02" x="-2.0170325956070045e+02" y="5.4981963800384008e+01" hdg="4.3726958510536749e+00" length="2.0499599534846350e+01">
+                <arc curvature="1.3266063162263184e-02" />
+            </geometry>
+            <geometry s="1.2843059868458118e+02" x="-2.0583781579455763e+02" y="3.4968081273530373e+01" hdg="4.5520419749178700e+00" length="2.3202066628493094e+00">
+                <line />
+            </geometry>
+            <geometry s="1.3075080534743049e+02" x="-2.0620826177755629e+02" y="3.2677638361774989e+01" hdg="4.5219297978642992e+00" length="1.8406053679433157e+01">
+                <arc curvature="4.3425769068336402e-03" />
+            </geometry>
+            <geometry s="1.4915685902686363e+02" x="-2.0908556610537212e+02" y="1.4394169960586346e+01" hdg="4.5616695970530721e+00" length="7.1633752986397270e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7711095026723065e+00" b="1.3804717298431682e-03" c="-1.1948258473245313e-05" d="3.3397462599167079e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9984077484847105e+00" b="-1.7467953927376995e-05" c="2.1703412623815940e-07" d="-7.4539354817012722e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.2389429006811099e+01" id="10006" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10005" contactPoint="end" />
+            <successor elementType="road" elementId="10007" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.0915668926140560e+02" y="1.3709895584391445e+01" hdg="4.5637890503104153e+00" length="4.5314263658871269e+01">
+                <line />
+            </geometry>
+            <geometry s="4.5314263658871269e+01" x="-2.1586563084088465e+02" y="-3.1104974646691879e+01" hdg="4.5560679202234535e+00" length="2.2825165851103617e+00">
+                <line />
+            </geometry>
+            <geometry s="4.7596780243981634e+01" x="-2.1622098486197507e+02" y="-3.3359659875498494e+01" hdg="4.5626349977738219e+00" length="4.4792648762829458e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6414027589604707e+00" b="-2.3024624416874374e-03" c="2.4644738173227130e-05" d="-8.6071448782010596e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9952517782429768e+00" b="-1.8465296382514712e-05" c="4.3818209757924571e-07" d="-1.9565200300083650e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.8551253794668600e+01" id="10007" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10006" contactPoint="end" />
+            <successor elementType="road" elementId="10008" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.2293631456038281e+02" y="-7.7635769037519609e+01" hdg="4.5418608185131610e+00" length="1.7184175278344476e+00">
+                <line />
+            </geometry>
+            <geometry s="1.7184175278344476e+00" x="-2.2322793495314272e+02" y="-7.9329261389582413e+01" hdg="4.5232457487573070e+00" length="8.0037692896054691e-01">
+                <line />
+            </geometry>
+            <geometry s="2.5187944567949945e+00" x="-2.2337841980284867e+02" y="-8.0115364142675986e+01" hdg="4.4935649680157992e+00" length="3.5182615187445609e+00">
+                <arc curvature="-4.9127791348802526e-02" />
+            </geometry>
+            <geometry s="6.0370559755395554e+00" x="-2.2443444030294378e+02" y="-8.3466811415100196e+01" hdg="4.5095722134060523e+00" length="9.8693705274484700e-01">
+                <line />
+            </geometry>
+            <geometry s="7.0239930282844023e+00" x="-2.2463323820265447e+02" y="-8.4433519303322541e+01" hdg="4.2893026796481486e+00" length="4.9540245015607418e+00">
+                <arc curvature="3.9320226276886727e-01" />
+            </geometry>
+            <geometry s="1.1978017529845143e+01" x="-2.2243108071900849e+02" y="-8.8018242075214403e+01" hdg="4.4366541443574115e-01" length="2.3630315956097014e+00">
+                <line />
+            </geometry>
+            <geometry s="1.4341049125454845e+01" x="-2.2029682757683739e+02" y="-8.7003903942744515e+01" hdg="1.2579499322631813e+00" length="6.8193953506107414e+00">
+                <arc curvature="7.5218164217040889e-02" />
+            </geometry>
+            <geometry s="2.1160444476065585e+01" x="-2.1991678501039794e+02" y="-8.0269738860122999e+01" hdg="1.4727830714780874e+00" length="2.3889910703331303e+00">
+                <line />
+            </geometry>
+            <geometry s="2.3549435546398716e+01" x="-2.1968300694060164e+02" y="-7.7892213645069802e+01" hdg="1.5167553398419038e+00" length="4.2774181660603494e+00">
+                <arc curvature="-9.0490689735424727e-03" />
+            </geometry>
+            <geometry s="2.7826853712459066e+01" x="-2.1935416601983110e+02" y="-7.3528089294948543e+01" hdg="1.4906995177593190e+00" length="7.2440008220953322e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6388743141069915e+00" b="6.5075341573295016e-03" c="-1.6433019686162256e-04" d="9.7187854801048041e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9935478037525192e+00" b="3.6570238213599692e-04" c="-9.3738884047327547e-06" d="6.4742074484203276e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.0000000000000000e+01" id="10009" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10008" contactPoint="end" />
+            <successor elementType="road" elementId="10164" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.1411665947670181e+02" y="-3.5626068675323921e+01" hdg="1.4176548078303357e+00" length="1.4955925659005409e+00">
+                <line />
+            </geometry>
+            <geometry s="1.4955925659005409e+00" x="-2.1388851635314455e+02" y="-3.4147979422825784e+01" hdg="1.3145548930801036e+00" length="7.8416369326422120e-01">
+                <line />
+            </geometry>
+            <geometry s="2.2797562591647620e+00" x="-2.1368977280668713e+02" y="-3.3389419141387776e+01" hdg="1.3935243566190576e+00" length="1.0792119942499092e+01">
+                <arc curvature="-1.0888865073221431e-01" />
+            </geometry>
+            <geometry s="1.3071876201663853e+01" x="-2.0663967914476615e+02" y="-2.6043348993659833e+01" hdg="1.1373213043589722e-01" length="2.2874413130235522e+00">
+                <line />
+            </geometry>
+            <geometry s="1.5359317514687405e+01" x="-2.0436701591572017e+02" y="-2.5783753909212464e+01" hdg="6.1496873171148829e+00" length="1.4640682485312595e+01">
+                <arc curvature="4.0943003645852157e-03" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7673031338299872e+00" b="1.4424200167962469e-03" c="2.5190488897680045e-06" d="-6.1917236111958645e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9952357808730197e+00" b="3.0440184736790810e-05" c="-1.9534639552529845e-07" d="3.4764649689718825e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.7120520585876037e+01" id="10008" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10007" contactPoint="end" />
+            <successor elementType="road" elementId="10009" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.1926432711264397e+02" y="-7.2250422533601721e+01" hdg="1.4462385306335368e+00" length="9.5259823806615547e+00">
+                <line />
+            </geometry>
+            <geometry s="9.5259823806615547e+00" x="-2.1808085747431170e+02" y="-6.2798240778481897e+01" hdg="1.4367245333902661e+00" length="2.2246119121077674e+00">
+                <line />
+            </geometry>
+            <geometry s="1.1750594292769321e+01" x="-2.1778349250549090e+02" y="-6.0593592907548768e+01" hdg="1.4257361308197034e+00" length="2.5369926293106719e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6856200230512188e+00" b="6.4560785548130935e-04" c="1.1517796331600567e-05" d="-2.3005168793568882e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0008122054952402e+00" b="2.9209757786282516e-06" c="-8.0833934781456878e-06" d="9.6010364449038232e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.0783591172010087e+00" id="10011" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10004" contactPoint="end" />
+            <successor elementType="road" elementId="10005" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.0176304190893720e+02" y="5.4966325240103885e+01" hdg="3.0860352829345712e+00" length="9.0783591172010087e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7092048102998865e+00" b="-6.8189296736595887e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7949569448141949e+00" b="2.2410526070182877e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="6.7850319509119487e+01" id="10013" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800006" contactPoint="start" />
+            <successor elementType="junction" elementId="800007" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2081568446008575e+01" y="-2.3532719318391497e+02" hdg="1.1771324787525883e+00" length="3.3948737091607335e+01">
+                <line />
+            </geometry>
+            <geometry s="3.3948737091607335e+01" x="2.5103441085669303e+01" y="-2.0397519830206525e+02" hdg="1.1683078442212262e+00" length="2.3400465019781214e+00">
+                <line />
+            </geometry>
+            <geometry s="3.6288783593585457e+01" x="2.6020058778449801e+01" y="-2.0182214706331087e+02" hdg="1.1760444725485764e+00" length="3.1561535915534023e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7868785461080821e+00" b="4.8077468623765581e-03" c="-8.1806965375890226e-05" d="3.9513991741651050e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.4452687747481776e+00" b="-2.1360857618878395e-03" c="4.5662150917027177e-05" d="-2.6708910773012608e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.3974404083379892e+00" b="4.1287545769157078e-04" c="-8.5343725223936052e-06" d="5.0066167064082738e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="67.85" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="1.5081928803303192e+01" id="10014" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800007" contactPoint="start" />
+            <successor elementType="road" elementId="10023" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.6557462809174538e+01" y="-1.5252258205322482e+02" hdg="1.1757868634484134e+00" length="1.5081928803303192e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7136872845190112e+00" b="-1.1846322471244144e-03" c="1.1940519275219436e-04" d="-1.6107315047784644e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3259337948821419e+00" b="1.1972070111631749e-02" c="-4.1844161053151844e-04" d="4.1617129919027174e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3955124582165821e+00" b="2.0341435681318562e-03" c="-1.2078120776258220e-04" d="1.8239010977374858e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="15.082" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="6.9163176930026225e+01" id="10016" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800008" contactPoint="start" />
+            <successor elementType="junction" elementId="800009" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="8.5581875328596112e+01" y="-2.3662147799951914e+01" hdg="2.7446631243850388e+00" length="3.4367004375612332e+01">
+                <line />
+            </geometry>
+            <geometry s="3.4367004375612332e+01" x="5.3886824849823597e+01" y="-1.0376261871590978e+01" hdg="2.7428324910470945e+00" length="2.2417895119172080e+00">
+                <line />
+            </geometry>
+            <geometry s="3.6608793887529544e+01" x="5.1820919190324140e+01" y="-9.5058286336053719e+00" hdg="2.7468164164460735e+00" length="3.2554383042496681e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6258252260722363e+00" b="-6.2990830962438632e-03" c="7.3358231504356820e-05" d="-2.4665055051063978e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.4580630972089690e+00" b="-6.0034639302078473e-04" c="1.4877550163678988e-05" d="-8.5301065215491245e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.3910054818358017e+00" b="4.3479745109413747e-04" c="-6.0573431298208584e-06" d="2.5925529090531376e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="69.163" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.1244308710813787e+01" id="10017" junction="800000">
+        <link>
+            <predecessor elementType="road" elementId="10157" contactPoint="end" />
+            <successor elementType="road" elementId="10001" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.9160206914839051e+01" y="-8.0685938417092430e+01" hdg="4.3155549347403115e+00" length="2.1244308710813787e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7530343704164011e+00" b="3.1715235788490467e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9308006428342255e+00" b="1.1970687057122355e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8968457731089563e+00" b="-4.0167753360108324e-06" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="21" t="0" id="81" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="21.244" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.5834989168536115e+01" id="10021" junction="800006">
+        <link>
+            <predecessor elementType="road" elementId="10221" contactPoint="end" />
+            <successor elementType="road" elementId="10013" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.9823453368002646e+00" y="-2.4175858845200838e+02" hdg="5.8873854384307416e+00" length="9.1259981119152886e+00">
+                <line />
+            </geometry>
+            <geometry s="9.1259981119152886e+00" x="1.4381079264999101e+00" y="-2.4527708363876917e+02" hdg="5.8873854384307416e+00" length="9.4375940850085964e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.8563592196923885e+01" x="9.2924453919979033e+00" y="-2.4204240029228905e+02" hdg="1.1771324787525883e+00" length="7.2713969716122300e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7855376194885411e+00" b="-5.1903510034139293e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3489698298938095e+00" b="3.7274621725658982e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3991602404700814e+00" b="-6.6569880129336157e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="25.835" />
+        </userData>
+    </road>
+    <road name="" length="2.1844756583911796e+01" id="10022" junction="800007">
+        <link>
+            <predecessor elementType="road" elementId="10013" contactPoint="end" />
+            <successor elementType="road" elementId="10014" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.8157967095357002e+01" y="-1.7268794497988495e+02" hdg="1.1761209400873356e+00" length="2.1844756583911796e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7138573354097346e+00" b="7.7845175372041241e-06" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4271199515282973e+00" b="-4.6320569541469210e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4018034185879169e+00" b="-2.8798491515204011e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="21.845" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.8320546049834050e+01" id="10026" junction="800009">
+        <link>
+            <predecessor elementType="road" elementId="10016" contactPoint="end" />
+            <successor elementType="road" elementId="10004" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.1770533118874344e+01" y="3.0146406960328562e+00" hdg="2.7464193198121638e+00" length="2.8320546049834050e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7921805639232149e+00" b="3.3985486225965784e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4006792173072560e+00" b="-2.1261034229267076e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.2797632829766997e+01" id="10015" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10023" contactPoint="end" />
+            <successor elementType="junction" elementId="800008" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="6.0202039540697065e+01" y="-1.1978945179370398e+02" hdg="1.1760147626038535e+00" length="8.2797632829766997e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6567287490432454e+00" b="-1.0862199380062222e-03" c="8.3176292913016312e-06" d="-6.0663473170706920e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4230956114317972e+00" b="-6.4179440338889596e-04" c="1.7656388492610469e-05" d="-1.0595713966781849e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4030374753697572e+00" b="-3.7462942929476119e-05" c="8.3577511014663795e-07" d="-4.0626143705251924e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="82.798" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.0381182947979742e+01" id="10023" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10014" contactPoint="end" />
+            <successor elementType="road" elementId="10015" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="5.2361244250611335e+01" y="-1.3860206850637820e+02" hdg="1.1759053415333600e+00" length="2.0381182947979742e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7099191549597919e+00" b="2.6097801119938859e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4255922517477240e+00" b="-1.2249732129381897e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4049749038217794e+00" b="-9.5059666407351772e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="20.381" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.6649004211036935e+01" id="10024" junction="800008">
+        <link>
+            <predecessor elementType="road" elementId="10015" contactPoint="end" />
+            <successor elementType="road" elementId="10016" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="9.2046552621305267e+01" y="-4.3360563349138189e+01" hdg="1.1760147626038535e+00" length="9.6806507224906007e+00">
+                <line />
+            </geometry>
+            <geometry s="9.6806507224906007e+00" x="9.5769794434207938e+01" y="-3.4424542488961606e+01" hdg="1.1760147626038535e+00" length="9.4118901706871121e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.9092540893177713e+01" x="9.2550841365988006e+01" y="-2.6583389016255410e+01" hdg="2.7446631243850388e+00" length="7.5564633178592224e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6930874624574068e+00" b="2.5240056195913389e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4308561595909945e+00" b="1.0209363697990046e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4033592448716599e+00" b="-4.6357315785712115e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="26.649" />
+        </userData>
+    </road>
+    <road name="" length="2.1105966488922242e+01" id="10027" junction="800009">
+        <link>
+            <predecessor elementType="road" elementId="10170" contactPoint="end" />
+            <successor elementType="road" elementId="10000" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.2175774330178157e+00" y="1.4153527848751079e+01" hdg="5.8875339702506011e+00" length="8.5892523827902778e+00">
+                <line />
+            </geometry>
+            <geometry s="8.5892523827902778e+00" x="2.7081185168812949e+00" y="1.0843150195820634e+01" hdg="5.8875339702506011e+00" length="9.3726180414290923e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.7961870424219370e+01" x="5.9520306157170388e+00" y="3.0424372061791383e+00" hdg="4.3254309633457524e+00" length="3.1440960647028713e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6740326889086443e+00" b="-2.2403407222323242e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4014651488811505e+00" b="7.0223278887741672e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="6.6518779996481584e+01" id="10033" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800001" contactPoint="start" />
+            <successor elementType="junction" elementId="800007" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.3364197436822955e+01" y="-1.2770103037420641e+02" hdg="5.8798634812453692e+00" length="1.5046358481176888e+01">
+                <line />
+            </geometry>
+            <geometry s="1.5046358481176888e+01" x="-1.9525123631421906e+01" y="-1.3360636184269708e+02" hdg="5.9003410344672105e+00" length="2.3263579898314468e+00">
+                <line />
+            </geometry>
+            <geometry s="1.7372716471008335e+01" x="-1.7367180277263827e+01" y="-1.3447539692662500e+02" hdg="5.8893976202410938e+00" length="4.9146063525473252e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7387229869805143e+00" b="5.1447542346203185e-04" c="-6.4083109915045022e-07" d="-6.7436328478316271e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0047472383148013e+00" b="-7.6443927717263587e-04" c="9.6136070945701034e-06" d="-2.5471924445686536e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.9190067230365642e+01" id="10035" junction="800001">
+        <link>
+            <predecessor elementType="road" elementId="10001" contactPoint="end" />
+            <successor elementType="road" elementId="10033" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.3641499002797588e+01" y="-1.1523727485921749e+02" hdg="4.3154417225422357e+00" length="1.4683777784599119e+00">
+                <line />
+            </geometry>
+            <geometry s="1.4683777784599119e+00" x="-4.4209180856715371e+01" y="-1.1659147964912459e+02" hdg="4.3154417225422357e+00" length="9.3865305522188009e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.0854908330678713e+01" x="-4.1030562646505928e+01" y="-1.2442968227979750e+02" hdg="5.8798634812453692e+00" length="8.3351588996869292e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6868721050782076e+00" b="-2.7019645778134536e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9023984868097079e+00" b="-9.8887159993485296e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.4889239815634753e+01" id="10037" junction="800001">
+        <link>
+            <predecessor elementType="road" elementId="10002" contactPoint="start" />
+            <successor elementType="road" elementId="10033" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.1627865149781179e+01" y="-1.3423039616258293e+02" hdg="1.1751832746138389e+00" length="7.1274717706677553e+00">
+                <line />
+            </geometry>
+            <geometry s="7.1274717706677553e+00" x="-4.8881123117912004e+01" y="-1.2765344686583228e+02" hdg="1.1751832746138389e+00" length="9.4710306032883356e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.6598502373956091e+01" x="-4.0989705462577405e+01" y="-1.2444711662673139e+02" hdg="5.8798634812453692e+00" length="8.2907374416786634e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6434768721263806e+00" b="-3.8267988721094907e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9503714520120425e+00" b="-7.8171299248563322e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.2094228764374378e+01" id="10038" junction="800007">
+        <link>
+            <predecessor elementType="road" elementId="10033" contactPoint="end" />
+            <successor elementType="road" elementId="10014" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.8017361200515680e+01" y="-1.5333219821691716e+02" hdg="5.8893976202410938e+00" length="1.0808167294064303e+01">
+                <line />
+            </geometry>
+            <geometry s="1.0808167294064303e+01" x="3.7998297244396269e+01" y="-1.5747917252892424e+02" hdg="5.8893976202410938e+00" length="9.4174473023214365e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.0225614596385739e+01" x="4.5838388453976464e+01" y="-1.5424729970562603e+02" hdg="1.1757868634484134e+00" length="1.8686141679886379e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7271846823214405e+00" b="6.1090151398237799e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9889383377678111e+00" b="1.8401824511944376e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.8206996401513518e+01" id="10039" junction="800007">
+        <link>
+            <predecessor elementType="road" elementId="10033" contactPoint="end" />
+            <successor elementType="road" elementId="10013" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.8017361200515680e+01" y="-1.5333219821691716e+02" hdg="5.8893976202410938e+00" length="1.0798748871476079e+01">
+                <line />
+            </geometry>
+            <geometry s="1.0798748871476079e+01" x="3.7989599685325459e+01" y="-1.5747555878429296e+02" hdg="5.8893976202410938e+00" length="9.4305629646163460e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.0229311836092425e+01" x="4.1226018159013506e+01" y="-1.6532380798386470e+02" hdg="4.3176371261383695e+00" length="7.9776845654210939e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7271846823214405e+00" b="4.7248373141178487e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9889383377678111e+00" b="1.5534500998375509e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.2720613852178168e+01" id="10042" junction="800002">
+        <link>
+            <predecessor elementType="junction" elementId="800003" contactPoint="start" />
+            <successor elementType="road" elementId="10003" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.0445950980940864e+01" y="-2.1524025457957745e+02" hdg="2.7457927848409476e+00" length="7.9133338661656829e+00">
+                <line />
+            </geometry>
+            <geometry s="7.9133338661656829e+00" x="-7.7747492922960177e+01" y="-2.1218929765652240e+02" hdg="2.7457927848409476e+00" length="9.4445494913043824e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.7357883357470065e+01" x="-8.5604494581818372e+01" y="-2.1543040593452443e+02" hdg="4.3198843667250113e+00" length="1.5362730494708101e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7570934541444876e+00" b="4.1830634223073108e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4004390070924404e+00" b="5.4646931059176167e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4321578058075679e+00" b="4.4864593234608938e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.6306275252245911e+01" id="10028" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800006" contactPoint="start" />
+            <successor elementType="junction" elementId="800010" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2538469941908740e+01" y="-2.5400473901870711e+02" hdg="5.9012973352522415e+00" length="1.4101413936268330e+01">
+                <line />
+            </geometry>
+            <geometry s="1.4101413936268330e+01" x="3.5624056000024595e+01" y="-2.5925995666573436e+02" hdg="5.8700925611531769e+00" length="2.2139713631540126e+00">
+                <line />
+            </geometry>
+            <geometry s="1.6315385299422342e+01" x="3.7651796153631679e+01" y="-2.6014874182892936e+02" hdg="5.8880271823361756e+00" length="3.9990889952823565e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8386846816057165e+00" b="-2.8182951112638825e-05" c="-3.8684310251208643e-06" d="2.3350488505955858e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.5287432806730110e+00" b="-1.1647663711624659e-02" c="1.5531807395979626e-04" d="-6.9017251666587601e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.3915649420799356e+00" b="4.8675042995076042e-04" c="-7.1334412950163585e-06" d="3.0874621984442952e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="56.306" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="7.7171992980661628e+01" id="10029" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800010" contactPoint="start" />
+            <successor elementType="junction" elementId="800011" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.0491439644847156e+02" y="-2.8836757628318526e+02" hdg="5.8883300631547142e+00" length="7.7171992980661628e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8676986766580743e+00" b="1.8252125329906218e-03" c="-2.3168210582158548e-05" d="7.7992181202487722e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.4688979211349857e+00" b="-3.0722981459096700e-03" c="2.1268234251686581e-05" d="-3.1058587464505792e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.3977449747254327e+00" b="1.3241087685081305e-05" c="5.1094761020239415e-07" d="-3.1083215191036382e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="77.172" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="3.1960080388226729e+01" id="10047" junction="800006">
+        <link>
+            <predecessor elementType="road" elementId="10221" contactPoint="end" />
+            <successor elementType="road" elementId="10028" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.9823453368002646e+00" y="-2.4175858845200838e+02" hdg="5.8899592886231611e+00" length="3.1960080388226729e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7855376194885411e+00" b="-1.6629201638914985e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3489698298938095e+00" b="5.6249373779868649e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3991602404700814e+00" b="-2.3764953960953220e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="101" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="31" t="0" id="102" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="30" t="0" id="108" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="30.1" t="0" id="109" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="20" length="10" />
+        </userData>
+    </road>
+    <road name="" length="2.7611725820374204e+01" id="10048" junction="800006">
+        <link>
+            <predecessor elementType="road" elementId="10013" contactPoint="start" />
+            <successor elementType="road" elementId="10028" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2081568446008575e+01" y="-2.3532719318391497e+02" hdg="4.3187251323423812e+00" length="7.3649168642636624e+00">
+                <line />
+            </geometry>
+            <geometry s="7.3649168642636624e+00" x="9.2565735382645649e+00" y="-2.4212876683923443e+02" hdg="4.3187251323423812e+00" length="9.4954332174591620e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.6860350081722824e+01" x="1.2561594352900109e+01" y="-2.4999799049214531e+02" hdg="5.9012973352522415e+00" length="1.0751375738651381e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7868785461080821e+00" b="-1.8762367783402960e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3974404083379892e+00" b="4.7553301517334256e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4452687747481776e+00" b="-1.9449647232341726e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.2951469105159710e+01" id="10049" junction="800010">
+        <link>
+            <predecessor elementType="road" elementId="10028" contactPoint="end" />
+            <successor elementType="road" elementId="10029" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="7.4560816369406126e+01" y="-2.7554340018598288e+02" hdg="5.8834399985327765e+00" length="3.2951469105159710e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8483676482853140e+00" b="-5.8665148770964501e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2421216982961814e+00" b="6.8821278382181330e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4018677358614573e+00" b="-1.2511615560652036e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="103" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="32" t="0" id="104" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="32.951" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="6.8147575050279571e+01" id="10057" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800010" contactPoint="start" />
+            <successor elementType="junction" elementId="800012" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="9.6581238601339251e+01" y="-2.6921817744375124e+02" hdg="1.1777654933734480e+00" length="3.2459705032361640e+01">
+                <line />
+            </geometry>
+            <geometry s="3.2459705032361640e+01" x="1.0901297810794208e+02" y="-2.3923344293387282e+02" hdg="1.1654136763753273e+00" length="2.4401995725468395e+00">
+                <line />
+            </geometry>
+            <geometry s="3.4899904604908478e+01" x="1.0997532065395076e+02" y="-2.3699101773378268e+02" hdg="1.1763284432537688e+00" length="3.3247670445371092e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7179859082861277e+00" b="2.3963631469843811e-03" c="-2.5508460210537265e-05" d="7.0453287292800521e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.5233920888018253e+00" b="-6.4701931345837824e-03" c="7.2735804135514091e-05" d="-2.5736059042922743e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.3960244356847387e+00" b="1.1801779848151626e-04" c="-3.5020985867045980e-07" d="-1.0046331599600754e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.6240406619478300e+01" id="10058" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800012" contactPoint="start" />
+            <successor elementType="road" elementId="10074" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2955398165907883e+02" y="-1.9000120886508540e+02" hdg="1.1761259400671238e+00" length="1.6240406619478300e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7546904870504161e+00" b="-2.2671556210256691e-03" c="3.1002142529624403e-04" d="-6.6565724009925564e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2407336491020220e+00" b="6.7838860435330854e-03" c="-3.7210389253916458e-04" d="4.6029667290181423e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3964738208024055e+00" b="1.1327031496943993e-04" c="1.0330461050811547e-05" d="-2.3101962923980468e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.6747871605263668e+01" id="10059" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10074" contactPoint="end" />
+            <successor elementType="junction" elementId="800013" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.4334198083302101e+02" y="-1.5683709809759969e+02" hdg="1.1733614550918403e+00" length="2.1317718069436893e+01">
+                <line />
+            </geometry>
+            <geometry s="2.1317718069436893e+01" x="1.5159309792389266e+02" y="-1.3718094968442571e+02" hdg="1.1845332077141355e+00" length="2.3379614758290357e+00">
+                <line />
+            </geometry>
+            <geometry s="2.3655679545265929e+01" x="1.5247387696679402e+02" y="-1.3501524145383544e+02" hdg="1.1747935383101282e+00" length="3.1392565535889496e+01">
+                <line />
+            </geometry>
+            <geometry s="5.5048245081155429e+01" x="1.6458304320116832e+02" y="-1.0605213968566486e+02" hdg="1.1706614344614850e+00" length="2.3256129356409296e+00">
+                <line />
+            </geometry>
+            <geometry s="5.7373858016796362e+01" x="1.6548896847078552e+02" y="-1.0391023050638357e+02" hdg="1.1725609419941228e+00" length="2.9374013588467299e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5896148345584464e+00" b="-8.1727498348500797e-03" c="8.8229157930546352e-05" d="-2.6580804756069905e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4509979535488058e+00" b="-4.4545324743471681e-03" c="-7.9845372680666027e-06" d="2.6985083573679469e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4069480314016283e+00" b="-3.0420147171239271e-04" c="4.1512553426140340e-06" d="-1.7072997627407391e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.4500708923430736e+01" id="10060" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10079" contactPoint="end" />
+            <successor elementType="junction" elementId="800014" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.4213971127601656e+02" y="-1.9797574575752819e+02" hdg="1.1745457874902883e+00" length="8.4500708923430736e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7513227435942484e+00" b="-1.2750351584812723e-03" c="2.5536665093184937e-05" d="-1.3502527019412378e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2024561094784816e+00" b="-8.6855167023601691e-03" c="8.8908911180694329e-05" d="-2.7125366065808402e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1079752850351792e+00" b="-2.5603630780927602e-04" c="3.4452466550542516e-06" d="-1.3428425227626201e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.6239160212835245e+01" id="10061" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800015" contactPoint="start" />
+            <successor elementType="road" elementId="10079" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2863075798372736e+02" y="-2.3061311512741105e+02" hdg="1.1801250808327877e+00" length="1.6239160212835245e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7803632895672168e+00" b="5.6277021978167144e-03" c="-2.0660262893180405e-04" d="2.4186185877288394e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1799085905536906e+00" b="-1.8738495210742761e-02" c="5.9360557506700192e-04" d="-6.7205077349799305e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0959949015162276e+00" b="-1.5873411220549856e-05" c="1.0749421060215701e-05" d="-1.8027398349675256e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.0504183058815329e+01" id="10062" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800011" contactPoint="start" />
+            <successor elementType="junction" elementId="800015" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.9412941877973583e+02" y="-3.1370053089456167e+02" hdg="1.1764709281485308e+00" length="7.0504183058815329e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8504560478169916e+00" b="5.9236614704998710e-03" c="-1.1939683870160283e-04" d="5.9664326729787234e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.1559411579419718e+00" b="-5.7474354138776782e-03" c="8.0318940766745551e-05" d="-3.3413423816342104e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0981546393081443e+00" b="8.5557299745465435e-06" c="2.4150658993050763e-06" d="-2.0785408754378311e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="6.9127235926783413e+01" id="10063" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800016" contactPoint="start" />
+            <successor elementType="junction" elementId="800017" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.9549591178644187e+02" y="-3.5572139769145201e+02" hdg="1.1766418154351941e+00" length="3.3927048438038113e+01">
+                <line />
+            </geometry>
+            <geometry s="3.3927048438038113e+01" x="3.0852483708873223e+02" y="-3.2439582154057615e+02" hdg="1.1508198403544341e+00" length="2.5529107788463228e+00">
+                <line />
+            </geometry>
+            <geometry s="3.6479959216884438e+01" x="3.0956575833332670e+02" y="-3.2206476246639943e+02" hdg="1.1790338383335754e+00" length="3.2647276709898968e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9037441403439894e+00" b="1.0486049111214665e-02" c="-1.4754376357083664e-04" d="5.9876110315310240e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.9324918499203330e+00" b="-5.4399319577738761e-03" c="1.0011064708642260e-04" d="-4.7993449463077096e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.8950592857348845e+00" b="3.4490625635526354e-04" c="-5.0975987153656470e-06" d="2.0670902763771745e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="63" t="0" id="36" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="66" t="0" id="86" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="65" t="0" id="88" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="63" t="0" id="89" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="62" t="0" id="90" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="65" t="0" id="97" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="66" t="0" id="98" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="1.8273774337844255e+01" id="10064" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800017" contactPoint="start" />
+            <successor elementType="junction" elementId="800019" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.2910250671235144e+02" y="-2.7489329270449485e+02" hdg="1.1803615058573320e+00" length="1.8273774337844255e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7415491234940568e+00" b="7.6573915832107917e-03" c="-2.2799377154270146e-04" d="1.3335114467614117e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.8370227552466005e+00" b="2.0670961620496624e-02" c="-9.5826452313017819e-04" d="9.7804690357836768e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.8952376769560058e+00" b="8.2424338597347833e-04" c="-3.2956317451674391e-05" d="3.6582607232951967e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.0000000000000000e+01" id="10065" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800019" contactPoint="start" />
+            <successor elementType="junction" elementId="800020" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.4232886126512204e+02" y="-2.4296677787488889e+02" hdg="1.1787349925189550e+00" length="2.1787228183284867e+01">
+                <line />
+            </geometry>
+            <geometry s="2.1787228183284867e+01" x="3.5065363375948652e+02" y="-2.2283269048986955e+02" hdg="1.1910104123954142e+00" length="2.3554085468252297e+00">
+                <line />
+            </geometry>
+            <geometry s="2.4142636730110098e+01" x="3.5152683469576669e+02" y="-2.2064511888022182e+02" hdg="1.1738539524541853e+00" length="1.5857363269889902e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8152104530042479e+00" b="8.8420411505876744e-03" c="-1.4402681670032684e-04" d="5.8780456291928871e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="5.0208868946536587e+00" b="-1.1017460019243305e-02" c="1.1022855558884372e-04" d="-2.8865687926783044e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.9015290970793988e+00" b="-1.2096974704562935e-04" c="2.4318052358812872e-06" d="-1.2220933707258243e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="12" t="0" id="83" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="16" t="0" id="84" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="16" t="0" id="85" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="12" t="0" id="9" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="5.9082758650359239e+01" id="10066" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800013" contactPoint="start" />
+            <successor elementType="junction" elementId="800008" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.7050610430984258e+02" y="-5.9082474551806634e+01" hdg="2.7465595953614428e+00" length="5.9082758650359239e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7576166159823048e+00" b="4.0602593566526650e-03" c="-1.0390087327970777e-04" d="6.3476952319598418e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.2176051725251753e+00" b="-2.8067749811682835e-03" c="2.2500449047132352e-05" d="1.3898716318955751e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.2913956892317340e+00" b="6.5185816541594294e-04" c="-9.1059758599649504e-06" d="3.4556059847201173e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.5659985433595551e+01" id="10067" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800014" contactPoint="start" />
+            <successor elementType="junction" elementId="800013" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.7225181544264780e+02" y="-1.0136383341419696e+02" hdg="2.7472369980448064e+00" length="8.5659985433595551e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7556282004368855e+00" b="1.9313745969172006e-03" c="-4.1230717902295692e-05" d="2.0606001244652257e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.4219863329041629e+00" b="-8.8440395353734432e-03" c="1.2845627958902052e-04" d="-5.4532727001546970e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.3001221501277942e+00" b="1.6211739656933613e-04" c="-2.4063682505584935e-06" d="1.0548343468421751e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7657796746145962e+01" id="10076" junction="800012">
+        <link>
+            <predecessor elementType="road" elementId="10057" contactPoint="end" />
+            <successor elementType="road" elementId="10058" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2275296537343816e+02" y="-2.0629672859937597e+02" hdg="1.1754188600340838e+00" length="1.7657796746145962e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6508458960039221e+00" b="-5.8809483730839418e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3388054736127439e+00" b="-5.5540238638281617e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4021227057399446e+00" b="-3.1990882094460980e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.9461796774611489e+01" id="10078" junction="800015">
+        <link>
+            <predecessor elementType="road" elementId="10062" contactPoint="end" />
+            <successor elementType="road" elementId="10061" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2121609983275735e+02" y="-2.4860712463614846e+02" hdg="1.1799346106332906e+00" length="1.9461796774611489e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8172131129556277e+00" b="1.8934440542757410e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0328731529788788e+00" b="7.5550803082387536e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1034782015169085e+00" b="-3.8451228770629568e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.9083538180361540e+01" id="10079" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10061" contactPoint="end" />
+            <successor elementType="road" elementId="10060" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.3481477912044599e+02" y="-2.1559751633819360e+02" hdg="1.1768503457346753e+00" length="1.9083538180361540e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7330998032717844e+00" b="-9.5490365309808820e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0033709512368847e+00" b="1.0432298055004872e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0977998524896497e+00" b="5.3320471546522538e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.8409904933894314e+01" id="10080" junction="800017">
+        <link>
+            <predecessor elementType="road" elementId="10063" contactPoint="end" />
+            <successor elementType="road" elementId="10064" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.2203107510003770e+02" y="-2.9189092355786369e+02" hdg="1.1765524665358764e+00" length="1.8409904933894314e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6861328981784123e+00" b="-3.0101309873479124e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8762939997948136e+00" b="-2.1331584649256457e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9013706577625227e+00" b="-3.3313484390815848e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="17" t="0" id="25" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="18" t="0" id="33" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="6" t="0" id="34" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="5" t="0" id="35" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="1.6284090126201736e+01" id="10081" junction="800019">
+        <link>
+            <predecessor elementType="road" elementId="10064" contactPoint="end" />
+            <successor elementType="road" elementId="10065" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.3605733251978569e+02" y="-2.5799473576791883e+02" hdg="1.1754451725689148e+00" length="1.6284090126201736e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6696165043681184e+00" b="-8.9408709671695546e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9544473264062345e+00" b="4.0800295093258105e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9015269194983437e+00" b="1.3372445363254945e-07" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="16" t="0" id="29" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="17" t="0" id="30" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="5" t="0" id="31" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="4" t="0" id="32" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="2.9645610576321431e+01" id="10082" junction="800010">
+        <link>
+            <predecessor elementType="road" elementId="10028" contactPoint="end" />
+            <successor elementType="road" elementId="10057" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="7.4560816369406126e+01" y="-2.7554340018598288e+02" hdg="5.8880271823361756e+00" length="1.1906187368312619e+01">
+                <line />
+            </geometry>
+            <geometry s="1.1906187368312619e+01" x="8.5549461803109992e+01" y="-2.8012673621792578e+02" hdg="5.8880271823361756e+00" length="9.4375417093011507e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.1343729077613769e+01" x="9.3401701753924129e+01" y="-2.7688706144694976e+02" hdg="1.1777654933734480e+00" length="8.3018814987076599e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8483676482853140e+00" b="4.3980116268316919e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2421216982961814e+00" b="9.4877583911292581e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4018677358614573e+00" b="-1.9710507097417659e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.6937897602308713e+01" id="10083" junction="800010">
+        <link>
+            <predecessor elementType="road" elementId="10057" contactPoint="start" />
+            <successor elementType="road" elementId="10029" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="9.6581238601339251e+01" y="-2.6921817744375124e+02" hdg="4.3193581469632409e+00" length="8.4813024525887677e+00">
+                <line />
+            </geometry>
+            <geometry s="8.4813024525887677e+00" x="9.3332985338958196e+01" y="-2.7705280200627618e+02" hdg="4.3193581469632409e+00" length="9.4138314971488395e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.7895133949737605e+01" x="9.6567453040612037e+01" y="-2.8488905501370141e+02" hdg="5.8883300631547142e+00" length="9.0427636525711073e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7179859082861277e+00" b="-5.5577005519211508e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.5233920888018253e+00" b="-4.6643251797654781e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3960244356847387e+00" b="2.7052402725000133e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.2932046702370208e+01" id="10084" junction="800008">
+        <link>
+            <predecessor elementType="road" elementId="10066" contactPoint="end" />
+            <successor elementType="road" elementId="10016" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.1597367268858461e+02" y="-3.6345142447766307e+01" hdg="2.7462480655545809e+00" length="3.2932046702370208e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7495018915514038e+00" b="3.7555110557482025e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1589824421842869e+00" b="9.0817512111434125e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3052493749139544e+00" b="2.6040321057748052e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.2494955056087043e+01" id="10085" junction="800008">
+        <link>
+            <predecessor elementType="road" elementId="10066" contactPoint="end" />
+            <successor elementType="road" elementId="10015" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.1597367268858461e+02" y="-3.6345142447766307e+01" hdg="2.7465595953614428e+00" length="1.3386974835995874e+01">
+                <line />
+            </geometry>
+            <geometry s="1.3386974835995874e+01" x="1.0361771121123394e+02" y="-3.1193316438494172e+01" hdg="2.7465595953614428e+00" length="9.4262869249932209e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.2813261760989093e+01" x="9.5770195414476305e+01" y="-3.4423580110415514e+01" hdg="4.3176074161936464e+00" length="9.6816932950979524e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7495018915514038e+00" b="1.7360980803519917e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1589824421842869e+00" b="7.5204536293579398e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3052493749139544e+00" b="3.8654241700054643e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.4521292520014352e+01" id="10086" junction="800013">
+        <link>
+            <predecessor elementType="road" elementId="10067" contactPoint="end" />
+            <successor elementType="road" elementId="10066" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.9316672028870101e+02" y="-6.8452120773026394e+01" hdg="2.7495223288231667e+00" length="2.4521292520014352e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7632052826452984e+00" b="2.2791077013710177e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2642102399783512e+00" b="-1.9005958766299430e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3029821487187991e+00" b="-4.7250606702759477e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.3206519871150423e+01" id="10087" junction="800013">
+        <link>
+            <predecessor elementType="road" elementId="10059" contactPoint="end" />
+            <successor elementType="road" elementId="10067" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.7687998824496489e+02" y="-7.6834829441953957e+01" hdg="1.1725609419941228e+00" length="8.0202072459460236e+00">
+                <line />
+            </geometry>
+            <geometry s="8.0202072459460236e+00" x="1.7999016381073969e+02" y="-6.9442229613883825e+01" hdg="1.1725609419941228e+00" length="9.4014995852346530e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.7421706831180678e+01" x="1.8782592449708309e+02" y="-6.6229518195047078e+01" hdg="5.8888296516345999e+00" length="5.7848130399697446e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8081600565461819e+00" b="1.9371613732039944e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1806486969207302e+00" b="5.2715121645684525e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4006530409029492e+00" b="-5.8795029018641910e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.4097194053787486e+01" id="10088" junction="800013">
+        <link>
+            <predecessor elementType="road" elementId="10059" contactPoint="end" />
+            <successor elementType="road" elementId="10066" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.7687998824496489e+02" y="-7.6834829441953957e+01" hdg="1.1725609419941228e+00" length="7.9130461666573906e+00">
+                <line />
+            </geometry>
+            <geometry s="7.9130461666573906e+00" x="1.7994860755661995e+02" y="-6.9541004988638065e+01" hdg="1.1725609419941228e+00" length="9.4439919202039206e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.7357038086861312e+01" x="1.7672715936514473e+02" y="-6.1676347420200557e+01" hdg="2.7465595953614428e+00" length="6.7401559669261735e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8081600565461819e+00" b="2.0974824060867358e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1806486969207302e+00" b="1.5336422789290066e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4006530409029492e+00" b="-4.5340279630624722e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.3188432079249079e+01" id="10089" junction="800014">
+        <link>
+            <predecessor elementType="road" elementId="10060" contactPoint="end" />
+            <successor elementType="road" elementId="10067" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.7475378497142361e+02" y="-1.2002260595191854e+02" hdg="1.1745457874902883e+00" length="1.0253964737206887e+01">
+                <line />
+            </geometry>
+            <geometry s="1.0253964737206887e+01" x="2.7871142705360313e+02" y="-1.1056317351750451e+02" hdg="1.1745457874902883e+00" length="9.4361472633271077e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.9690112000533993e+01" x="2.7548161959103413e+02" y="-1.0270793480033103e+02" hdg="2.7472369980448064e+00" length="3.4983200787150843e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7581925850871327e+00" b="1.1058896269843285e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9397009753475447e+00" b="2.0798532471206058e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1028381113245249e+00" b="8.5078645304274506e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.3285580934697947e+01" id="10090" junction="800011">
+        <link>
+            <predecessor elementType="road" elementId="10029" contactPoint="end" />
+            <successor elementType="road" elementId="10062" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.7614817882186890e+02" y="-3.1805367992422845e+02" hdg="5.8883300631547142e+00" length="8.9256923924257556e+00">
+                <line />
+            </geometry>
+            <geometry s="8.9256923924257556e+00" x="1.8438705933870708e+02" y="-3.2148716685641142e+02" hdg="5.8883300631547142e+00" length="9.4279570330404159e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.8353649425466173e+01" x="1.9223464247044271e+02" y="-3.1825396598792742e+02" hdg="1.1764709281485308e+00" length="4.9319315092317746e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8289769137462963e+00" b="-9.2242208304492358e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3441913720593872e+00" b="-8.0844113206942972e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4003811910718231e+00" b="-1.2979128698194930e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.2450469210012287e+01" id="10030" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800011" contactPoint="start" />
+            <successor elementType="junction" elementId="800016" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.0041687972361080e+02" y="-3.2814331712028729e+02" hdg="5.8887088184910734e+00" length="8.2450469210012287e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9389009597234530e+00" b="-3.0371339219121998e-04" c="9.3165207384703804e-06" d="-4.1091642648253929e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.3991427612559320e+00" b="-8.8806331070079964e-04" c="7.2403315505943345e-06" d="-2.9535622742744265e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.4015310074706120e+00" b="-6.6320651591032190e-05" c="1.0632163452707223e-06" d="-4.8323673417155003e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="82.45" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.6282515522801518e+01" id="10050" junction="800011">
+        <link>
+            <predecessor elementType="road" elementId="10029" contactPoint="end" />
+            <successor elementType="road" elementId="10030" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.7614817882186890e+02" y="-3.1805367992422845e+02" hdg="5.8891781488031389e+00" length="2.6282515522801518e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8289769137462963e+00" b="-4.1824020186268527e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3441913720593872e+00" b="2.0907964136412821e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4003811910718231e+00" b="4.3748338997130336e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="105" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="26" t="0" id="106" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="26.283" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.4432867764057143e+01" id="10052" junction="800016">
+        <link>
+            <predecessor elementType="road" elementId="10030" contactPoint="end" />
+            <successor elementType="road" elementId="10063" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.7653497887119397e+02" y="-3.5983108850152968e+02" hdg="5.8887088184910734e+00" length="9.9268723110714241e+00">
+                <line />
+            </geometry>
+            <geometry s="9.9268723110714241e+00" x="2.8569944643625877e+02" y="-3.6364623307666596e+02" hdg="5.8887088184910734e+00" length="9.4267098247422414e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.9353582135813667e+01" x="2.9354532557024800e+02" y="-3.6041121175029008e+02" hdg="1.1766418154351941e+00" length="5.0792856282434737e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9236398853333130e+00" b="8.1430248718457516e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3585870162471316e+00" b="6.4417523512673824e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4005821028119558e+00" b="6.1166670951390875e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.4230002306832844e+01" id="10105" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800022" contactPoint="start" />
+            <successor elementType="road" elementId="10053" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.8657505846002499e+02" y="-3.0336034557363718e+02" hdg="1.4521907651932020e+00" length="2.4154146925601705e+01">
+                <line />
+            </geometry>
+            <geometry s="2.4154146925601705e+01" x="4.8943316264902523e+02" y="-2.7937589114689706e+02" hdg="1.4481537112781209e+00" length="2.2866247976080438e+00">
+                <line />
+            </geometry>
+            <geometry s="2.6440771723209750e+01" x="4.8971289780312668e+02" y="-2.7710644160822125e+02" hdg="1.4421065779061344e+00" length="1.6661811755089786e+01">
+                <line />
+            </geometry>
+            <geometry s="4.3102583478299536e+01" x="4.9185118869289454e+02" y="-2.6058240811053116e+02" hdg="1.4680317847428437e+00" length="2.2271236142930251e+00">
+                <line />
+            </geometry>
+            <geometry s="4.5329707092592564e+01" x="4.9207965541280589e+02" y="-2.5836703397706418e+02" hdg="1.4481264946626091e+00" length="4.8900295214240280e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6870717683767751e+00" b="-1.0746547650595940e-03" c="4.2361834254732316e-05" d="-2.6245954238413602e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7604574616577731e+00" b="-3.2373253888741036e-03" c="7.3055835327098925e-05" d="-3.2485566070043673e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.8928327857947442e+00" b="4.6571304028629629e-05" c="1.1331948636894052e-08" d="-1.8394909614238100e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.5921376049331251e+01" id="10106" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800023" contactPoint="start" />
+            <successor elementType="junction" elementId="800022" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.8267531372027742e+02" y="-3.3560923800226016e+02" hdg="1.4509744163394132e+00" length="1.5921376049331251e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6606985006310717e+00" b="1.5550203943446831e-02" c="-1.0550014666146983e-03" d="1.7685092889697566e-05" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="2.4506617449535328e+00" b="4.2209317078156262e-02" c="-1.2520777032515784e-03" d="6.5912207385092059e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="2.8942044542877636e+00" b="9.1031905478451282e-05" c="-1.1794930028396114e-05" d="2.4125497181863082e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="6.4169190948204132e+01" id="10107" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10068" contactPoint="end" />
+            <successor elementType="junction" elementId="800023" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.7246128410438826e+02" y="-4.2031281730505003e+02" hdg="1.4495682893299680e+00" length="3.0371718564887356e+01">
+                <line />
+            </geometry>
+            <geometry s="3.0371718564887356e+01" x="4.7613417620965026e+02" y="-3.9016400054273203e+02" hdg="1.4432741433601599e+00" length="2.3866020070959233e+00">
+                <line />
+            </geometry>
+            <geometry s="3.2758320571983276e+01" x="4.7643769670814532e+02" y="-3.8779677760281538e+02" hdg="1.4467802139914885e+00" length="8.5274981997544259e+00">
+                <line />
+            </geometry>
+            <geometry s="4.1285818771737702e+01" x="4.7749253512542219e+02" y="-3.7933477184411657e+02" hdg="1.4343248031352140e+00" length="2.4503787383954534e+00">
+                <line />
+            </geometry>
+            <geometry s="4.3736197510133152e+01" x="4.7782590498594789e+02" y="-3.7690717622341003e+02" hdg="1.4560958700305764e+00" length="2.0432993438070980e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6578878887245247e+00" b="-2.3745397518910348e-03" c="-1.1816528524331163e-05" d="2.1175753341661417e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0365051068350417e+00" b="-6.8891816659803814e-03" c="1.7486241413458255e-04" d="-1.3054620436284043e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.8866183732313724e+00" b="6.3411933411197641e-04" c="-1.0352403375796741e-05" d="4.7863097679666673e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.1148787099034287e+01" id="10108" junction="800023">
+        <link>
+            <predecessor elementType="road" elementId="10107" contactPoint="end" />
+            <successor elementType="road" elementId="10106" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.8016444307452281e+02" y="-3.5660844571018492e+02" hdg="1.4517915351154886e+00" length="2.1148787099034287e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8029645470148230e+00" b="6.7269127878377272e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9695199416625973e+00" b="-2.4533709393327663e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.8973281565086513e+00" b="-1.4770124670791568e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.6562456028131074e+01" id="10109" junction="800022">
+        <link>
+            <predecessor elementType="road" elementId="10106" contactPoint="end" />
+            <successor elementType="road" elementId="10105" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.8457848172001502e+02" y="-3.1980201918081679e+02" hdg="1.4499540850275545e+00" length="1.6562456028131074e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6091749078674713e+00" b="-4.7032191588612928e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.8319043021112256e+00" b="-4.3137829517615727e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.8936375922223521e+00" b="-4.8592215202919068e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.7960454129533730e+01" id="10114" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800012" contactPoint="start" />
+            <successor elementType="junction" elementId="800015" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.3939891245789704e+02" y="-1.9943350848055547e+02" hdg="5.8861931511679728e+00" length="3.6339919735911764e+01">
+                <line />
+            </geometry>
+            <geometry s="3.6339919735911764e+01" x="1.7291260887589883e+02" y="-2.1348419952457618e+02" hdg="5.8932745054878835e+00" length="2.4030989281661022e+00">
+                <line />
+            </geometry>
+            <geometry s="3.8743018664077866e+01" x="1.7513533833173454e+02" y="-2.1439763163738661e+02" hdg="5.8872659241001566e+00" length="3.9217435465455871e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6895660861986910e+00" b="-3.6520316107171324e-04" c="1.4480482512216187e-05" d="-1.0964179323431458e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="2.9995580865796789e+00" b="-2.8579424263456735e-04" c="4.1315498740737779e-06" d="-1.8658726822560005e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.3119239831518425e+02" id="10116" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800022" contactPoint="start" />
+            <successor elementType="road" elementId="10148" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.7597397842491597e+02" y="-3.0770081088139881e+02" hdg="2.7529885394143667e+00" length="1.5286628652691617e+01">
+                <line />
+            </geometry>
+            <geometry s="1.5286628652691617e+01" x="4.6182713825864170e+02" y="-3.0190875348569034e+02" hdg="2.7357166288697021e+00" length="2.2371052384944692e+00">
+                <line />
+            </geometry>
+            <geometry s="1.7523733891186087e+01" x="4.5977178244209199e+02" y="-3.0102549117160993e+02" hdg="2.7427288708881727e+00" length="2.7954580213303785e+01">
+                <line />
+            </geometry>
+            <geometry s="4.5478314104489868e+01" x="4.3401155673529547e+02" y="-2.9016872708478667e+02" hdg="2.7530490741345552e+00" length="2.3668296602001750e+00">
+                <line />
+            </geometry>
+            <geometry s="4.7845143764690043e+01" x="4.3182114631438310e+02" y="-2.8927207507404796e+02" hdg="2.7481439787880406e+00" length="4.4812630658987366e+01">
+                <line />
+            </geometry>
+            <geometry s="9.2657774423677409e+01" x="3.9043254049147379e+02" y="-2.7209199432293821e+02" hdg="2.7631883405906525e+00" length="2.4046355544142775e+00">
+                <line />
+            </geometry>
+            <geometry s="9.5062409978091694e+01" x="3.8819802009543059e+02" y="-2.7120363023698008e+02" hdg="2.7455194006488739e+00" length="3.6129988337092549e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7623375306028022e+00" b="-3.3040648570514873e-04" c="7.6698849342465347e-06" d="-2.4347073841318568e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0065727276868026e+00" b="-4.5158467504208315e-04" c="4.4333830889995618e-06" d="-1.2681107855908631e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="6.0335614771199154e+01" id="10118" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800017" contactPoint="start" />
+            <successor elementType="road" elementId="10132" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.3618960943266740e+02" y="-2.8140243894070073e+02" hdg="5.8959069565288749e+00" length="1.5555819039722351e+01">
+                <line />
+            </geometry>
+            <geometry s="1.5555819039722351e+01" x="3.5059337030979003e+02" y="-2.8727740094834468e+02" hdg="5.8770907372279835e+00" length="2.4653753039727406e+00">
+                <line />
+            </geometry>
+            <geometry s="1.8021194343695093e+01" x="3.5285823803464734e+02" y="-2.8825128470852263e+02" hdg="5.8854865844141777e+00" length="4.2314420427504061e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7615236776393512e+00" b="5.8559471915346269e-03" c="-1.3688790819405220e-04" d="9.4286763747398643e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0003182122693763e+00" b="1.1366584311127355e-05" c="-8.9725758579216467e-06" d="1.0634721396549615e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.1162459726769683e+01" id="10119" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10132" contactPoint="end" />
+            <successor elementType="junction" elementId="800023" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.0165602350118110e+02" y="-3.0885870753907892e+02" hdg="5.8785973119733077e+00" length="1.8067400695610214e+01">
+                <line />
+            </geometry>
+            <geometry s="1.8067400695610214e+01" x="4.1826474640038253e+02" y="-3.1597076009465513e+02" hdg="5.8845485622226343e+00" length="2.4272302520982616e+00">
+                <line />
+            </geometry>
+            <geometry s="2.0494630947708476e+01" x="4.2050165999078570e+02" y="-3.1691291946852488e+02" hdg="5.8861881078442790e+00" length="2.8945287166583178e+01">
+                <line />
+            </geometry>
+            <geometry s="4.9439918114291658e+01" x="4.4719576175941302e+02" y="-3.2810463872528487e+02" hdg="5.8997767161843626e+00" length="2.3224773418400462e+00">
+                <line />
+            </geometry>
+            <geometry s="5.1762395456131706e+01" x="4.4934961546434602e+02" y="-3.2897343975032271e+02" hdg="5.8950500998466326e+00" length="1.9400064270637973e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6926411682506908e+00" b="2.2107741152801186e-04" c="-1.4429692301406645e-05" d="9.5026724696753830e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0123691753467137e+00" b="-1.0082185128341011e-03" c="1.6087352307987481e-05" d="-7.3132821211638960e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.2905127904361503e+01" id="10122" junction="800012">
+        <link>
+            <predecessor elementType="road" elementId="10057" contactPoint="end" />
+            <successor elementType="road" elementId="10114" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2275296537343816e+02" y="-2.0629672859937597e+02" hdg="1.1763284432537688e+00" length="6.7504223861675507e+00">
+                <line />
+            </geometry>
+            <geometry s="6.7504223861675507e+00" x="1.2534726740427209e+02" y="-2.0006473057591006e+02" hdg="1.1763284432537688e+00" length="9.4399235955922922e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.6190345981759844e+01" x="1.3320635164591559e+02" y="-1.9683726371975004e+02" hdg="5.8861931511679728e+00" length="6.7147819226016594e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6508458960039221e+00" b="-1.6904594620227363e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4021227057399446e+00" b="-1.7575305444315414e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.5899567388644510e+01" id="10123" junction="800012">
+        <link>
+            <predecessor elementType="road" elementId="10058" contactPoint="start" />
+            <successor elementType="road" elementId="10114" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2955398165907883e+02" y="-1.9000120886508540e+02" hdg="4.3177185936569167e+00" length="9.0151672767719648e-01">
+                <line />
+            </geometry>
+            <geometry s="9.0151672767719648e-01" x="1.2920734492892413e+02" y="-1.9083342000871991e+02" hdg="4.3177185936569167e+00" length="6.2738982300442245e+00">
+                <arc curvature="2.5000000000000000e-01" />
+            </geometry>
+            <geometry s="7.1754149577214212e+00" x="1.3135325362873363e+02" y="-1.9606034829421893e+02" hdg="5.8861931511679728e+00" length="8.7241524309230876e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7546904870504161e+00" b="4.0959857120538403e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2407336491020220e+00" b="-1.5168687086077005e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.7695883748017685e+01" id="10126" junction="800015">
+        <link>
+            <predecessor elementType="road" elementId="10114" contactPoint="end" />
+            <successor elementType="road" elementId="10062" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.1131900664814876e+02" y="-2.2952209498835938e+02" hdg="5.8872659241001566e+00" length="1.0479317988533037e+01">
+                <line />
+            </geometry>
+            <geometry s="1.0479317988533037e+01" x="2.2098766962365892e+02" y="-2.3356351327539565e+02" hdg="5.8872659241001566e+00" length="9.4152140541709972e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.9894532042704036e+01" x="2.2421326562145953e+02" y="-2.4140448028389605e+02" hdg="4.3180635817383237e+00" length="7.8013517053136514e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6819791784826332e+00" b="-4.8828170894771959e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9935472301038311e+00" b="1.4199194087050027e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.9920521530478457e+01" id="10128" junction="800015">
+        <link>
+            <predecessor elementType="road" elementId="10114" contactPoint="end" />
+            <successor elementType="road" elementId="10061" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.1131900664814876e+02" y="-2.2952209498835938e+02" hdg="5.8872659241001566e+00" length="1.1396760946767820e+01">
+                <line />
+            </geometry>
+            <geometry s="1.1396760946767820e+01" x="2.2183414138566991e+02" y="-2.3391733121972945e+02" hdg="5.8872659241001566e+00" length="7.8802223195610877e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.9276983266328909e+01" x="2.2838569271091586e+02" y="-2.3120816513328151e+02" hdg="1.1801250808327877e+00" length="6.4353826414954740e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6819791784826332e+00" b="-4.9388320950360448e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9935472301038311e+00" b="5.1428207467184676e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.7900688194869261e+01" id="10127" junction="800015">
+        <link>
+            <predecessor elementType="road" elementId="10114" contactPoint="end" />
+            <successor elementType="road" elementId="10117" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.1131900664814876e+02" y="-2.2952209498835938e+02" hdg="5.8860738449755932e+00" length="2.7900688194869261e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6819791784826332e+00" b="-4.2697210427839995e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9935472301038311e+00" b="-6.5635240823727501e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.0656603008583868e+01" id="10132" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10118" contactPoint="end" />
+            <successor elementType="road" elementId="10119" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.9187021741229381e+02" y="-3.0463956226150725e+02" hdg="5.8761175403762769e+00" length="1.0656603008583868e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6994302674144510e+00" b="6.3707911032170807e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9916990076185512e+00" b="1.9396582298798844e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.3997542438294081e+01" id="10133" junction="800022">
+        <link>
+            <predecessor elementType="road" elementId="10105" contactPoint="start" />
+            <successor elementType="road" elementId="10116" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.8657505846002499e+02" y="-3.0336034557363718e+02" hdg="4.5937834187829951e+00" length="4.4945538621000397e-01">
+                <line />
+            </geometry>
+            <geometry s="4.4945538621000397e-01" x="4.8652187544652207e+02" y="-3.0380664335681331e+02" hdg="4.5937834187829951e+00" length="1.1044769276211770e+01">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.1494224662421775e+01" x="4.7829064596916373e+02" y="-3.0864931042089648e+02" hdg="2.7529885394143667e+00" length="2.5033177758723055e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6870717683767751e+00" b="-5.3770697647693606e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7604574616577731e+00" b="1.7582748337001956e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7266267169237409e+01" id="10134" junction="800022">
+        <link>
+            <predecessor elementType="road" elementId="10106" contactPoint="end" />
+            <successor elementType="road" elementId="10116" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.8457848172001502e+02" y="-3.1980201918081679e+02" hdg="1.4509744163394132e+00" length="3.6635948234561395e+00">
+                <line />
+            </geometry>
+            <geometry s="3.6635948234561395e+00" x="4.8501641098004899e+02" y="-3.1616469255351745e+02" hdg="1.4509744163394132e+00" length="7.8120847384497214e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.1475679561905860e+01" x="4.8133281320862773e+02" y="-3.0989484702491666e+02" hdg="2.7529885394143667e+00" length="5.7905876073315481e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6091749078674713e+00" b="-8.8706274051066677e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.8936375922223521e+00" b="6.5407962449267783e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.8522605612320085e+01" id="10136" junction="800023">
+        <link>
+            <predecessor elementType="road" elementId="10119" contactPoint="end" />
+            <successor elementType="road" elementId="10106" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.6730663357703691e+02" y="-3.3631564610845345e+02" hdg="5.8950500998466326e+00" length="9.1768714574085415e+00">
+                <line />
+            </geometry>
+            <geometry s="9.1768714574085415e+00" x="4.7580089651759477e+02" y="-3.3978875233234942e+02" hdg="5.8950500998466326e+00" length="9.1955481183618346e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.8372419575770376e+01" x="4.8265736117284160e+02" y="-3.3575834719585691e+02" hdg="1.4509744163394132e+00" length="1.5018603654970844e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7157369844241162e+00" b="2.9714223228095005e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9957346261937174e+00" b="-5.4814195168320307e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.8819076979214657e+01" id="10135" junction="800023">
+        <link>
+            <predecessor elementType="road" elementId="10119" contactPoint="end" />
+            <successor elementType="road" elementId="10107" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.6730663357703691e+02" y="-3.3631564610845345e+02" hdg="5.8950500998466326e+00" length="1.1129528795044555e+01">
+                <line />
+            </geometry>
+            <geometry s="1.1129528795044555e+01" x="4.7760830821946621e+02" y="-3.4052776086962211e+02" hdg="5.8950500998466326e+00" length="7.7841694573575761e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.8913698252402131e+01" x="4.8129810493883156e+02" y="-3.4676815412410872e+02" hdg="4.5976885236203699e+00" length="9.9053787268125255e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7157369844241162e+00" b="-3.0267299210734082e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9957346261937174e+00" b="-9.0962956759604603e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.2602288704836823e+01" id="10137" junction="800015">
+        <link>
+            <predecessor elementType="road" elementId="10062" contactPoint="end" />
+            <successor elementType="road" elementId="10117" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2121609983275735e+02" y="-2.4860712463614846e+02" hdg="1.1764709281485308e+00" length="7.7466678895308752e+00">
+                <line />
+            </geometry>
+            <geometry s="7.7466678895308752e+00" x="2.2419225689527326e+02" y="-2.4145496744199190e+02" hdg="1.1764709281485308e+00" length="9.4318012307506898e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.7178469120281566e+01" x="2.3204338794842059e+02" y="-2.3822324647525681e+02" hdg="5.8876893635363352e+00" length="5.4238195845552584e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8172131129556277e+00" b="5.4561341346474031e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1034782015169085e+00" b="-4.9447310961026076e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.5063356092422524e+01" id="10139" junction="800015">
+        <link>
+            <predecessor elementType="road" elementId="10061" contactPoint="start" />
+            <successor elementType="road" elementId="10117" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2863075798372736e+02" y="-2.3061311512741105e+02" hdg="4.3217177344225810e+00" length="7.3203385765866025e-01">
+                <line />
+            </geometry>
+            <geometry s="7.3203385765866025e-01" x="2.2835199277732360e+02" y="-2.3128999290696751e+02" hdg="4.3217177344225810e+00" length="7.8298581455687710e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="8.5618920032274310e+00" x="2.3104893155644731e+02" y="-2.3780806679988248e+02" hdg="5.8876893635363352e+00" length="6.5014640891950934e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7803632895672168e+00" b="5.7405066311021664e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1799085905536906e+00" b="-1.2493406362035482e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.7671230203051771e+01" id="10142" junction="800017">
+        <link>
+            <predecessor elementType="road" elementId="10117" contactPoint="end" />
+            <successor elementType="road" elementId="10063" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.1352123554072449e+02" y="-2.7223976704529929e+02" hdg="5.8876893635363352e+00" length="9.3907439529579939e+00">
+                <line />
+            </geometry>
+            <geometry s="9.3907439529579939e+00" x="3.2218706672085443e+02" y="-2.7585770042604372e+02" hdg="5.8876893635363352e+00" length="9.4023772296777999e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.8793121182635794e+01" x="3.2542089662212879e+02" y="-2.8368544186409582e+02" hdg="4.3206264919233686e+00" length="8.8781090204159785e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6835170515582281e+00" b="-9.4533080061461134e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9947960972652941e+00" b="6.7994732750335588e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7670204035814464e+01" id="10141" junction="800017">
+        <link>
+            <predecessor elementType="road" elementId="10117" contactPoint="end" />
+            <successor elementType="road" elementId="10064" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.1352123554072449e+02" y="-2.7223976704529929e+02" hdg="5.8876893635363352e+00" length="1.2403564050192847e+01">
+                <line />
+            </geometry>
+            <geometry s="1.2403564050192847e+01" x="3.2496731400153084e+02" y="-2.7701843725952222e+02" hdg="5.8876893635363352e+00" length="4.7275723485017505e+00">
+                <arc curvature="3.3333333333333331e-01" />
+            </geometry>
+            <geometry s="1.7131136398694597e+01" x="3.2889734266439501e+02" y="-2.7539179208344746e+02" hdg="1.1803615058573320e+00" length="5.3906763711986794e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6835170515582281e+00" b="-3.2841766749386529e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9947960972652941e+00" b="1.0755063019299854e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.1591923593884328e+01" id="10143" junction="800017">
+        <link>
+            <predecessor elementType="road" elementId="10063" contactPoint="end" />
+            <successor elementType="road" elementId="10118" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.2203107510003770e+02" y="-2.9189092355786369e+02" hdg="1.1790338383335754e+00" length="9.0859573052624381e+00">
+                <line />
+            </geometry>
+            <geometry s="9.0859573052624381e+00" x="3.2550025683134476e+02" y="-2.8349334067537796e+02" hdg="1.1790338383335754e+00" length="9.3978731339057209e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.8483830439168159e+01" x="3.3331170049903710e+02" y="-2.8022860623195368e+02" hdg="5.8959069565288749e+00" length="3.1080931547161694e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6861328981784123e+00" b="-3.4916194072811824e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9013706577625227e+00" b="-8.8044607847334103e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.1084521241122765e+01" id="10144" junction="800017">
+        <link>
+            <predecessor elementType="road" elementId="10064" contactPoint="start" />
+            <successor elementType="road" elementId="10118" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.2910250671235144e+02" y="-2.7489329270449485e+02" hdg="4.3219541594471256e+00" length="3.4102940977544999e-01">
+                <line />
+            </geometry>
+            <geometry s="3.4102940977544999e-01" x="3.2897271414206188e+02" y="-2.7520865748856153e+02" hdg="4.3219541594471256e+00" length="4.7218583912452479e+00">
+                <arc curvature="3.3333333333333331e-01" />
+            </geometry>
+            <geometry s="5.0628878010206977e+00" x="3.3061393592171709e+02" y="-2.7912825025322502e+02" hdg="5.8959069565288749e+00" length="6.0216334401020681e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7415491234940568e+00" b="-1.8020222714888521e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8370227552466005e+00" b="-1.6569994346379024e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.2869800343312832e+01" id="10117" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800015" contactPoint="start" />
+            <successor elementType="junction" elementId="800017" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.3704851907612354e+02" y="-2.4031285918585755e+02" hdg="5.8876893635363352e+00" length="8.2869800343312832e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6938919940320121e+00" b="2.2075238783554559e-03" c="-3.7341344981984034e-05" d="1.4738344368992446e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="2.9917159617150131e+00" b="3.0378235860584738e-04" c="-4.9828344750738280e-06" d="2.1305360127268355e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.4450147876192862e+01" id="10131" junction="800017">
+        <link>
+            <predecessor elementType="road" elementId="10117" contactPoint="end" />
+            <successor elementType="road" elementId="10118" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.1352123554072449e+02" y="-2.7223976704529929e+02" hdg="5.8990591252602806e+00" length="2.4450147876192862e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6835170515582281e+00" b="-3.1904357583488617e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9947960972652941e+00" b="2.2585200842319543e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.2435191609817917e+01" id="10148" junction="800019">
+        <link>
+            <predecessor elementType="road" elementId="10116" contactPoint="end" />
+            <successor elementType="road" elementId="10064" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.5486510575263912e+02" y="-2.5726473219392909e+02" hdg="2.7455194006488739e+00" length="1.1080882295418625e+01">
+                <line />
+            </geometry>
+            <geometry s="1.1080882295418625e+01" x="3.4464207171925847e+02" y="-2.5298974358607728e+02" hdg="2.7455194006488739e+00" length="9.4586085527895101e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.0539490848208136e+01" x="3.3677881831337527e+02" y="-2.5624169851012414e+02" hdg="4.3219541594471256e+00" length="1.8957007616097810e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7286504999142824e+00" b="2.6313122960059791e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9949991035310086e+00" b="8.7338154135387328e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.8000000000000000e+01" id="10044" junction="800018">
+        <link>
+            <predecessor elementType="junction" elementId="800016" contactPoint="start" />
+            <successor elementType="road" elementId="10151" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.0290016217869237e+02" y="-3.7081642071481946e+02" hdg="5.8911209547225596e+00" length="2.8000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8757356142291446e+00" b="8.7634189151375771e-03" c="-1.8646652392448123e-04" d="1.0312733585097437e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.6437832934044381e+00" b="-1.0696288766498696e-02" c="5.1204176813294251e-05" d="2.1275274559243509e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4044031612043648e+00" b="-2.4125431245557231e-04" c="4.0521119714546009e-06" d="-2.0989105233597708e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.5286553803581675e+01" id="10046" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10045" contactPoint="end" />
+            <successor elementType="road" elementId="10068" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.2558337625659897e+02" y="-4.2176136488233988e+02" hdg="5.8883269111204273e+00" length="2.5286553803581675e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7602731410718215e+00" b="-2.8987288627187871e-02" c="1.0129114922347933e-03" d="-1.0186267778564524e-05" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3552612916949704e+00" b="-1.2458642292080683e-02" c="6.0448916054149421e-04" d="-6.9314324022546849e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3913017539781882e+00" b="1.1463058395927064e-03" c="-5.1897039380537739e-05" d="6.9189255500447105e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.8216759187607735e+01" id="10068" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10046" contactPoint="end" />
+            <successor elementType="road" elementId="10107" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.4892415618120515e+02" y="-4.3148853280381280e+02" hdg="5.8883269111204273e+00" length="1.4947629296890071e+01">
+                <line />
+            </geometry>
+            <geometry s="1.4947629296890071e+01" x="4.6272158103092465e+02" y="-4.3723854924844920e+02" hdg="5.8883269111204273e+00" length="1.1066560112334763e+01">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.6014189409224834e+01" x="4.7098561119812263e+02" y="-4.3242583091315009e+02" hdg="1.4495682893299680e+00" length="1.2202569778382902e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0102926055819808e+00" b="9.2212088190808100e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3146707986972883e+00" b="-7.2786310973340018e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3982912468167732e+00" b="-1.3388703921061867e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.6323159327228893e+01" id="10045" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10151" contactPoint="end" />
+            <successor elementType="road" elementId="10046" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.4588780895945933e+02" y="-3.8859052845301187e+02" hdg="5.8887754020010741e+00" length="8.6323159327228893e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7677675130787405e+00" b="8.6817628841753808e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2784346013595687e+00" b="8.8998932539263969e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3998361637507588e+00" b="-9.8865818154532915e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.4291218867380705e+01" id="10031" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800024" contactPoint="start" />
+            <successor elementType="junction" elementId="800014" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.6816541728691237e+02" y="-1.4110490584516859e+02" hdg="2.7475919565288671e+00" length="1.4291218867380705e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8168111796029462e+00" b="1.0566003983786322e-02" c="-4.2785967610254379e-04" d="4.7803353337347714e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.0870337315355805e+00" b="-9.1093045804126888e-02" c="3.4407974189134818e-03" d="-4.1724988435055907e-05" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.2904235375085480e+00" b="1.6364468242361697e-03" c="-6.1088437142369376e-05" d="7.1622750879216836e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.9529657164110688e+01" id="10054" junction="800014">
+        <link>
+            <predecessor elementType="road" elementId="10031" contactPoint="end" />
+            <successor elementType="road" elementId="10067" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.5496918241420747e+02" y="-1.3561871209177406e+02" hdg="2.7489738202718144e+00" length="8.9529657164110688e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7392427550545584e+00" b="-1.8301695663027140e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3661600125952056e+00" b="6.2355114581334628e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3034242613645710e+00" b="-3.6882875924833964e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.3850271307897970e+01" id="10069" junction="800014">
+        <link>
+            <predecessor elementType="road" elementId="10060" contactPoint="end" />
+            <successor elementType="road" elementId="10031" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.7475378497142361e+02" y="-1.2002260595191854e+02" hdg="1.1745457874902883e+00" length="1.0405922334102071e+01">
+                <line />
+            </geometry>
+            <geometry s="1.0405922334102071e+01" x="2.7877007693153735e+02" y="-1.1042299041198726e+02" hdg="1.1745457874902883e+00" length="9.4112789073072882e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.9817201241409357e+01" x="2.8660847854347742e+02" y="-1.0719847933818870e+02" hdg="5.8891846101186598e+00" length="7.4033070066488605e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7581925850871327e+00" b="2.0191555941703079e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1028381113245249e+00" b="2.8057660100607594e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9397009753475447e+00" b="3.8755698939190726e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.7119360043732200e+01" id="10070" junction="800024">
+        <link>
+            <predecessor elementType="road" elementId="10124" contactPoint="end" />
+            <successor elementType="road" elementId="10031" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.7664301194040098e+02" y="-1.6032805649975279e+02" hdg="1.1778333079165604e+00" length="8.5020889848420271e+00">
+                <line />
+            </geometry>
+            <geometry s="8.5020889848420271e+00" x="3.7989869362377675e+02" y="-1.5247400952493123e+02" hdg="1.1778333079165604e+00" length="9.4185518916738395e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.7920640876515868e+01" x="3.7665933650997493e+02" y="-1.4463616207339692e+02" hdg="2.7475919565288671e+00" length="9.1987191672163302e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7560758806504504e+00" b="-2.2395550210091678e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.7108044099549025e+00" b="-2.3000936504896888e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9014198661152575e+00" b="-5.9403921258054958e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.9196453862792037e+01" id="10073" junction="800009">
+        <link>
+            <predecessor elementType="road" elementId="10170" contactPoint="end" />
+            <successor elementType="road" elementId="10016" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.2175774330178157e+00" y="1.4153527848751079e+01" hdg="5.8917505205800076e+00" length="2.9196453862792037e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6740326889086443e+00" b="-4.0466515409646455e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4014651488811505e+00" b="1.9872985442625146e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.0278939813253576e+00" id="10043" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10053" contactPoint="end" />
+            <successor elementType="junction" elementId="800024" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.2340175232820786e+02" y="-1.6420781315810382e+02" hdg="2.7427616636000782e+00" length="8.0278939813253576e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6945040673500120e+00" b="2.8137809066315508e-03" c="-2.2264997154203576e-04" d="3.6135754461280058e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1533024955880542e+00" b="2.5654905029750853e-02" c="-1.1253944476017333e-03" d="1.0932499581157326e-05" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3010755770477362e+00" b="-3.7577827672121054e-03" c="3.0518261390881157e-04" d="-5.9039577963025122e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.5952185978385032e+01" id="10053" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10105" contactPoint="end" />
+            <successor elementType="road" elementId="10043" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.9806321337920622e+02" y="-2.0983420069790586e+02" hdg="1.4481264946626091e+00" length="1.2053334019702000e+01">
+                <line />
+            </geometry>
+            <geometry s="1.2053334019702000e+01" x="4.9953808837698068e+02" y="-1.9787144162102709e+02" hdg="1.4481264946626091e+00" length="2.5892703378749382e+00">
+                <arc curvature="5.0000000000000000e-01" />
+            </geometry>
+            <geometry s="1.4642604357576937e+01" x="4.9832980009813883e+02" y="-1.9578368560428962e+02" hdg="2.7427616636000782e+00" length="8.1309581620808089e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6317921418499344e+00" b="-6.5357474517781851e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.8322830973603983e+00" b="3.3456183926854084e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.8957827251574448e+00" b="4.2239043098152131e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.1845314066941349e+01" id="10071" junction="800024">
+        <link>
+            <predecessor elementType="road" elementId="10043" contactPoint="end" />
+            <successor elementType="road" elementId="10031" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.1600392280142609e+02" y="-1.6109024999626160e+02" hdg="2.7458644232616205e+00" length="5.1845314066941349e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6843949022570417e+00" b="-2.5540645230720761e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2923851600279392e+00" b="1.5327297863054918e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2875220679950652e+00" b="5.5963968310356810e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.8625968489194150e+01" id="10072" junction="800024">
+        <link>
+            <predecessor elementType="road" elementId="10043" contactPoint="end" />
+            <successor elementType="road" elementId="10124" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.1600392280142609e+02" y="-1.6109024999626160e+02" hdg="2.7427616636000782e+00" length="3.0617947214510650e+01">
+                <line />
+            </geometry>
+            <geometry s="3.0617947214510650e+01" x="3.8778900684963895e+02" y="-1.4920003513427747e+02" hdg="2.7427616636000782e+00" length="9.4599857874376525e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="4.0077933001948303e+01" x="3.7991628779228733e+02" y="-1.5243156513404662e+02" hdg="4.3194259615063535e+00" length="8.5480354872458495e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6843949022570417e+00" b="-1.4741295776831247e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2923851600279392e+00" b="3.3090028971759895e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2875220679950652e+00" b="2.9270005023676281e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.2868329104134938e+01" id="10075" junction="800000">
+        <link>
+            <predecessor elementType="road" elementId="10001" contactPoint="start" />
+            <successor elementType="road" elementId="10199" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.7371139847523338e+01" y="-1.0027933610548020e+02" hdg="1.1738490689524426e+00" length="6.8870832649712421e-01">
+                <line />
+            </geometry>
+            <geometry s="6.8870832649712421e-01" x="-3.7104881923077926e+01" y="-9.9644177954578794e+01" hdg="1.1738490689524426e+00" length="7.8340069593750368e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="8.5227152858721613e+00" x="-3.9764679462201038e+01" y="-9.3107685712084375e+01" hdg="2.7406504608274500e+00" length="4.3456138182627768e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6856575444237070e+00" b="1.6917323291437489e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9562315399664305e+00" b="-7.4197820442218260e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="10" t="0" id="71" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="11" t="0" id="72" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="12.868" />
+        </userData>
+    </road>
+    <road name="" length="3.3963830593811821e+01" id="10019" junction="800002">
+        <link>
+            <predecessor elementType="road" elementId="10002" contactPoint="end" />
+            <successor elementType="road" elementId="10003" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.8380793938645922e+01" y="-1.9828907154689179e+02" hdg="4.3164176784807449e+00" length="3.3963830593811821e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6915811280888509e+00" b="-1.5258904797690979e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.4986494329165643e+00" b="3.9764863380333773e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.4945573299369421e+00" b="1.6024900512987263e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="20" t="0" id="61" name="" dynamic="yes" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="22" t="0" id="62" name="" dynamic="yes" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="4" t="0" id="63" name="" dynamic="yes" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="5" t="0" id="64" name="" dynamic="yes" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="33.964" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.0603900142401191e+01" id="10018" junction="800001">
+        <link>
+            <predecessor elementType="road" elementId="10001" contactPoint="end" />
+            <successor elementType="road" elementId="10002" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.3641499002797588e+01" y="-1.1523727485921749e+02" hdg="4.3143468377274639e+00" length="2.0603900142401191e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6868721050782076e+00" b="2.1061659516842185e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8442840841130117e+00" b="-1.6709656023060526e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9023984868097079e+00" b="-1.9530209524826991e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="20" t="0" id="65" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="19" t="0" id="66" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="0" t="0" id="67" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="1" t="0" id="68" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="20.604" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.8562220058572727e+01" id="10091" junction="800016">
+        <link>
+            <predecessor elementType="road" elementId="10030" contactPoint="end" />
+            <successor elementType="junction" elementId="800018" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.7653497887119397e+02" y="-3.5983108850152968e+02" hdg="5.8883993852497101e+00" length="2.8562220058572727e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9236398853333130e+00" b="1.6771900435586168e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3585870162471316e+00" b="9.9850878738575854e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4005821028119558e+00" b="1.3378016080588671e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="107" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="8.5000000000000000e+01" id="10149" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10196" contactPoint="end" />
+            <successor elementType="junction" elementId="800025" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.4181543585285550e+02" y="-4.6493690063804382e+02" hdg="2.7447324386182959e+00" length="8.5000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5149999999999988e+00" b="-7.4658406990874102e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="85" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="5.6205950001313887e+01" id="10110" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800025" contactPoint="start" />
+            <successor elementType="junction" elementId="800026" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.4391130818428650e+02" y="-4.3496868331578526e+02" hdg="4.3205491488394951e+00" length="5.6205950001313887e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5442369652037709e+00" b="1.5876782654093713e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.5000000000000000e+01" id="10154" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800028" contactPoint="start" />
+            <successor elementType="road" elementId="10098" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2717329378793092e+01" y="-4.4757997898963919e+02" hdg="1.1767223340483770e+00" length="4.5000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4261269359378153e+00" b="-1.1269359378176176e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.2542191671187382e+01" id="10098" junction="800031">
+        <link>
+            <predecessor elementType="road" elementId="10171" contactPoint="end" />
+            <successor elementType="road" elementId="10154" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.0004073012620239e+01" y="-3.7974626377783716e+02" hdg="5.8879788995370186e+00" length="2.2557081338653997e+01">
+                <line />
+            </geometry>
+            <geometry s="2.2557081338653997e+01" x="4.0822389497539724e+01" y="-3.8843071063715882e+02" hdg="5.8879788995370186e+00" length="9.4179834713930894e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="3.1975064810047087e+01" x="4.4052512355150043e+01" y="-3.9627193327585832e+02" hdg="4.3183149876381703e+00" length="1.0567126861140292e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5469999999999979e+00" b="2.7220471675988610e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="32" t="0" id="57" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="30" t="0" id="58" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="15" t="0" id="59" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="16" t="0" id="60" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="8.0448827175697559e+01" id="10100" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10156" contactPoint="end" />
+            <successor elementType="road" elementId="10103" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.1192417687298686e+01" y="-4.6605621195046979e+02" hdg="5.8877941983733271e+00" length="8.0448827175697559e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4499999999999984e+00" b="1.5164919649301519e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.5158197194388492e+01" id="10103" junction="800026">
+        <link>
+            <predecessor elementType="road" elementId="10100" contactPoint="end" />
+            <successor elementType="road" elementId="10110" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.0543429539960786e+02" y="-4.9704261844905858e+02" hdg="5.8877941983733271e+00" length="5.8341118753825310e+00">
+                <line />
+            </geometry>
+            <geometry s="5.8341118753825310e+00" x="1.1081828216011249e+02" y="-4.9928973836957692e+02" hdg="5.8877941983733271e+00" length="9.4460856243357672e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.5280197499718298e+01" x="1.1867454514210810e+02" y="-4.9604399910354272e+02" hdg="1.1789564952497020e+00" length="9.8779996946701960e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.3279999999999985e+00" b="-5.0480564652036304e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.9134626410285094e+01" id="10155" junction="800028">
+        <link>
+            <predecessor elementType="junction" elementId="800029" contactPoint="start" />
+            <successor elementType="road" elementId="10154" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.0036910232942034e+01" y="-4.6882474992617580e+02" hdg="2.7462015447835375e+00" length="8.9234641277853832e+00">
+                <line />
+            </geometry>
+            <geometry s="8.9234641277853832e+00" x="2.1801927128733997e+01" y="-4.6538770682006253e+02" hdg="2.7462015447835375e+00" length="9.4168752644109635e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.8340339392196348e+01" x="1.8572827014909098e+01" y="-4.5754691093405614e+02" hdg="1.1767223340483770e+00" length="1.0794287018088744e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4499999999999993e+00" b="8.1940518906933283e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="7" t="0" id="53" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="8" t="0" id="54" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="24" t="0" id="55" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="25" t="0" id="56" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="2.6138575158555298e+01" id="10156" junction="800028">
+        <link>
+            <predecessor elementType="road" elementId="10154" contactPoint="start" />
+            <successor elementType="road" elementId="10100" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2717329378793092e+01" y="-4.4757997898963919e+02" hdg="4.3183149876381703e+00" length="7.7942844158947802e+00">
+                <line />
+            </geometry>
+            <geometry s="7.7942844158947802e+00" x="1.9724687981327300e+01" y="-4.5477685102004477e+02" hdg="4.3183149876381703e+00" length="9.4168752644109404e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.7211159680305720e+01" x="2.2953788095152181e+01" y="-4.6261764690605111e+02" hdg="5.8877941983733271e+00" length="8.9274154782495785e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4261269359378153e+00" b="-9.1332690926610675e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.0528210263710243e+01" id="10158" junction="800025">
+        <link>
+            <predecessor elementType="road" elementId="10159" contactPoint="end" />
+            <successor elementType="road" elementId="10149" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.5015288654917052e+02" y="-4.1985304321306069e+02" hdg="4.3570053155778954e+00" length="3.9921213313915566e-01">
+                <line />
+            </geometry>
+            <geometry s="3.9921213313915566e-01" x="1.5001398065486762e+02" y="-4.2022730980223668e+02" hdg="4.3570053155778954e+00" length="9.1759186597811642e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="9.5751307929203193e+00" x="1.5331991206029568e+02" y="-4.2784868514298120e+02" hdg="5.8863250922080894e+00" length="1.0953079470789923e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5444121178616319e+00" b="-1.6585726492094064e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.0884561416171763e+01" id="10163" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10146" contactPoint="end" />
+            <successor elementType="junction" elementId="800032" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="7.1225985363254651e+01" y="-3.8127975010211446e+02" hdg="5.8885655576611526e+00" length="7.0884561416171763e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5757547515584251e+00" b="4.0565605519662175e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.7039743890779746e+01" id="10146" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10216" contactPoint="end" />
+            <successor elementType="road" elementId="10163" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.9594061949060439e+01" y="-3.8294530372669436e+02" hdg="1.1767223340483770e+00" length="4.8513643246076024e+00">
+                <line />
+            </geometry>
+            <geometry s="4.8513643246076024e+00" x="5.1456759399823490e+01" y="-3.7846578433093367e+02" hdg="1.1767223340483770e+00" length="7.8567104178340541e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.2708074742441656e+01" x="5.7995807874149413e+01" y="-3.7576983683744334e+02" hdg="5.8885655576611526e+00" length="1.4331669148338090e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4311981476579945e+00" b="-5.3460788861141133e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.9910710754682519e+01" id="10159" junction="800032">
+        <link>
+            <predecessor elementType="road" elementId="10163" contactPoint="end" />
+            <successor elementType="road" elementId="10158" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.3666255936357499e+02" y="-4.0853182947715720e+02" hdg="5.8885655576611526e+00" length="1.1791780661034686e+01">
+                <line />
+            </geometry>
+            <geometry s="1.1791780661034686e+01" x="1.4754805702915417e+02" y="-4.1306526434827003e+02" hdg="5.8885655576611526e+00" length="7.6578012104162863e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.9449581871450974e+01" x="1.5031333638172069e+02" y="-4.1942072886193989e+02" hdg="4.3570053155778954e+00" length="4.6112888323154455e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5469999999999979e+00" b="1.2997437260030606e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.9696450327015789e+01" id="10051" junction="800011">
+        <link>
+            <predecessor elementType="road" elementId="10030" contactPoint="start" />
+            <successor elementType="road" elementId="10062" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.0041687972361080e+02" y="-3.2814331712028729e+02" hdg="2.7471161649012803e+00" length="5.3545505815969570e+00">
+                <line />
+            </geometry>
+            <geometry s="5.3545505815969570e+00" x="1.9547356992845863e+02" y="-3.2608542980558008e+02" hdg="2.7471161649012803e+00" length="9.4238714205164964e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.4778422002113453e+01" x="1.9223998387152295e+02" y="-3.1824112979032071e+02" hdg="1.1764709281485308e+00" length="4.9180283249023358e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9389009597234530e+00" b="4.4903985458308576e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4015310074706120e+00" b="-1.2468736521107431e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3991427612559320e+00" b="-1.5281338360493833e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.9999999999999957e+01" id="10164" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10009" contactPoint="end" />
+            <successor elementType="road" elementId="10167" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.8980690071052828e+02" y="-2.7296517283765183e+01" hdg="6.2096306687522747e+00" length="5.8785982810830006e-01">
+                <arc curvature="4.0943003645852157e-03" />
+            </geometry>
+            <geometry s="5.8785982810830006e-01" x="-1.8922057898670425e+02" y="-2.7339012540510794e+01" hdg="6.2051871958168805e+00" length="2.2822841441621384e+00">
+                <line />
+            </geometry>
+            <geometry s="2.8701439722704407e+00" x="-1.8694523369580241e+02" y="-2.7516845950939569e+01" hdg="6.2129477548325793e+00" length="1.4171915298715289e+01">
+                <arc curvature="1.4226942847840237e-02" />
+            </geometry>
+            <geometry s="1.7042059270985732e+01" x="-1.7280392296525304e+02" y="-2.7084355284137246e+01" hdg="2.1302942206065117e-01" length="8.2449537010061025e-01">
+                <line />
+            </geometry>
+            <geometry s="1.7866554641086339e+01" x="-1.7199806538325319e+02" y="-2.6910038982975522e+01" hdg="2.3419132030408313e-01" length="5.8758125102832226e-01">
+                <line />
+            </geometry>
+            <geometry s="1.8454135892114664e+01" x="-1.7142652373794581e+02" y="-2.6773686959743944e+01" hdg="2.7783638273288758e-01" length="8.0065882519578269e-01">
+                <line />
+            </geometry>
+            <geometry s="1.9254794717310446e+01" x="-1.7065656928497464e+02" y="-2.6554085742275220e+01" hdg="2.4426815290847959e-01" length="6.4645255334817939e+00">
+                <arc curvature="1.1090438819242633e-01" />
+            </geometry>
+            <geometry s="2.5719320250792236e+01" x="-1.6544451190266599e+02" y="-2.2967318702688999e+01" hdg="9.4979257322207100e-01" length="2.3080518421720901e+00">
+                <line />
+            </geometry>
+            <geometry s="2.8027372092964328e+01" x="-1.6410156778125159e+02" y="-2.1090192070596089e+01" hdg="1.1444196964078883e+00" length="1.9726279070356725e+00">
+                <arc curvature="-1.4379606781796653e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7219305658628103e+00" b="1.5768452964320984e-03" c="1.9617937647603766e-06" d="-6.1917236111958645e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9959825611145670e+00" b="1.9658046546895309e-05" c="-1.6405821080455151e-07" d="3.4764649689718825e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.4000000000000043e+01" id="10167" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10164" contactPoint="end" />
+            <successor elementType="road" elementId="10168" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.6326037759008764e+02" y="-1.9305983838002032e+01" hdg="1.1160540827779168e+00" length="7.2019315907182726e+00">
+                <arc curvature="-1.4379606781796653e-02" />
+            </geometry>
+            <geometry s="7.2019315907182744e+00" x="-1.5976799707287773e+02" y="-1.3011163965131971e+01" hdg="8.8550064860068556e-01" length="2.3714611480130685e+00">
+                <line />
+            </geometry>
+            <geometry s="9.5733927387313429e+00" x="-1.5826709465787485e+02" y="-1.1175102986522063e+01" hdg="8.2881446804574388e-01" length="7.1702289266517747e+00">
+                <arc curvature="-5.1900933758373312e-02" />
+            </geometry>
+            <geometry s="1.6743621665383117e+01" x="-1.5256071611914720e+02" y="-6.9020686506711399e+00" hdg="5.0726235367268468e-01" length="1.0703691636264847e+00">
+                <line />
+            </geometry>
+            <geometry s="1.7813990829009597e+01" x="-1.5162513031086348e+02" y="-6.3820981305639313e+00" hdg="4.4440175459155051e-01" length="9.1703002440555075e+00">
+                <line />
+            </geometry>
+            <geometry s="2.6984291073065108e+01" x="-1.4334555945635282e+02" y="-2.4396226352359003e+00" hdg="1.4695858529543646e-01" length="8.8523299699122671e-01">
+                <line />
+            </geometry>
+            <geometry s="2.7869524070056329e+01" x="-1.4246986837928048e+02" y="-2.3099978054463577e+00" hdg="4.7949210038747747e-01" length="1.7688899197208414e+01">
+                <arc curvature="1.0655007783019277e-02" />
+            </geometry>
+            <geometry s="4.5558423267264743e+01" x="-1.2763525283068509e+02" y="7.2767732689593458e+00" hdg="3.1276394511649425e-01" length="8.4081514206670682e-01">
+                <line />
+            </geometry>
+            <geometry s="4.6399238409331446e+01" x="-1.2683522834866775e+02" y="7.5354833988374610e+00" hdg="4.5838848332655063e-01" length="5.9509640908164119e-01">
+                <line />
+            </geometry>
+            <geometry s="4.6994334818413080e+01" x="-1.2630156566794017e+02" y="7.7988156591105025e+00" hdg="4.2601294639266579e-01" length="7.4791444720611078e-01">
+                <line />
+            </geometry>
+            <geometry s="4.7742249265619193e+01" x="-1.2562049936020085e+02" y="8.1078863707639357e+00" hdg="3.5108271036081407e-01" length="8.6314753099254951e+00">
+                <arc curvature="-7.7328515443964976e-02" />
+            </geometry>
+            <geometry s="5.6373724575544685e+01" x="-1.1714963213923591e+02" y="8.2548971406992564e+00" hdg="6.1108303270494915e+00" length="2.3873108793302120e+00">
+                <line />
+            </geometry>
+            <geometry s="5.8761035454874900e+01" x="-1.1479769258126770e+02" y="7.8454663770374395e+00" hdg="6.0369334751227370e+00" length="6.6890856998620389e+00">
+                <arc curvature="7.6819430607474079e-02" />
+            </geometry>
+            <geometry s="6.5450121154736934e+01" x="-1.0818233334966062e+02" y="7.9160817031421971e+00" hdg="3.4514400365283504e-01" length="1.2730075627678072e+00">
+                <line />
+            </geometry>
+            <geometry s="6.6723128717504736e+01" x="-1.0698439919122889e+02" y="8.3467811423413707e+00" hdg="5.4111667516766815e-01" length="7.2768712824952644e+00">
+                <arc curvature="5.3925288753630403e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6730267691190654e+00" b="1.6778352685674922e-03" c="1.4045386397527496e-06" d="-6.1917236111958645e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9964340365766655e+00" b="1.0753199440244639e-05" c="-1.3277002608380462e-07" d="3.4764649689718825e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.0907188127760115e+01" id="10169" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10168" contactPoint="end" />
+            <successor elementType="road" elementId="10010" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-9.5724812905373952e+01" y="2.1311493375671382e+01" hdg="1.0341076809292593e+00" length="8.8735635134530995e+00">
+                <arc curvature="1.1402525407374131e-02" />
+            </geometry>
+            <geometry s="8.8735635134530924e+00" x="-9.1581033484989717e+01" y="2.9153818835839381e+01" hdg="1.1056909751959267e+00" length="2.3463731704534183e+00">
+                <line />
+            </geometry>
+            <geometry s="1.1219936683906496e+01" x="-9.0528645313021684e+01" y="3.1250946917413181e+01" hdg="1.3685044934414052e+00" length="1.0959370246327126e+01">
+                <arc curvature="-5.3863710159958902e-02" />
+            </geometry>
+            <geometry s="2.2179306930233622e+01" x="-8.5374606717340498e+01" y="4.0742844908381279e+01" hdg="5.2737146517252909e-01" length="1.4107867837946855e+00">
+                <line />
+            </geometry>
+            <geometry s="2.3590093714028313e+01" x="-8.4155499442114433e+01" y="4.1452842655434488e+01" hdg="4.6145299109796101e-01" length="8.2414950862741954e+00">
+                <arc curvature="-8.0708937449868359e-02" />
+            </geometry>
+            <geometry s="3.1831588800302512e+01" x="-7.6132188130915452e+01" y="4.2492583883236186e+01" hdg="6.1736598150533482e+00" length="2.3340335339722351e+00">
+                <line />
+            </geometry>
+            <geometry s="3.4165622334274758e+01" x="-7.3812139946801423e+01" y="4.2237458500147561e+01" hdg="6.0931700764446362e+00" length="6.1283370560049217e+00">
+                <arc curvature="-3.2142867603593792e-02" />
+            </geometry>
+            <geometry s="4.0293959390279667e+01" x="-6.7852720633301175e+01" y="4.0464551123547224e+01" hdg="5.9175373032281593e+00" length="6.1322873748043061e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5258480412685511e+00" b="1.7827313546441600e-03" c="-1.5577571026860880e-07" d="-6.1917236111958645e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9966065314948955e+00" b="-4.1931838955148601e-06" c="-4.5163108865713161e-08" d="3.4764649689718825e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.0028257486500541e+01" id="10168" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10167" contactPoint="end" />
+            <successor elementType="road" elementId="10169" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.0163202527433300e+02" y="1.3207741760303882e+01" hdg="9.4090528812769925e-01" length="1.0028257486500541e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5436847406624086e+00" b="1.7786439386771021e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9966435993764673e+00" b="-3.6963432203112462e-06" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.7883631416992316e+01" id="10170" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10010" contactPoint="end" />
+            <successor elementType="junction" elementId="800009" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.8638066860378956e+01" y="3.6440314015258743e+01" hdg="5.9354718715325818e+00" length="4.9491495064576041e-01">
+                <line />
+            </geometry>
+            <geometry s="4.9491495064576085e-01" x="-5.8172770434282462e+01" y="3.6271672252238645e+01" hdg="5.8875339702506011e+00" length="5.7388716466346558e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6810809169140031e+00" b="8.7676726188241785e-04" c="-1.6259266381135487e-05" d="5.5556715784792693e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3927366285441036e+00" b="3.1425152666739907e-04" c="-3.4477221038775264e-06" d="1.0777276899194293e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.4425301363663774e+00" id="10010" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10169" contactPoint="end" />
+            <successor elementType="road" elementId="10170" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.7280031061449534e+01" y="4.0245288407235883e+01" hdg="5.8684351109348061e+00" length="9.4425301363663774e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.4536060374316291e+00" b="-2.4090458404394315e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9963832220707860e+00" b="4.1975339315765234e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.0000000000000000e+01" id="10177" junction="800025">
+        <link>
+            <predecessor elementType="road" elementId="10110" contactPoint="start" />
+            <successor elementType="road" elementId="10178" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.4391130818428650e+02" y="-4.3496868331578526e+02" hdg="1.1781873619094989e+00" length="4.0000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5442369652037709e+00" b="-9.9517811804150681e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="1.1880796273120852e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="7.4781750262215365e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="6.1000000000000000e+01" id="10178" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800025" contactPoint="start" />
+            <successor elementType="junction" elementId="800011" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.5921531513356416e+02" y="-3.9801212271693544e+02" hdg="1.1781873619094989e+00" length="6.1000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.9423082124203734e+00" b="-9.9517811804150681e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0475231850924835e+00" b="1.1880796273120852e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0299127001048860e+00" b="7.4781750262215365e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.0254803429946492e+01" id="10179" junction="800011">
+        <link>
+            <predecessor elementType="road" elementId="10178" contactPoint="end" />
+            <successor elementType="road" elementId="10062" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.8255392573121259e+02" y="-3.4165336780368943e+02" hdg="1.1781873619094989e+00" length="3.0254803429946492e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5493668644256928e+00" b="-9.9517811804150681e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1199960423585207e+00" b="1.1880796273120852e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0755295677648373e+00" b="7.4781750262215365e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.3037705025359401e+01" id="10181" junction="800025">
+        <link>
+            <predecessor elementType="road" elementId="10163" contactPoint="end" />
+            <successor elementType="road" elementId="10178" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.3666255936357499e+02" y="-4.0853182947715720e+02" hdg="5.8885655576611526e+00" length="1.1801935440764897e+01">
+                <line />
+            </geometry>
+            <geometry s="1.1801935440764897e+01" x="1.4755743134116227e+02" y="-4.1306916842636144e+02" hdg="5.8885655576611526e+00" length="7.8640355571396636e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.9665970997904559e+01" x="1.5409928737156264e+02" y="-4.1036645518936888e+02" hdg="1.1781873619094989e+00" length="1.3371734027454842e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5469999999999979e+00" b="-1.1965365394386232e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="9.0541095641859270e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.8517194788699211e+01" id="10185" junction="800011">
+        <link>
+            <predecessor elementType="road" elementId="10178" contactPoint="end" />
+            <successor elementType="road" elementId="10030" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.8255392573121259e+02" y="-3.4165336780368943e+02" hdg="1.1781873619094989e+00" length="1.4328316314880928e+01">
+                <line />
+            </geometry>
+            <geometry s="1.4328316314880928e+01" x="1.8803594204257223e+02" y="-3.2841523554942978e+02" hdg="1.1781873619094989e+00" length="7.8633192529900597e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="2.2191635567870989e+01" x="1.9457713680221525e+02" y="-3.2571224697152246e+02" hdg="5.8887088184910734e+00" length="6.3255592208282225e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5493668644256928e+00" b="-1.3659621789031110e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1199960423585207e+00" b="9.7887159296618995e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0755295677648373e+00" b="1.1431749936181046e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.2132495531113122e+01" id="10186" junction="800011">
+        <link>
+            <predecessor elementType="road" elementId="10029" contactPoint="end" />
+            <successor elementType="road" elementId="10178" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.7614817882186890e+02" y="-3.1805367992422845e+02" hdg="5.8883300631547142e+00" length="9.9588605399041636e+00">
+                <line />
+            </geometry>
+            <geometry s="9.9588605399041636e+00" x="1.8534072753010707e+02" y="-3.2188460037497248e+02" hdg="5.8883300631547142e+00" length="7.8427502382771097e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.7801610778181274e+01" x="1.8803692472741676e+02" y="-3.2841286253351797e+02" hdg="4.3197800154992922e+00" length="1.4330884752931844e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8289769137462963e+00" b="8.7017844303398043e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3441913720593872e+00" b="-8.3610625273225700e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4003811910718231e+00" b="-8.7259064096597248e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.7649415860190246e+01" id="10157" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800009" contactPoint="start" />
+            <successor elementType="road" elementId="10017" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="9.9180230033203376e-01" y="-9.1298015532845582e+00" hdg="4.3254309633457524e+00" length="3.5202653611613677e-01">
+                <line />
+            </geometry>
+            <geometry s="3.5202653611613677e-01" x="8.5895695413137529e-01" y="-9.4557997068418338e+00" hdg="4.3091463665621097e+00" length="2.3011018604114155e+00">
+                <line />
+            </geometry>
+            <geometry s="2.6531283965275527e+00" x="-4.4002169418499229e-02" y="-1.1572338058298504e+01" hdg="4.3136730869454096e+00" length="7.4996287463662696e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7311811051646462e+00" b="-8.8517410039677875e-04" c="9.8535333334225291e-06" d="-2.6765711489403358e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9508447474530124e+00" b="-8.9406920266165942e-04" c="1.1055167941535104e-05" d="-3.6901332317170502e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8865654642320280e+00" b="2.7328392395542587e-04" c="-2.3093188782086078e-06" d="6.3732765851954745e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="74" t="0" id="76" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="77" t="0" id="77" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="77.5" t="0" id="78" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="77" t="0" id="79" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="74" t="0" id="80" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="77.649" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.9054368907432270e+01" id="10175" junction="800009">
+        <link>
+            <predecessor elementType="road" elementId="10016" contactPoint="end" />
+            <successor elementType="road" elementId="10157" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.1770533118874344e+01" y="3.0146406960328562e+00" hdg="2.7468164164460735e+00" length="3.5735024010068290e+00">
+                <line />
+            </geometry>
+            <geometry s="3.5735024010068290e+00" x="1.8471895063368059e+01" y="4.3890156044065831e+00" hdg="2.7468164164460735e+00" length="1.7364760015896469e+01">
+                <arc curvature="9.0909090909090912e-02" />
+            </geometry>
+            <geometry s="2.0938262416903299e+01" x="4.0546025892853272e+00" y="-1.6137893822197658e+00" hdg="4.3254309633457524e+00" length="8.1161064905289706e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7921805639232149e+00" b="2.0994935031256076e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4006792173072560e+00" b="5.1141577077747989e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="29.054" />
+        </userData>
+    </road>
+    <road name="" length="5.7999999999999993e+01" id="10120" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10032" contactPoint="end" />
+            <successor elementType="road" elementId="10093" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.2372356779224877e+01" y="-1.0088822733355919e+02" hdg="5.8870587750219414e+00" length="5.7999999999999993e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7210174816294455e+00" b="3.1995679522652601e-03" c="-6.0787425774162508e-05" d="2.8028281378844427e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9940364603390091e+00" b="1.2871572935041565e-04" c="-3.6844765528046412e-06" d="2.4786069217061854e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.0999999999999957e+01" id="10125" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10041" contactPoint="end" />
+            <successor elementType="road" elementId="10077" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.5843039269580447e+02" y="-2.1391758394333510e+02" hdg="5.8883434001846169e+00" length="7.0999999999999957e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8769956294122920e+00" b="2.3272712257605763e-04" c="2.8575133501788492e-05" d="-1.1963003410550051e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9560411387487271e+00" b="6.5145149772769591e-04" c="-3.7620335206447727e-06" d="7.0624118384376367e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="63" t="0" id="82" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="2.8999999999999986e+01" id="10129" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10040" contactPoint="end" />
+            <successor elementType="road" elementId="10041" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.7337234199858946e+02" y="-1.7868187287677478e+02" hdg="5.8904918620094984e+00" length="2.8999999999999986e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6100349902331184e+00" b="-2.2057151935744759e-03" c="4.2790412204873399e-05" d="-2.0763829461464674e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0101326684409009e+00" b="-8.1540098009456256e-04" c="1.2041121541625943e-05" d="-4.9090029615192960e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.1664738526946422e+01" id="10040" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10034" contactPoint="end" />
+            <successor elementType="road" elementId="10129" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2572414686967301e+02" y="-1.5870952429143199e+02" hdg="5.8862692320693766e+00" length="5.1664738526946422e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7196344898521767e+00" b="2.1213598044611277e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9936662836900245e+00" b="3.1871611509827155e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="7" t="0" id="4" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="8" t="0" id="5" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="20" t="0" id="17" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="21" t="0" id="18" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="6.3067515059831102e+01" id="10041" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10129" contactPoint="end" />
+            <successor elementType="road" elementId="10125" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.0016491099416879e+02" y="-1.8977954139845627e+02" hdg="5.8904321733097662e+00" length="6.3067515059831102e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6434260979532320e+00" b="-3.7034839764572376e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9950316171618203e+00" b="-6.1823394145311744e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="34" t="0" id="19" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="35" t="0" id="20" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="46" t="0" id="21" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="47" t="0" id="22" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="2.0930970790608079e+01" id="10077" junction="800019">
+        <link>
+            <predecessor elementType="road" elementId="10125" contactPoint="end" />
+            <successor elementType="road" elementId="10065" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.2396746726591260e+02" y="-2.4122860473700155e+02" hdg="5.8883434001846169e+00" length="1.2618485578300561e+01">
+                <line />
+            </geometry>
+            <geometry s="1.2618485578300561e+01" x="3.3561505360826357e+02" y="-2.4608245997662897e+02" hdg="5.8883434001846169e+00" length="7.8678844975696194e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="2.0486370075870180e+01" x="3.4215898193169380e+02" y="-2.4337764379902890e+02" hdg="1.1787349925189550e+00" length="4.4460071473789781e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7542677800108288e+00" b="-2.9116027920102296e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9862966197174865e+00" b="9.1502324307924349e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="7" t="0" id="26" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="20" t="0" id="27" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="19" t="0" id="28" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="9" t="0" id="23" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="2.1576696622941434e+01" id="10056" junction="800016">
+        <link>
+            <predecessor elementType="road" elementId="10063" contactPoint="start" />
+            <successor elementType="junction" elementId="800018" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.9549591178644187e+02" y="-3.5572139769145201e+02" hdg="4.3182344690249872e+00" length="6.0893027623702833e+00">
+                <line />
+            </geometry>
+            <geometry s="6.0893027623702833e+00" x="2.9315745104533590e+02" y="-3.6134378237182710e+02" hdg="4.3182344690249872e+00" length="7.8508245811236144e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.3940127343493899e+01" x="2.9585100603886303e+02" y="-3.6787931532411449e+02" hdg="5.8883993852497101e+00" length="7.6365692794475342e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9037441403439894e+00" b="1.2980914828762413e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8950592857348845e+00" b="-5.7992009351423450e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9324918499203330e+00" b="-7.0821252920209618e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="17" t="0" id="37" name="" dynamic="yes" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="20" t="0" id="38" name="" dynamic="yes" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="7" t="0" id="39" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="5" t="0" id="40" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="3.2480312523530074e+01" id="10124" junction="800021">
+        <link>
+            <predecessor elementType="junction" elementId="800020" contactPoint="start" />
+            <successor elementType="junction" elementId="800024" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.6422680717647057e+02" y="-1.9034139690406576e+02" hdg="1.1891503273241297e+00" length="2.0415173303745076e+00">
+                <line />
+            </geometry>
+            <geometry s="2.0415173303745107e+00" x="3.6498716734137804e+02" y="-1.8844676094171274e+02" hdg="1.1778333079165604e+00" length="3.0438795193155567e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6702999444594004e+00" b="-1.8476848784752774e-03" c="-4.3512236441128462e-05" d="5.8780456291928871e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.6975670172226964e+00" b="-1.2649432843386639e-03" c="6.0868229234044711e-05" d="-2.8865687926783044e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.9002715253331273e+00" b="3.7138609000191255e-05" c="3.4202557194012735e-07" d="-1.2220933707258243e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.0000000000000000e+00" id="10138" junction="800020">
+        <link>
+            <predecessor elementType="road" elementId="10112" contactPoint="end" />
+            <successor elementType="junction" elementId="800021" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.6268309902981855e+02" y="-1.9403149114931759e+02" hdg="1.1738539524541853e+00" length="3.8097107603690361e+00">
+                <line />
+            </geometry>
+            <geometry s="3.8097107603690361e+00" x="3.6415593422551729e+02" y="-1.9051799537388501e+02" hdg="1.1891503273241297e+00" length="1.9028923963096389e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6636430202205847e+00" b="-1.4713723679261248e-03" c="-5.0565891196159934e-05" d="5.8780456291928871e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.7036191560680685e+00" b="-1.7657446484158779e-03" c="6.4332111785258682e-05" d="-2.8865687926783044e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9001292254460358e+00" b="3.3815799606721833e-05" c="4.8867677642722617e-07" d="-1.2220933707258243e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.8963299276354491e+01" id="10171" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800030" contactPoint="start" />
+            <successor elementType="junction" elementId="800031" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.1330849879043555e+01" y="-3.4164552278720635e+02" hdg="5.8879788995370186e+00" length="9.8963299276354491e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5697889348722587e+00" b="2.3027662819347645e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="98.963" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.0191429396826045e+01" id="10032" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10208" contactPoint="end" />
+            <successor elementType="road" elementId="10120" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.1055945431089306e+01" y="-9.3232031399876860e+01" hdg="5.8942748278459991e+00" length="2.0191429396826045e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7381975786232573e+00" b="-1.9725299406649538e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="-2.9535004896326822e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="13" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="1" t="0" id="16" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="5.6972068779857544e+01" id="10096" junction="800021">
+        <link>
+            <predecessor elementType="road" elementId="10115" contactPoint="end" />
+            <successor elementType="junction" elementId="800020" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.6199004283328424e+02" y="-1.9714276108317225e+02" hdg="1.0895616124153005e+00" length="8.8454737901384330e+00">
+                <line />
+            </geometry>
+            <geometry s="8.8454737901384330e+00" x="3.6615351215296198e+02" y="-1.8911550038997871e+02" hdg="9.8921630754143131e-01" length="1.5941823162361977e+01">
+                <arc curvature="9.4397295408823797e-03" />
+            </geometry>
+            <geometry s="2.4787296952500412e+01" x="3.7381707483714951e+02" y="-1.7515537886113592e+02" hdg="1.0611237157854818e+00" length="4.8680102735039643e+00">
+                <arc curvature="1.9989383762114327e-01" />
+            </geometry>
+            <geometry s="2.9655307226004375e+01" x="3.7389194665913055e+02" y="-1.7049569644782360e+02" hdg="2.1106878200897010e+00" length="5.0004037601483597e+00">
+                <arc curvature="2.8854982015099612e-01" />
+            </geometry>
+            <geometry s="3.4655710986152734e+01" x="3.6953235683025605e+02" y="-1.6910305648407086e+02" hdg="3.5660177390733399e+00" length="2.6516156397197377e+00">
+                <arc curvature="2.6386016008485169e-01" />
+            </geometry>
+            <geometry s="3.7307326625872470e+01" x="3.6757352333803976e+02" y="-1.7103315460889726e+02" hdg="4.4165086263831146e+00" length="2.9619281531633108e+00">
+                <line />
+            </geometry>
+            <geometry s="4.0269254779035784e+01" x="3.6678612675156546e+02" y="-1.7370211794981196e+02" hdg="4.6377938525784934e+00" length="1.6702814000821760e+01">
+                <arc curvature="-2.1294273439387619e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7573999082049880e+00" b="-5.1605572964676365e-03" c="2.9287056978389111e-04" d="-3.5269815117396298e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.3000000000000000e+01" id="10112" junction="800020">
+        <link>
+            <predecessor elementType="road" elementId="10065" contactPoint="end" />
+            <successor elementType="road" elementId="10138" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.5765729556377556e+02" y="-2.0602070711704087e+02" hdg="1.1738539524541853e+00" length="1.3000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6543522216744293e+00" b="1.4135771657411336e-04" c="-7.3490269150012190e-05" d="5.8780456291928871e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.7380801425529349e+00" b="-3.5847285926213931e-03" c="7.5589730076704073e-05" d="-2.8865687926783044e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8997990558177191e+00" b="1.4914190030034060e-05" c="9.6529319101029787e-07" d="-1.2220933707258243e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.8787967223603967e+00" id="10115" junction="800020">
+        <link>
+            <predecessor elementType="road" elementId="10065" contactPoint="end" />
+            <successor elementType="road" elementId="10096" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.5765729556377556e+02" y="-2.0602070711704087e+02" hdg="1.1167665553069119e+00" length="9.8787967223603967e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6543522216744293e+00" b="3.9447641478934292e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8997990558177191e+00" b="-1.9231077520985668e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.6976809101546714e+01" id="10121" junction="800020">
+        <link>
+            <predecessor elementType="junction" elementId="800021" contactPoint="start" />
+            <successor elementType="road" elementId="10065" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.6263638815124489e+02" y="-1.8979046730748269e+02" hdg="4.4147248155208878e+00" length="1.6976809101546714e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7530159225591753e+00" b="-2.2980386218513899e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="1.0237967171313618e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.5999999999999993e+01" id="10194" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10233" contactPoint="end" />
+            <successor elementType="road" elementId="10195" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.9314815986182924e+02" y="-4.3326168813709364e+02" hdg="5.0225307389174434e+00" length="5.6299313415713090e+00">
+                <arc curvature="-5.4136713596511218e-02" />
+            </geometry>
+            <geometry s="5.6299313415713073e+00" x="2.9402361000701785e+02" y="-4.3880024924501777e+02" hdg="4.5357765214035517e+00" length="2.3135156881465577e+00">
+                <line />
+            </geometry>
+            <geometry s="7.9434470297178663e+00" x="2.9353599672180724e+02" y="-4.4105817772137686e+02" hdg="4.4753746349857613e+00" length="7.1349300140571881e+00">
+                <arc curvature="-4.5595966181175507e-02" />
+            </geometry>
+            <geometry s="1.5078377043775056e+01" x="2.9074328335374594e+02" y="-4.4758381587825716e+02" hdg="3.9151428152075507e+00" length="2.8079826090844469e+00">
+                <line />
+            </geometry>
+            <geometry s="1.7886359652859504e+01" x="2.8873435499519110e+02" y="-4.4954569589067250e+02" hdg="3.6685290889926225e+00" length="2.8673018123865490e+00">
+                <line />
+            </geometry>
+            <geometry s="2.0753661465246054e+01" x="2.8627744097732023e+02" y="-4.5105418039786628e+02" hdg="3.4532863997048393e+00" length="5.2463385347539457e+00">
+                <arc curvature="6.7782813305608106e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.8108819145679877e+00" b="5.2609565863385700e-05" c="-6.8879602282289406e-05" d="1.2026663460486854e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="26" />
+        </userData>
+    </road>
+    <road name="" length="1.3692280952020727e+01" id="10195" junction="800034">
+        <link>
+            <predecessor elementType="road" elementId="10194" contactPoint="end" />
+            <successor elementType="road" elementId="10218" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.8167154796534544e+02" y="-4.5350794905516494e+02" hdg="4.3327858304853706e+00" length="1.3692280952020727e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.8349386133002157e+00" b="-1.9665220422364416e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="13.692" />
+        </userData>
+    </road>
+    <road name="" length="2.2286225184833441e+01" id="10196" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10218" contactPoint="end" />
+            <successor elementType="road" elementId="10149" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.6236955649148661e+02" y="-4.7355107255191359e+02" hdg="2.7447324386182959e+00" length="2.2286225184833441e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5216173405496427e+00" b="2.9692514074330256e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="22.286" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="8.0448827175697744e+01" id="10102" junction="800029">
+        <link>
+            <predecessor elementType="road" elementId="10140" contactPoint="end" />
+            <successor elementType="road" elementId="10155" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.0427878794525149e+02" y="-4.9981115642476436e+02" hdg="2.7462015447835375e+00" length="8.0448827175697744e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.3279999999999994e+00" b="-1.5164919649301495e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.3224775837266968e+01" id="10198" junction="800025">
+        <link>
+            <predecessor elementType="road" elementId="10149" contactPoint="end" />
+            <successor elementType="road" elementId="10110" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.6342170879527345e+02" y="-4.3208231864372641e+02" hdg="2.7447324386182959e+00" length="7.8843124539428739e+00">
+                <line />
+            </geometry>
+            <geometry s="7.8843124539428739e+00" x="1.5615017187114296e+02" y="-4.2903483876152774e+02" hdg="2.7447324386182959e+00" length="1.4182350391990793e+01">
+                <arc curvature="1.1111111111111110e-01" />
+            </geometry>
+            <geometry s="2.2066662845933667e+01" x="1.4435357931476227e+02" y="-4.3389834601014621e+02" hdg="4.3205491488394951e+00" length="1.1581129913333008e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5784596459422415e+00" b="1.4735419182628337e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="10" t="0" id="45" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="9" t="0" id="46" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="22" t="0" id="47" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="23" t="0" id="48" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="3.3000000000000000e+01" id="10166" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10165" contactPoint="end" />
+            <successor elementType="junction" elementId="800004" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1313949142609354e+02" y="-3.3234361488430346e+02" hdg="2.6348023453373886e+00" length="7.9876651606718632e+00">
+                <arc curvature="-3.4882770800880890e-02" />
+            </geometry>
+            <geometry s="7.9876651606718632e+00" x="-1.1951912129886274e+02" y="-3.2757254097514499e+02" hdg="2.3875732223712038e+00" length="8.9076894626732308e+00">
+                <line />
+            </geometry>
+            <geometry s="1.6895354623345092e+01" x="-1.2601232065630126e+02" y="-3.2147456642020745e+02" hdg="2.2929452424413896e+00" length="3.2663840016750583e+00">
+                <arc curvature="-1.4304257561903566e-01" />
+            </geometry>
+            <geometry s="2.0161738625020149e+01" x="-1.2750762222977413e+02" y="-3.1860588778947016e+02" hdg="1.9880324290850568e+00" length="2.9909339919137139e+00">
+                <arc curvature="-2.6650578878718623e-01" />
+            </geometry>
+            <geometry s="2.3152672616933863e+01" x="-1.2772821011932498e+02" y="-3.1577105321000482e+02" hdg="1.2080436924397799e+00" length="2.0598917655142466e+00">
+                <line />
+            </geometry>
+            <geometry s="2.5212564382448107e+01" x="-1.2694015088007605e+02" y="-3.1377523311443383e+02" hdg="1.1066316853590576e+00" length="7.7874356175518926e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-3.0016345045425630e+00" b="-3.6260710500456983e-03" c="9.8197386087276687e-04" d="-1.8373689193174229e-05" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="21" t="0" id="7" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="9.5201238216287205e+00" id="10165" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10150" contactPoint="end" />
+            <successor elementType="road" elementId="10166" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.0463026969395030e+02" y="-3.3661279549565779e+02" hdg="2.6765761989037222e+00" length="9.5201238216287205e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.6392385211313369e+00" b="-3.8066309871716213e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.5797998407478921e+01" id="10176" junction="800026">
+        <link>
+            <predecessor elementType="road" elementId="10110" contactPoint="end" />
+            <successor elementType="road" elementId="10174" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2244684898853289e+02" y="-4.8691467264108377e+02" hdg="4.3205491488394951e+00" length="9.3708939573804155e+00">
+                <line />
+            </geometry>
+            <geometry s="9.3708939573804155e+00" x="1.1886820347197772e+02" y="-4.9557532791809996e+02" hdg="4.3205491488394951e+00" length="1.2594780832447661e+01">
+                <arc curvature="-1.2500000000000000e-01" />
+            </geometry>
+            <geometry s="2.1965674789828078e+01" x="1.0839318616265025e+02" y="-4.9990298027281221e+02" hdg="2.7462015447835375e+00" length="3.8323236176508426e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4549999999999992e+00" b="4.9228625412730499e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="49" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="1" t="0" id="50" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="24" t="0" id="51" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="25" t="0" id="52" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="8.0462810005276879e+01" id="10174" junction="800029">
+        <link>
+            <predecessor elementType="road" elementId="10176" contactPoint="end" />
+            <successor elementType="road" elementId="10155" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.0485654167242980e+02" y="-4.9842688743691139e+02" hdg="2.7648447775510383e+00" length="8.0462810005276879e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.3279999999999994e+00" b="-1.5162284289101876e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.9675712715967663e+01" id="10074" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10058" contactPoint="end" />
+            <successor elementType="road" elementId="10059" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.3579848192638192e+02" y="-1.7500931026692092e+02" hdg="1.1773308322888407e+00" length="1.9675712715967663e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7382545127590951e+00" b="7.5544749177000031e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2724804562809733e+00" b="9.0729875885491099e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4000484900337780e+00" b="3.5066284344815877e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.9326436576919598e+01" id="10199" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800000" contactPoint="start" />
+            <successor elementType="road" elementId="10130" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.3765658632087884e+01" y="-9.1411653536797616e+01" hdg="2.7406504608274500e+00" length="3.9284380498702056e+01">
+                <line />
+            </geometry>
+            <geometry s="3.9284380498702056e+01" x="-7.9934539404850497e+01" y="-7.6079510346346865e+01" hdg="2.7406504608274500e+00" length="5.9097095862945288e+00">
+                <arc curvature="8.3333333333333329e-02" />
+            </geometry>
+            <geometry s="4.5194090084996589e+01" x="-8.5714841345897199e+01" y="-7.5178069800672120e+01" hdg="3.2331262596853274e+00" length="4.1323464919230073e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-4.5086807076710578e+00" b="-1.9400323016136194e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.0014295677064551e+00" b="-5.6550006019002719e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="49.326" />
+        </userData>
+    </road>
+    <road name="" length="4.5999999999999986e+01" id="10201" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10202" contactPoint="end" />
+            <successor elementType="junction" elementId="800000" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.4073690492106422e+01" y="-1.1449942870403049e+02" hdg="6.1511665813496315e+00" length="1.5470802509870722e+00">
+                <arc curvature="1.4096191228416767e-02" />
+            </geometry>
+            <geometry s="1.5470802509870794e+00" x="-7.2528406554110788e+01" y="-1.1463085049130251e+02" hdg="6.1159191926849230e+00" length="1.2576302004782629e+01">
+                <arc curvature="6.7592165272055721e-02" />
+            </geometry>
+            <geometry s="1.4123382255769712e+01" x="-6.0714164970653478e+01" y="-1.1153430228517888e+02" hdg="7.7079542340526608e-01" length="9.5648665687060408e+00">
+                <arc curvature="4.9077522648510327e-02" />
+            </geometry>
+            <geometry s="2.3688248824475750e+01" x="-5.5541323324403912e+01" y="-1.0355999657733408e+02" hdg="1.3074550872619222e+00" length="8.8497226708883634e+00">
+                <arc curvature="-3.1846706353753057e-02" />
+            </geometry>
+            <geometry s="3.2537971495364118e+01" x="-5.2058401906459260e+01" y="-9.5458691675022251e+01" hdg="9.9350024289841965e-01" length="9.6345540860649077e+00">
+                <arc curvature="-8.1495793213263334e-02" />
+            </geometry>
+            <geometry s="4.2172525581429028e+01" x="-4.4315219161901865e+01" y="-9.0145463343020623e+01" hdg="1.9340110333617822e-01" length="3.8274744185709721e+00">
+                <arc curvature="-8.2879182405817903e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.6789828493442940e+00" b="1.0259858009175572e-03" c="-1.7472549719329374e-05" d="-3.5233702060478230e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="44" t="0" id="6" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="43" t="0" id="14" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="46" />
+        </userData>
+    </road>
+    <road name="" length="1.0000000000000000e+01" id="10202" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10190" contactPoint="end" />
+            <successor elementType="road" elementId="10201" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-8.3861251465017332e+01" y="-1.1248990778328155e+02" hdg="6.0102046690654634e+00" length="1.0000000000000000e+01">
+                <arc curvature="1.4096191228416767e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.6906376253047979e+00" b="1.2697356891227104e-03" c="-6.9024391011859022e-06" d="-3.5233702060478230e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="10" />
+        </userData>
+    </road>
+    <road name="" length="3.4000000000000007e+01" id="10203" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10130" contactPoint="end" />
+            <successor elementType="junction" elementId="800001" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.0107825467751400e+02" y="-8.1178415384455207e+01" hdg="4.1446418444430595e+00" length="3.7325281852307208e+00">
+                <line />
+            </geometry>
+            <geometry s="3.7325281852307208e+00" x="-1.0308536196055748e+02" y="-8.4325364225459069e+01" hdg="4.1446418444430595e+00" length="3.0267471814769280e+01">
+                <arc curvature="5.8823529411764705e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7296464594926104e+00" b="8.6139178647196663e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="34" />
+        </userData>
+    </road>
+    <road name="" length="9.9999999999999982e+00" id="10000" junction="800009">
+        <link>
+            <predecessor elementType="road" elementId="10027" contactPoint="end" />
+            <successor elementType="road" elementId="10157" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.7655333282915695e+00" y="1.3081150032131195e-01" hdg="4.3254309633457524e+00" length="9.9999999999999982e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7213172451158476e+00" b="-9.8638600487985792e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8835953198280668e+00" b="2.9701444039611510e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.1239785597583676e+01" id="10025" junction="800009">
+        <link>
+            <predecessor elementType="road" elementId="10157" contactPoint="start" />
+            <successor elementType="road" elementId="10016" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="9.9180230033203376e-01" y="-9.1298015532845582e+00" hdg="1.1838383097559593e+00" length="1.3155351202853870e+01">
+                <line />
+            </geometry>
+            <geometry s="1.3155351202853870e+01" x="5.9562780021234776e+00" y="3.0528601541072691e+00" hdg="1.1838383097559593e+00" length="9.4716872813980757e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.2627038484251948e+01" x="1.3820255715259515e+01" y="6.3271174195398228e+00" hdg="5.8884090700358662e+00" length="8.6127471133317268e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7311811051646462e+00" b="-1.9526209156597693e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9508447474530124e+00" b="-4.7739044932115685e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="31.24" />
+        </userData>
+    </road>
+    <road name="" length="3.8716092817974243e+01" id="10093" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10120" contactPoint="end" />
+            <successor elementType="road" elementId="10034" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.1136267059606809e+01" y="-1.2326739565757006e+02" hdg="5.8735228609514545e+00" length="3.8716092817974243e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6862797975525972e+00" b="6.9564319588352351e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9938955636001015e+00" b="4.2261270667655411e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="29" t="0" id="93" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="28" t="0" id="94" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="10" t="0" id="2" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="9" t="0" id="3" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="31" t="0" id="15" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="32" t="0" id="24" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="12" t="0" id="99" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="5.3002358438092166e+01" id="10034" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10093" contactPoint="end" />
+            <successor elementType="road" elementId="10040" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="7.6648809268976237e+01" y="-1.3868800488411333e+02" hdg="5.8958227425369811e+00" length="5.3002358438092166e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6593472110125784e+00" b="-1.1374452121789081e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9955317548778759e+00" b="-3.5196003401062180e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.3267405174633250e+01" id="10130" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10199" contactPoint="end" />
+            <successor elementType="road" elementId="10203" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-8.9829888693063282e+01" y="-7.5555790411560338e+01" hdg="3.2331262596853274e+00" length="3.2712061729225499e+00">
+                <line />
+            </geometry>
+            <geometry s="3.2712061729225499e+00" x="-9.3087400692657013e+01" y="-7.5854797766435510e+01" hdg="3.2331262596853274e+00" length="9.1151558475773200e+00">
+                <arc curvature="1.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.2386362020499870e+01" x="-1.0060448782470525e+02" y="-8.0435595077365406e+01" hdg="4.1446418444430595e+00" length="8.8104315413337997e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-4.5182501956993297e+00" b="1.3481187260538771e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.9986401574211343e+00" b="-7.5270193702269270e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="14" />
+        </userData>
+    </road>
+    <road name="" length="1.3874690924506965e+01" id="10095" junction="800004">
+        <link>
+            <predecessor elementType="road" elementId="10003" contactPoint="end" />
+            <successor elementType="road" elementId="10101" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1646006093928240e+02" y="-2.9055863032476219e+02" hdg="4.3193107965084154e+00" length="2.0000000000000000e+00">
+                <line />
+            </geometry>
+            <geometry s="2.0000000000000000e+00" x="-1.1722612823848226e+02" y="-2.9240609910476815e+02" hdg="4.3193107965084154e+00" length="3.7427699818945199e+00">
+                <arc curvature="6.5150905840411444e-02" />
+            </geometry>
+            <geometry s="5.7427699818945204e+00" x="-1.1822612918001228e+02" y="-2.9600318835253142e+02" hdg="4.5631556511811437e+00" length="4.5597725309496768e+00">
+                <line />
+            </geometry>
+            <geometry s="1.0302542512844198e+01" x="-1.1890407628174805e+02" y="-3.0051228064048155e+02" hdg="4.5631556511811437e+00" length="1.3285753193218053e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.1631117832166002e+01" x="-1.1927281743431573e+02" y="-3.0178459402439950e+02" hdg="4.2974405873167827e+00" length="2.2435730923409620e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7923006599198237e+00" b="1.8906074635347703e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+            <elevation s="5.7427699818945204e+00" a="-5.7065682810065024e+00" b="1.3372926763745013e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.4984459857133841e+00" b="-9.5664764406080460e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+            <laneSection s="5.7427699818945204e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.9490652483571340e+00" b="-6.7647629638853207e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="7" t="0" id="95" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="13" t="0" id="96" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="2.5981089941769980e+01" id="10101" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10095" contactPoint="end" />
+            <successor elementType="road" elementId="10099" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.2017729755626848e+02" y="-3.0383777105760163e+02" hdg="4.2974405873167827e+00" length="6.4208973159561440e+00">
+                <line />
+            </geometry>
+            <geometry s="6.4208973159561431e+00" x="-1.2276583545913779e+02" y="-3.0971377257797769e+02" hdg="4.2974405873167827e+00" length="3.8280624659744702e+00">
+                <line />
+            </geometry>
+            <geometry s="1.0248959781930614e+01" x="-1.2430909091084885e+02" y="-3.1321697466380812e+02" hdg="4.2974405873167827e+00" length="9.4914698824314101e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.9740429664362026e+01" x="-1.2117594395130611e+02" y="-3.2115320025979099e+02" hdg="5.8793522343886844e+00" length="6.2406602774079545e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-4.6190924488652971e+00" b="5.3139022971480433e-04" c="-6.2780647639577511e-05" d="1.4463107743264318e-06" />
+            <elevation s="6.4208973159561467e+00" a="-4.6178858946727610e+00" b="4.8753422959391651e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3989600721788533e+00" b="-2.4552802595354081e-04" c="1.7053504722920045e-05" d="-2.5819856817579000e-07" />
+                    </lane>
+                </right>
+            </laneSection>
+            <laneSection s="6.4208973159561467e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3980182921133499e+00" b="8.9282117040473572e-07" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="1.5" t="0" id="0" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="2.5" t="0" id="1" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="5.0000000000000000e+00" id="10097" junction="800004">
+        <link>
+            <predecessor elementType="road" elementId="10166" contactPoint="end" />
+            <successor elementType="road" elementId="10111" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.2345390298047911e+02" y="-3.0681174052234530e+02" hdg="1.1066316853590576e+00" length="5.0000000000000000e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7122205832387301e+00" b="1.1573611734567099e-03" c="-8.3702136925148168e-04" d="-1.8373689193174229e-05" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <speed sOffset="0.0000000000000000e+00" max="1.3890000000000000e+00" />
+                        <speed sOffset="1.0000000000000000e+01" max="5.5000000000000004e-01" />
+                        <speed sOffset="1.5000000000000000e+01" max="5.5500000000000005e-01" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.2705629853099698e+01" id="10111" junction="800004">
+        <link>
+            <predecessor elementType="junction" elementId="800005" contactPoint="start" />
+            <successor elementType="road" elementId="10003" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.2121552306261540e+02" y="-3.0234076128471690e+02" hdg="1.1871761950573287e+00" length="1.2705629853099698e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7296560227518802e+00" b="-3.1975153409469198e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="1.1793559257102232e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="5" t="0" id="44" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="2.6938606924069830e+01" id="10150" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10162" contactPoint="end" />
+            <successor elementType="road" elementId="10165" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.8405187015730846e+01" y="-3.3859049565041954e+02" hdg="2.9162961025753087e+00" length="8.9682373401609397e+00">
+                <arc curvature="6.2437701218190388e-02" />
+            </geometry>
+            <geometry s="8.9682373401609397e+00" x="-8.7273596892836593e+01" y="-3.3898649542058564e+02" hdg="3.4438834226870583e+00" length="8.2150793087400711e+00">
+                <arc curvature="-5.3296743574456434e-02" />
+            </geometry>
+            <geometry s="1.7183316648901013e+01" x="-9.5402804620489036e+01" y="-3.3970295526312395e+02" hdg="2.9403504176012714e+00" length="9.7552902751688180e+00">
+                <arc curvature="-2.4992824505284787e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.8101400505259515e+00" b="3.7220303223475533e-04" c="-5.4760691049630480e-05" d="1.0262095767251369e-05" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.7058053913926949e+00" id="10162" junction="800030">
+        <link>
+            <predecessor elementType="road" elementId="10171" contactPoint="start" />
+            <successor elementType="road" elementId="10150" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.1330849879043555e+01" y="-3.4164552278720635e+02" hdg="2.7339373516726582e+00" length="7.7058053913926949e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5697889348722587e+00" b="3.5812595104319744e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.0020823336331551e+02" id="10153" junction="800035">
+        <link>
+            <predecessor elementType="road" elementId="10036" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2168764177872222e+02" y="-5.2395854169191421e+02" hdg="2.7596749374511438e+00" length="1.0020823336331551e+02">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4138899162509890e+00" b="8.8806699920822096e-06" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.7999999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7430925017576566e+01" id="10140" junction="800026">
+        <link>
+            <predecessor elementType="road" elementId="10183" contactPoint="end" />
+            <successor elementType="road" elementId="10102" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.1229145279777126e+02" y="-5.1149167676256872e+02" hdg="1.1789564952497020e+00" length="2.7108634980439437e+00">
+                <line />
+            </geometry>
+            <geometry s="2.7108634980439437e+00" x="1.1332670296145790e+02" y="-5.0898627499765877e+02" hdg="1.1789564952497020e+00" length="7.8362252476691774e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.0547088745713122e+01" x="1.1063150865765029e+02" y="-5.0246259780033392e+02" hdg="2.7462015447835375e+00" length="6.8838362718634452e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-4.1130639354308443e+00" b="-6.9700033896311728e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4220946703341664e+00" b="-2.4215276579329273e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="6" t="0" id="10" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="7" t="0" id="11" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="16" t="0" id="91" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="17" t="0" id="92" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="1.9316612914640459e+01" id="10183" junction="800035">
+        <link>
+            <predecessor elementType="road" elementId="10036" contactPoint="end" />
+            <successor elementType="junction" elementId="800026" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2168764177872222e+02" y="-5.2395854169191421e+02" hdg="2.7596749374511438e+00" length="8.3958008112350093e+00">
+                <line />
+            </geometry>
+            <geometry s="8.3958008112350093e+00" x="1.1389674491382820e+02" y="-5.2082942084053775e+02" hdg="2.7596749374511438e+00" length="7.9035922110072088e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.6299393022242217e+01" x="1.1113920835988732e+02" y="-5.1428021556173383e+02" hdg="1.1789564952497020e+00" length="3.0172198923982427e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4138899162509890e+00" b="6.7342343430934620e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.7999999999999998e+00" b="-1.9563747088363056e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.2700000000000001e+02" id="10184" junction="800027">
+        <link>
+            <predecessor elementType="junction" elementId="800026" contactPoint="start" />
+            <successor elementType="road" elementId="10210" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2128063805964192e+02" y="-5.1208046311295573e+02" hdg="5.9008577118403851e+00" length="1.2700000000000001e+02">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.3505452601151626e+00" b="1.0334680391688835e-04" c="-4.6894108362155116e-07" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.2200000000000000e+02" id="10036" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10211" contactPoint="end" />
+            <successor elementType="junction" elementId="800035" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.3489773797885502e+02" y="-5.6942802726583159e+02" hdg="2.7596749374511438e+00" length="1.2200000000000000e+02">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4149733579900232e+00" b="8.8806699920822096e-06" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.7999999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.9000000000000000e+01" id="10113" junction="800026">
+        <link>
+            <successor elementType="junction" elementId="800027" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.7778748940707253e+01" y="-4.7850317147754924e+02" hdg="5.9008577118403851e+00" length="8.9000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.3640000000000017e+00" b="1.8952172193604949e-04" c="-4.6894108362155116e-07" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.9999999999998079e-01" id="10094" junction="800027">
+        <link>
+            <predecessor elementType="junction" elementId="800026" contactPoint="start" />
+            <successor elementType="road" elementId="10184" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2035283929165374e+02" y="-5.1170738209478463e+02" hdg="5.9008577118404766e+00" length="9.9999999999998079e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.3505452601151626e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.9685229177854850e+01" id="10172" junction="800026">
+        <link>
+            <predecessor elementType="road" elementId="10110" contactPoint="end" />
+            <successor elementType="junction" elementId="800027" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2244684898853289e+02" y="-4.8691467264108377e+02" hdg="4.3205491488394951e+00" length="1.7727610013865611e+01">
+                <line />
+            </geometry>
+            <geometry s="1.7727610013865611e+01" x="1.1567686179372600e+02" y="-5.0329867185329869e+02" hdg="4.3205491488394951e+00" length="9.4818513780053397e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.7209461391870953e+01" x="1.1898362375798126e+02" y="-5.1115680114660546e+02" hdg="5.9008577118403851e+00" length="2.4757677859838987e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4549999999999992e+00" b="3.5187446005220564e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="6.7814274596551655e+01" id="10173" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10205" contactPoint="end" />
+            <successor elementType="road" elementId="10206" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.2575909137725830e+01" y="-1.2711908225528896e+02" hdg="2.7454965145576913e+00" length="6.7814274596551655e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7541295085744411e+00" b="4.3363490862802319e-03" c="-6.8198033527069684e-05" d="2.8028281378844427e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9925989032278544e+00" b="1.9943581064112677e-04" c="-4.3398140464645017e-06" d="2.4786069217061854e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.9922684345045042e+01" id="10182" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10200" contactPoint="end" />
+            <successor elementType="road" elementId="10205" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2833878901600838e+02" y="-1.6302061497792602e+02" hdg="2.7395682576484477e+00" length="2.9000000000000000e+01">
+                <line />
+            </geometry>
+            <geometry s="2.9000000000000000e+01" x="1.0165093667748371e+02" y="-1.5167343305653674e+02" hdg="2.7395682576484477e+00" length="9.9998398818390921e+00">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0206562180975693e-01" cU="2.0937519327742621e-01" dU="-1.3958593592840497e-02" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="2.1179788659030983e-03" dV="-1.3426728872870556e-04" pRange="arcLength" />
+            </geometry>
+            <geometry s="3.8999839881839094e+01" x="9.2418321987396169e+01" y="-1.4783214303750205e+02" hdg="2.7464542408288617e+00" length="2.0922844463205944e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5053900522240111e+00" b="-1.0283764932465383e-02" c="1.6885281352106495e-04" d="-7.8185401350926864e-07" />
+            <elevation s="2.9000000000000000e+01" a="-6.6806826566297692e+00" b="-1.5328142253603365e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+            <elevation s="3.8999839881839094e+01" a="-6.6960105534519778e+00" b="-6.8084534146511000e-04" c="7.7375893940480515e-05" d="-7.8185401350926864e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9897318469431475e+00" b="7.0866980764778794e-04" c="-1.7123603453276829e-05" d="1.0433605584475868e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+            <laneSection s="2.9000000000000000e+01">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9984269729267257e+00" b="-9.1290845841550923e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+            <laneSection s="3.8999839881839094e+01">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9975140790856325e+00" b="-1.5088583888817097e-04" c="-4.9162849194400631e-06" d="1.0433605584475868e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.9674250133931508e+01" id="10187" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10192" contactPoint="end" />
+            <successor elementType="road" elementId="10200" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2765169108659029e+02" y="-2.0441899512894452e+02" hdg="2.7487306868916299e+00" length="3.5000000000000000e+01">
+                <line />
+            </geometry>
+            <geometry s="3.5000000000000007e+01" x="1.9531808954631771e+02" y="-1.9101980815977049e+02" hdg="2.7487306868916299e+00" length="3.0999552764733515e+01">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0010455786472462e-01" cU="6.7732510909065416e-02" dU="-1.4566341589339140e-03" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="-2.2802686188484400e-04" dV="4.8675857783363285e-06" pRange="arcLength" />
+            </geometry>
+            <geometry s="6.5999552764733522e+01" x="1.6670863090758397e+02" y="-1.7908368628690263e+02" hdg="2.7483820864292756e+00" length="1.3674697369197979e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6100349902331184e+00" b="-2.2057151935744759e-03" c="4.2790412204873399e-05" d="-2.0763829461464674e-07" />
+            <elevation s="3.5000000000000007e+01" a="-6.6437192589388578e+00" b="4.7764954733685441e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+            <elevation s="6.5999552764733522e+01" a="-6.6289123365931379e+00" b="7.2920198344460924e-04" c="1.6780298711733414e-06" d="-2.0763829461464674e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0101326684409009e+00" b="-8.1540098009456256e-04" c="1.2041121541625943e-05" d="-4.9090029615192960e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+            <laneSection s="3.5000000000000007e+01">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9942392730063316e+00" b="1.3383064992906585e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+            <laneSection s="6.5999552764733522e+01">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9946541420357331e+00" b="1.3251855638872034e-04" c="2.3212956778177354e-06" d="-4.9090029615192960e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.7621266696243922e+01" id="10188" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10189" contactPoint="end" />
+            <successor elementType="road" elementId="10192" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.2560412539914250e+02" y="-2.4513316644355655e+02" hdg="2.7470783126633860e+00" length="7.7621266696243922e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8774495532543369e+00" b="-3.8277868484047929e-05" c="3.0229112848624567e-05" d="-1.1963003410550051e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9529582685471119e+00" b="6.8657687894257426e-04" c="-3.8596769210414073e-06" d="7.0624118384376367e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.0589477608981710e+01" id="10189" junction="800019">
+        <link>
+            <predecessor elementType="road" elementId="10065" contactPoint="start" />
+            <successor elementType="road" elementId="10188" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.4232886126512204e+02" y="-2.4296677787488889e+02" hdg="4.3203276461087476e+00" length="2.6995450663717606e+00">
+                <line />
+            </geometry>
+            <geometry s="2.6995450663717606e+00" x="3.4129738088006462e+02" y="-2.4546149064004121e+02" hdg="4.3203276461087476e+00" length="8.9907047934840723e+00">
+                <arc curvature="-1.7498620737559520e-01" />
+            </geometry>
+            <geometry s="1.1690249859855832e+01" x="3.3381974420572885e+02" y="-2.4855367256921642e+02" hdg="2.7470783126633860e+00" length="8.8992277491258758e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8152104530042479e+00" b="-3.0228596097522458e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="5.0208868946536587e+00" b="-1.0043618713300712e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.8455752512971905e+01" id="10192" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10188" contactPoint="end" />
+            <successor elementType="road" elementId="10187" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.5394546507062626e+02" y="-2.1529866555194187e+02" hdg="2.7470783126633860e+00" length="2.8455752512971905e+01">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0049569886358191e-01" cU="7.3746283087035958e-02" dU="-1.7277418162715639e-03" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="2.1352175735304610e-04" dV="-4.7980255096426369e-06" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7542362010905848e+00" b="5.0675592146695297e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9862993449318700e+00" b="8.3755730930560267e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.7921902868190760e+01" id="10200" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10187" contactPoint="end" />
+            <successor elementType="road" elementId="10182" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.5407753619179130e+02" y="-1.7384414485469460e+02" hdg="2.7483820864292756e+00" length="2.7921902868190760e+01">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0264400216917886e-01" cU="7.4924798219494951e-02" dU="-1.7889184003410199e-03" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="-4.2611488562992308e-04" dV="9.0335103114893595e-06" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6191578915701257e+00" b="4.0745016513799772e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9967748396334399e+00" b="-2.5223899400910583e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.3052153509012982e+01" id="10205" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10182" contactPoint="end" />
+            <successor elementType="road" elementId="10173" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="7.3107723016291857e+01" y="-1.3977818824443966e+02" hdg="2.7464542408288617e+00" length="3.3052153509012982e+01">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0028728648724606e-01" cU="6.3509671082891572e-02" dU="-1.2809991972013201e-03" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="1.9861144309065018e-04" dV="-4.0937733290346629e-06" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6835445176410797e+00" b="-2.1355640537647131e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9931605836192339e+00" b="-1.6993760821857756e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.5621635885877087e+01" id="10206" junction="800000">
+        <link>
+            <predecessor elementType="road" elementId="10173" contactPoint="end" />
+            <successor elementType="road" elementId="10199" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.9987791449241264e+01" y="-1.0095499985362916e+02" hdg="2.7454965145576913e+00" length="2.5621635885877087e+01">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0145248470022423e-01" cU="8.1779353242115466e-02" dU="-2.1278740796110591e-03" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="1.7457081178331225e-03" dV="-4.6164531762135526e-05" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6862808693733768e+00" b="8.4990676294117315e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9938955152407618e+00" b="3.9323564543396569e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.9999999999999964e+00" id="10208" junction="800000">
+        <link>
+            <predecessor elementType="road" elementId="10201" contactPoint="end" />
+            <successor elementType="road" elementId="10032" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.0506079039568149e+01" y="-9.0012881751323661e+01" hdg="6.1593684600254193e+00" length="3.8391865574783157e-01">
+                <arc curvature="-8.2879182405817903e-02" />
+            </geometry>
+            <geometry s="3.8391865574783424e-01" x="-4.0109215248891850e+01" y="-9.0010351785602580e+01" hdg="6.0057876800476153e+00" length="2.6160813442521658e+00">
+                <arc curvature="-1.3412209479737314e-02" />
+            </geometry>
+            <geometry s="2.9999999999999973e+00" x="-3.7606226804181745e+01" y="-9.0770765050296404e+01" hdg="5.9707002490424728e+00" length="7.0000000000000000e+00">
+                <arc curvature="-1.3412209479737314e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7030544939457744e+00" b="-2.8181241800599010e-03" c="-6.6095058562789312e-05" d="-3.5233702060478230e-07" />
+            <elevation s="2.9999999999999973e+00" a="-2.7121132351125756e+00" b="-3.2242076309929664e-03" c="-6.9266091748232354e-05" d="-3.5233702060478230e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.3335675016841170e+01" id="10207" junction="800000">
+        <link>
+            <predecessor elementType="road" elementId="10201" contactPoint="end" />
+            <successor elementType="road" elementId="10001" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.0506079039568164e+01" y="-9.0012881751323661e+01" hdg="-1.2381684715416608e-01" length="5.3119906889249546e-01">
+                <line />
+            </geometry>
+            <geometry s="5.3119906889249546e-01" x="-3.9978946574711109e+01" y="-9.0078485221399418e+01" hdg="-1.2381684715416608e-01" length="9.2196336874159215e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="9.7508327563084176e+00" x="-3.5985222728431225e+01" y="-9.6973231483434944e+01" hdg="4.3154417225422357e+00" length="3.5848422605327523e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7030544939457744e+00" b="-2.9864277927052352e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="1.4223205327801869e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="13.336" />
+        </userData>
+    </road>
+    <road name="" length="2.6592502766359235e+01" id="10209" junction="800026">
+        <link>
+            <predecessor elementType="road" elementId="10183" contactPoint="end" />
+            <successor elementType="road" elementId="10110" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.1229145279777129e+02" y="-5.1149167676256872e+02" hdg="1.1789564952497034e+00" length="2.6592502766359235e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-4.1130639354308443e+00" b="-5.0462947258456889e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4220946703341664e+00" b="-1.5872694422284162e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.1594075027830186e+01" id="10210" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10184" contactPoint="end" />
+            <successor elementType="road" elementId="10211" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.3911108159413860e+02" y="-5.5946175242069614e+02" hdg="5.9008577118403851e+00" length="3.0000000000000000e+00">
+                <line />
+            </geometry>
+            <geometry s="3.0000000000000000e+00" x="2.4189447789810308e+02" y="-5.6058099547520965e+02" hdg="5.9008577118403851e+00" length="8.5940750278301863e+00">
+                <arc curvature="-1.8482997654766237e-01" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.3449837667554503e+00" b="-3.0183344107473564e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="3.4500380499509264e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.1594075027830186e+01" id="10211" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10210" contactPoint="end" />
+            <successor elementType="road" elementId="10036" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.4485931146241083e+02" y="-5.6770750787958070e+02" hdg="4.3124150259976810e+00" length="8.5940750278301863e+00">
+                <arc curvature="-1.8482997654766237e-01" />
+            </geometry>
+            <geometry s="8.5940750278301863e+00" x="2.3768159280344844e+02" y="-5.7054612937010825e+02" hdg="2.7596749374511438e+00" length="3.0000000000000000e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.3799785623727363e+00" b="-3.0183344107473564e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="3.4500380499509264e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.3000000000000000e+01" id="10214" junction="800025">
+        <link>
+            <predecessor elementType="road" elementId="10110" contactPoint="start" />
+            <successor elementType="road" elementId="10213" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.4391130818428650e+02" y="-4.3496868331578526e+02" hdg="1.1789564952497020e+00" length="1.3000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5442369652037709e+00" b="-1.5844390496011866e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.0000000000000000e+00" id="10213" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10214" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.4887587100260509e+02" y="-4.2295397915700681e+02" hdg="1.1789564952497020e+00" length="8.5129876031768248e-01">
+                <line />
+            </geometry>
+            <geometry s="8.5129876031768248e-01" x="1.4920097301589385e+02" y="-4.2216720202193358e+02" hdg="1.1789564952497020e+00" length="1.4870123968231752e-01">
+                <arc curvature="2.1398004763875356e-01" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5648346728485860e+00" b="-1.5844390496011866e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.1285820924276997e+01" id="10190" junction="800001">
+        <link>
+            <predecessor elementType="road" elementId="10203" contactPoint="end" />
+            <successor elementType="road" elementId="10202" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-9.4710899025770800e+01" y="-1.0938841433138948e+02" hdg="5.9250813629588990e+00" length="1.4470962038115864e+00">
+                <arc curvature="5.8823529411764705e-02" />
+            </geometry>
+            <geometry s="1.4470962038115900e+00" x="-9.3335663818136197e+01" y="-1.0983735906776927e+02" hdg="6.0102046690654634e+00" length="9.8387247204654109e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7003591387525634e+00" b="8.6139178647196663e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="11.286" />
+        </userData>
+    </road>
+    <road name="" length="2.3133127112534229e+01" id="10020" junction="800002">
+        <link>
+            <predecessor elementType="junction" elementId="800003" contactPoint="start" />
+            <successor elementType="road" elementId="10002" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.0445950980940864e+01" y="-2.1524025457957745e+02" hdg="2.7457927848409476e+00" length="6.1574367901241640e+00">
+                <line />
+            </geometry>
+            <geometry s="6.1574367901241640e+00" x="-7.6127346930965231e+01" y="-2.1286627735065943e+02" hdg="2.7457927848409476e+00" length="1.2091346120956937e+01">
+                <arc curvature="-1.2989533956892527e-01" />
+            </geometry>
+            <geometry s="1.8248782911081101e+01" x="-8.0263093012976867e+01" y="-2.0279615136347388e+02" hdg="1.1751832746138389e+00" length="4.8843442014531275e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7570934541444876e+00" b="2.8319701757978134e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4321578058075679e+00" b="4.6102354511817767e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.2781184002056193e+01" id="10221" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800003" contactPoint="start" />
+            <successor elementType="junction" elementId="800006" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.5682935411509931e+01" y="-2.2140899604739241e+02" hdg="5.8873854384307416e+00" length="5.2781184002056193e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7507769320706821e+00" b="-5.1369968107330903e-06" c="-2.2060515854841545e-05" d="1.8340379978966669e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.3795855733674123e+00" b="-2.4506806616910559e-03" c="4.8295976596246028e-05" d="-2.4354781358876820e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.4003450972449740e+00" b="-1.8538878088458987e-05" c="-6.2487495386821113e-07" d="1.0435599062146135e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="52.781" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="1.5999999999999998e+01" id="10222" junction="800003">
+        <link>
+            <predecessor elementType="road" elementId="10221" contactPoint="start" />
+            <successor elementType="junction" elementId="800002" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.5682935411509931e+01" y="-2.2140899604739241e+02" hdg="2.7457927848409485e+00" length="1.5999999999999998e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7507769320706821e+00" b="-3.9478262961284433e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4003450972449740e+00" b="5.8693654666486248e-06" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3795855733674123e+00" b="3.2857645275097274e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.5999999999999998e+01" id="10223" junction="800003">
+        <link>
+            <predecessor elementType="road" elementId="10221" contactPoint="start" />
+            <successor elementType="junction" elementId="800002" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.5682935411509931e+01" y="-2.2140899604739241e+02" hdg="2.7457927848409485e+00" length="1.5999999999999998e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7507769320706821e+00" b="-3.9478262961284433e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3795855733674123e+00" b="3.2857645275097274e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.3000000000000000e+01" id="10224" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10012" contactPoint="end" />
+            <successor elementType="road" elementId="10145" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.9076230941267340e+01" y="-2.0167866556756914e+02" hdg="4.5710859686859271e+00" length="5.8826265806194140e+00">
+                <arc curvature="9.0122678776353105e-02" />
+            </geometry>
+            <geometry s="5.8826265806194158e+00" x="-7.8335824792704571e+01" y="-2.0743925004213656e+02" hdg="5.1604436826492339e+00" length="3.9030842211819321e+00">
+                <arc curvature="9.0464319902254439e-02" />
+            </geometry>
+            <geometry s="9.7857108018013470e+00" x="-7.6068294249475002e+01" y="-2.1059214530698955e+02" hdg="5.6014252878857427e+00" length="2.9632022720646325e+00">
+                <line />
+            </geometry>
+            <geometry s="1.2748913073865978e+01" x="-7.3784440739976446e+01" y="-2.1248795092216142e+02" hdg="5.7463467221213271e+00" length="1.0251086926134022e+01">
+                <arc curvature="1.4018815994146415e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7345649805200569e+00" b="-2.9044262863629818e-03" c="-1.0342443531812071e-04" d="7.0828294150150254e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="15" t="0" id="116" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="23" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="1.4914270796486696e+02" id="10212" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10160" contactPoint="end" />
+            <successor elementType="road" elementId="10215" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.6201570204212337e+02" y="-4.3171328033319759e+02" hdg="2.7541456185332964e+00" length="2.0345574313510539e+00">
+                <line />
+            </geometry>
+            <geometry s="2.0345574313510539e+00" x="1.6013395413854425e+02" y="-4.3094013579785087e+02" hdg="2.7177797653435674e+00" length="6.7790547980966069e+00">
+                <arc curvature="-4.4238683465096809e-02" />
+            </geometry>
+            <geometry s="8.8136122294476635e+00" x="1.5446572059392929e+02" y="-4.2726980629377067e+02" hdg="2.3589769989311975e+00" length="3.0267662547430092e+00">
+                <line />
+            </geometry>
+            <geometry s="1.1840378484190673e+01" x="1.5226933053279080e+02" y="-4.2517235113720596e+02" hdg="2.2037749509931248e+00" length="1.0531373564595253e+01">
+                <arc curvature="2.2500894299453924e-02" />
+            </geometry>
+            <geometry s="2.2371752048785922e+01" x="1.4509527105737530e+02" y="-4.1749249472132203e+02" hdg="2.5336705704743858e+00" length="1.6850058906537516e+01">
+                <arc curvature="1.2309033869350632e-02" />
+            </geometry>
+            <geometry s="3.9221810955323434e+01" x="1.3042138828809891e+02" y="-4.0930846439640300e+02" hdg="2.6955386211977053e+00" length="1.2895861969121604e+01">
+                <line />
+            </geometry>
+            <geometry s="5.2117672924445031e+01" x="1.1878891094009290e+02" y="-4.0374239336356464e+02" hdg="2.7595662081597099e+00" length="3.3450972162440728e+01">
+                <line />
+            </geometry>
+            <geometry s="8.5568645086885766e+01" x="8.7749383259564638e+01" y="-3.9127181759569794e+02" hdg="2.7460921506308971e+00" length="2.0611834021169408e+01">
+                <line />
+            </geometry>
+            <geometry s="1.0618047910805518e+02" x="6.8694774706500226e+01" y="-3.8337400581472843e+02" hdg="2.7658625762143147e+00" length="8.6644510530238055e+00">
+                <arc curvature="4.0045528986954675e-02" />
+            </geometry>
+            <geometry s="1.1484493016107899e+02" x="6.0249077290739777e+01" y="-3.8165706212296755e+02" hdg="3.1351604072552952e+00" length="4.5908102618573041e+00">
+                <arc curvature="5.6766032408896355e-02" />
+            </geometry>
+            <geometry s="1.1943574042293631e+02" x="5.5799685035936839e+01" y="-3.8212659525366945e+02" hdg="3.4684000793174339e+00" length="1.1615627780744944e+01">
+                <line />
+            </geometry>
+            <geometry s="1.3105136820368125e+02" x="4.4797143781495635e+01" y="-3.8584895613955734e+02" hdg="3.3980800094438894e+00" length="6.5881800395458523e+00">
+                <arc curvature="-4.9987530011352886e-02" />
+            </geometry>
+            <geometry s="1.3763954824322710e+02" x="3.8261355821353504e+01" y="-3.8648743744026507e+02" hdg="3.0131340205164578e+00" length="1.1503159721639873e+01">
+                <arc curvature="-3.2532678530869295e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.9233831660125067e+00" b="-1.2173138741207532e-03" c="2.7378764954176246e-05" d="-7.3877245759313192e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="110" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="32" t="0" id="111" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="102" t="0" id="112" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="146" t="0" id="113" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="1.4536314060110282e+00" id="10160" junction="800025">
+        <link>
+            <predecessor elementType="road" elementId="10149" contactPoint="end" />
+            <successor elementType="road" elementId="10212" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.6342170879527345e+02" y="-4.3208231864372641e+02" hdg="2.8849099154796356e+00" length="1.4536314060110282e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5784596459422415e+00" b="1.8265128759261215e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.0469447303358024e+00" id="10215" junction="800031">
+        <link>
+            <predecessor elementType="road" elementId="10212" contactPoint="end" />
+            <successor elementType="road" elementId="10171" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.7389934877026565e+01" y="-3.8293809976555087e+02" hdg="2.6389054232031040e+00" length="8.0469447303358024e+00">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.3220692486015252e-01" cU="2.4748501306163287e-01" dU="-2.0513303289046728e-02" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="3.0846682240602063e-02" dV="-2.3721096770499888e-03" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7410208201428885e+00" b="-3.4870118708271713e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.4534105880847086e+01" id="10216" junction="800031">
+        <link>
+            <predecessor elementType="road" elementId="10171" contactPoint="end" />
+            <successor elementType="road" elementId="10146" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.0004073012620253e+01" y="-3.7974626377783710e+02" hdg="5.8879788995370186e+00" length="2.2837026228785184e+01">
+                <line />
+            </geometry>
+            <geometry s="2.2837026228785184e+01" x="4.1080755428556721e+01" y="-3.8853848905429453e+02" hdg="5.8879788995370186e+00" length="8.9706803326948457e+00">
+                <arc curvature="1.7522960170165022e-01" />
+            </geometry>
+            <geometry s="3.1807706561480032e+01" x="4.8547251872112049e+01" y="-3.8546273136447155e+02" hdg="1.1767223340483770e+00" length="2.7263993193670530e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5469999999999979e+00" b="3.3532604765142675e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7714918733556392e+01" id="10197" junction="800004">
+        <link>
+            <predecessor elementType="road" elementId="10166" contactPoint="end" />
+            <successor elementType="road" elementId="10003" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.2318564422622143e+02" y="-3.0694604331741715e+02" hdg="1.1066316853590559e+00" length="1.7714918733556392e+01">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.2130670198700606e-01" cU="1.1449912291448298e-01" dU="-4.3098147440850517e-03" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="1.1352140194975772e-02" dV="-4.0297533451966845e-04" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7122205832387301e+00" b="-2.3031887066760423e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="8.3749497927786867e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="5" t="0" id="114" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="1.6036126063576177e+02" id="10219" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10220" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.3289404125460464e+01" y="-1.3046260225876526e+02" hdg="2.2710365212055610e+00" length="6.0472076142131925e-01">
+                <line />
+            </geometry>
+            <geometry s="6.0472076142131925e-01" x="-5.3738814016111277e+01" y="-1.3003375049194392e+02" hdg="2.5243111446148561e+00" length="1.7391477964525304e+00">
+                <line />
+            </geometry>
+            <geometry s="2.3438685578738472e+00" x="-5.5146035065730715e+01" y="-1.2901767410113860e+02" hdg="2.6427633585548604e+00" length="2.0680925225437994e+00">
+                <line />
+            </geometry>
+            <geometry s="4.4119610804176475e+00" x="-5.6976923100650311e+01" y="-1.2804044630005956e+02" hdg="2.7318741741269923e+00" length="4.1682290018158703e+01">
+                <line />
+            </geometry>
+            <geometry s="4.6094251098576351e+01" x="-9.5209295153617859e+01" y="-1.1143625922687352e+02" hdg="2.7112533419956364e+00" length="1.9290096058450708e+01">
+                <line />
+            </geometry>
+            <geometry s="6.5384347157027065e+01" x="-1.1275037489193416e+02" y="-1.0340993645957738e+02" hdg="2.7079223957777625e+00" length="1.4412978108554073e+01">
+                <arc curvature="1.3434469072615947e-02" />
+            </geometry>
+            <geometry s="7.9797325265581151e+01" x="-1.2633912346445824e+02" y="-9.8682640295892838e+01" hdg="2.9200433928705731e+00" length="1.1941129086482780e+01">
+                <arc curvature="2.6615293736566976e-02" />
+            </geometry>
+            <geometry s="9.1738454352063940e+01" x="-1.3814650218667811e+02" y="-9.7873741418931644e+01" hdg="3.2904265226343448e+00" length="1.7268128101585127e+01">
+                <line />
+            </geometry>
+            <geometry s="1.0900658245364906e+02" x="-1.5525859823477680e+02" y="-1.0045215376706506e+02" hdg="3.3299460242121919e+00" length="1.7406803237142611e+01">
+                <arc curvature="-8.1280754479314994e-03" />
+            </geometry>
+            <geometry s="1.2641338569079167e+02" x="-1.7253145725652575e+02" y="-1.0247760017123073e+02" hdg="3.1604316277953348e+00" length="5.9378074218691719e+00">
+                <line />
+            </geometry>
+            <geometry s="1.3235119311266084e+02" x="-1.7846821102499962e+02" y="-1.0258945575542748e+02" hdg="3.0653212500754576e+00" length="2.8010067523100957e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7309853026291924e+00" b="1.9618639021131139e-04" c="-1.0864811799983306e-05" d="4.5269463408440510e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="160.361" />
+        </userData>
+    </road>
+    <road name="" length="4.2174931579766097e+00" id="10220" junction="800001">
+        <link>
+            <predecessor elementType="road" elementId="10002" contactPoint="start" />
+            <successor elementType="road" elementId="10219" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.1627865149781179e+01" y="-1.3423039616258293e+02" hdg="1.1751832746138389e+00" length="4.2174931579766097e+00">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="6.1390620907296034e-01" cU="1.2070991877019586e-01" dU="-2.5324525455306206e-02" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="3.7403542712636856e-01" dV="-4.8893179485837948e-02" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6434768721263806e+00" b="9.2768178226855746e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="-3.5566151356120801e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="4.217" />
+        </userData>
+    </road>
+    <road name="" length="2.3175162304377452e+01" id="10225" junction="800005">
+        <link>
+            <predecessor elementType="road" elementId="10161" contactPoint="end" />
+            <successor elementType="road" elementId="10111" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1839962286393754e+02" y="-3.2201058938531992e+02" hdg="2.7463862459472246e+00" length="8.1814106534074682e-01">
+                <line />
+            </geometry>
+            <geometry s="8.1814106534074682e-01" x="-1.1915469925754819e+02" y="-3.2169560614352946e+02" hdg="2.7463862459472246e+00" length="1.4442151043052281e+01">
+                <arc curvature="-1.0796245283973738e-01" />
+            </geometry>
+            <geometry s="1.5260292108393028e+01" x="-1.2417790004536047e+02" y="-3.0968034525326613e+02" hdg="1.1871761950573287e+00" length="7.9148701959844239e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-3.5441332649173374e+00" b="3.5144402937433331e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="100" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="23.175" />
+        </userData>
+    </road>
+    <road name="" length="4.8999999999999943e+01" id="10147" junction="800034">
+        <link>
+            <predecessor elementType="road" elementId="10180" contactPoint="end" />
+            <successor elementType="road" elementId="10218" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.9533167496843765e+02" y="-4.2094809239300491e+02" hdg="4.3200799804760255e+00" length="4.8999999999999943e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5735391362717914e+00" b="9.3843454912822513e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="49" mode="All" />
+        </userData>
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="49" />
+        </userData>
+    </road>
+    <road name="" length="1.8354883594820336e+01" id="10218" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800034" contactPoint="start" />
+            <successor elementType="road" elementId="10196" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.7659784724925953e+02" y="-4.6622550065571522e+02" hdg="4.3200799804760255e+00" length="2.4187110760383717e+00">
+                <line />
+            </geometry>
+            <geometry s="2.4187110760383717e+00" x="2.7567311833903563e+02" y="-4.6846045920386479e+02" hdg="4.3200799804760255e+00" length="1.5426671413889206e+01">
+                <arc curvature="-1.0211843498782153e-01" />
+            </geometry>
+            <geometry s="1.7845382489927577e+01" x="2.6283945873328076e+02" y="-4.7374800720870047e+02" hdg="2.7447324386182959e+00" length="5.0950110489275935e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5275558433645084e+00" b="3.2353802649783957e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="18.355" />
+        </userData>
+    </road>
+    <road name="" length="5.4272833331488862e+01" id="10092" junction="800001">
+        <link>
+            <predecessor elementType="road" elementId="10203" contactPoint="end" />
+            <successor elementType="road" elementId="10002" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-9.4710899025770772e+01" y="-1.0938841433138948e+02" hdg="5.9250813629588999e+00" length="4.2129505515283412e+01">
+                <line />
+            </geometry>
+            <geometry s="4.2129505515283412e+01" x="-5.5253959893817772e+01" y="-1.2415476761511026e+02" hdg="5.9250813629588999e+00" length="1.1206051650216834e+01">
+                <arc curvature="-1.4352115133470295e-01" />
+            </geometry>
+            <geometry s="5.3335557165500248e+01" x="-5.1266663320657841e+01" y="-1.3336551475454581e+02" hdg="4.3167759282036320e+00" length="9.3727616598861530e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7003591387525634e+00" b="-7.2653618603067058e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="2.7638136944836939e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="54.273" />
+        </userData>
+    </road>
+    <road name="" length="3.4999999999999993e+01" id="10180" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800018" contactPoint="start" />
+            <successor elementType="junction" elementId="800034" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.0871298048213635e+02" y="-3.8860708649106891e+02" hdg="4.3200799804760246e+00" length="7.0000000000000000e+00">
+                <line />
+            </geometry>
+            <geometry s="7.0000000000000000e+00" x="3.0603671937939663e+02" y="-3.9507528767145612e+02" hdg="4.3200799804760219e+00" length="2.9999999999999947e+00">
+                <line />
+            </geometry>
+            <geometry s="9.9999999999999947e+00" x="3.0488975033536531e+02" y="-3.9784737389162206e+02" hdg="4.3200799804760255e+00" length="2.5000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5932462618034844e+00" b="9.3843454912823868e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+            <elevation s="7.0000000000000000e+00" a="-5.5866772199595864e+00" b="-3.4409266801371115e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+            <elevation s="9.9999999999999947e+00" a="-5.5969999999999978e+00" b="9.3843454912823868e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="35" mode="All" />
+        </userData>
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="35" />
+        </userData>
+    </road>
+    <road name="" length="2.2656515209473675e+01" id="10104" junction="800018">
+        <link>
+            <predecessor elementType="junction" elementId="800016" contactPoint="start" />
+            <successor elementType="road" elementId="10180" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.0290016217869237e+02" y="-3.7081642071481946e+02" hdg="5.8883993852497101e+00" length="3.5167617208618740e+00">
+                <line />
+            </geometry>
+            <geometry s="3.5167617208618740e+00" x="3.0614641079764340e+02" y="-3.7216900450345435e+02" hdg="5.8883993852497101e+00" length="1.3609460604699022e+01">
+                <arc curvature="-1.1523744036058139e-01" />
+            </geometry>
+            <geometry s="1.7126222325560896e+01" x="3.1082733872956123e+02" y="-3.8349693692541013e+02" hdg="4.3200799804760246e+00" length="5.5302928839127805e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8757356142291446e+00" b="5.6605763974214164e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4044031612043648e+00" b="-1.7849309898958613e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="41" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="22" t="0" id="42" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="22.657" />
+        </userData>
+    </road>
+    <road name="" length="1.8517272938520975e+01" id="10151" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800018" contactPoint="start" />
+            <successor elementType="road" elementId="10045" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.2877558508777543e+02" y="-3.8151513508973852e+02" hdg="5.8911209547225596e+00" length="1.8517272938520975e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7539111265960798e+00" b="7.4684851458154495e-04" c="-9.9839561809662760e-05" d="1.0312733585097437e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3891016308353423e+00" b="-7.3284604073208118e-03" c="6.9075407443058796e-05" d="2.1275274559243509e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4003641434031415e+00" b="-6.3702417563536463e-05" c="2.2890271318323935e-06" d="-2.0989105233597708e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.6315698179438350e+01" id="10191" junction="800018">
+        <link>
+            <predecessor elementType="road" elementId="10180" contactPoint="start" />
+            <successor elementType="road" elementId="10151" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.0871298048213635e+02" y="-3.8860708649106891e+02" hdg="1.1784873268862315e+00" length="5.5240195477439498e+00">
+                <line />
+            </geometry>
+            <geometry s="5.5240195477439498e+00" x="3.1082494028876516e+02" y="-3.8350273366832619e+02" hdg="1.1784873268862315e+00" length="1.3660341950028824e+01">
+                <arc curvature="-1.1497162260568039e-01" />
+            </geometry>
+            <geometry s="1.9184361497772773e+01" x="3.2218535821116279e+02" y="-3.7879027315157697e+02" hdg="5.8911209547225596e+00" length="7.1313366816655783e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5932462618034844e+00" b="-4.4105417871811423e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="1.5213890229063510e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.2999999999999993e+01" id="10055" junction="800030">
+        <link>
+            <predecessor elementType="junction" elementId="800033" contactPoint="start" />
+            <successor elementType="road" elementId="10171" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1101628592513065e+02" y="-3.2509057893855703e+02" hdg="5.8879788995370186e+00" length="4.0000000000000000e+01">
+                <line />
+            </geometry>
+            <geometry s="4.0000000000000000e+01" x="-7.4099601231096131e+01" y="-3.4049052670474242e+02" hdg="5.8879788995370106e+00" length="2.9999999999999960e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5665735133964436e+00" b="2.3027662819347645e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+            <elevation s="4.0000000000000000e+01" a="-5.5573624482687043e+00" b="-4.1421622011848010e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="43" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="4.6641738965072195e+00" id="10099" junction="800033">
+        <link>
+            <predecessor elementType="road" elementId="10101" contactPoint="end" />
+            <successor elementType="road" elementId="10055" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1543727263561726e+02" y="-3.2360544254564030e+02" hdg="5.8793522343886844e+00" length="4.6641738965072195e+00">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0256181755796241e-01" cU="4.4649543892810289e-01" dU="-6.3819325166853291e-02" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="5.0675903322497676e-02" dV="-7.2032911484824873e-03" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-4.6222994250470348e+00" b="-2.0245259059841900e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3980357558674235e+00" b="-8.5338961346508480e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.0000000000000036e+00" id="10161" junction="800033">
+        <link>
+            <predecessor elementType="road" elementId="10055" contactPoint="start" />
+            <successor elementType="road" elementId="10225" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1101628592513065e+02" y="-3.2509057893855703e+02" hdg="2.7463862459472206e+00" length="8.0000000000000036e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5665735133964436e+00" b="2.5280503105988816e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="43" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="8" />
+        </userData>
+    </road>
+    <road name="" length="1.3164738248792563e+01" id="10233" junction="800034">
+        <link>
+            <predecessor elementType="road" elementId="10180" contactPoint="end" />
+            <successor elementType="road" elementId="10194" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.9533167496843765e+02" y="-4.2094809239300491e+02" hdg="4.3200799804760255e+00" length="8.6260913543865616e+00">
+                <line />
+            </geometry>
+            <geometry s="8.6260913543865616e+00" x="2.9203372171694843e+02" y="-4.2891884871880075e+02" hdg="4.3200799804760255e+00" length="7.8375003806338417e-01">
+                <arc curvature="8.9626886676413620e-01" />
+            </geometry>
+            <geometry s="9.4098413924499464e+00" x="2.9200218924199027e+02" y="-4.2968593622452511e+02" hdg="5.0225307389174434e+00" length="3.7548968563426164e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5604010525839964e+00" b="2.0885482765053742e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="13.165" />
+        </userData>
+    </road>
+    <road name="" length="3.4624705015059782e+00" id="10012" junction="800002">
+        <link>
+            <predecessor elementType="road" elementId="10002" contactPoint="end" />
+            <successor elementType="road" elementId="10224" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.8380793938645922e+01" y="-1.9828907154689179e+02" hdg="4.3167759282036320e+00" length="3.4624705015059782e+00">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.7604619994804783e-01" cU="5.2742083686047192e-01" dU="-1.0188628487248182e-01" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="1.3896850677918901e-01" dV="-2.4126711812704604e-02" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6915811280888509e+00" b="1.1428302842862390e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.4945573299369421e+00" b="-3.1612033357710106e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="3.462" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="9.9391487078128264e+00" id="10145" junction="800003">
+        <link>
+            <predecessor elementType="road" elementId="10224" contactPoint="end" />
+            <successor elementType="road" elementId="10221" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.4629609569877786e+01" y="-2.1708067590775647e+02" hdg="5.8900548234787999e+00" length="9.9391487078128264e+00">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0078659020864790e-01" cU="2.1053588902174114e-01" dU="-1.4121661664813920e-02" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="-1.7254205704124656e-02" dV="1.1546135864022792e-03" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7699015258972035e+00" b="-4.0052478569359246e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="3.4721006307395702e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="9.939" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="7.0833714520053320e+01" id="10204" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10217" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.2442706595310082e+02" y="-1.9550872302970231e+02" hdg="2.7616678649535125e+00" length="1.0459443921210529e+01">
+                <arc curvature="1.5833400902053334e-03" />
+            </geometry>
+            <geometry s="1.0459443921210521e+01" x="-1.3416428318247199e+02" y="-1.9168923191167414e+02" hdg="2.7432207021605803e+00" length="6.0374270598842799e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7142102767982359e+00" b="4.4062238543266679e-04" c="-2.0974480735273515e-05" d="8.2302349949829845e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.2258567206315490e+01" id="10193" junction="800036">
+        <link>
+            <predecessor elementType="road" elementId="10226" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1766869298433127e+02" y="-1.9840266203250292e+02" hdg="2.7624223137565846e+00" length="1.1996206404203456e+00">
+                <line />
+            </geometry>
+            <geometry s="1.1996206404203491e+00" x="-1.1877783593962485e+02" y="-1.9791900161618389e+02" hdg="2.8141021275265192e+00" length="1.1761871580561582e+01">
+                <arc curvature="-3.7521455679368106e-02" />
+            </geometry>
+            <geometry s="1.2961492220981938e+01" x="-1.2871983457356691e+02" y="-1.9182350267749280e+02" hdg="2.2845766777137806e+00" length="3.1471930113738864e+00">
+                <line />
+            </geometry>
+            <geometry s="1.6108685232355825e+01" x="-1.3078028918802738e+02" y="-1.8944456370547414e+02" hdg="2.1402511650703477e+00" length="9.6255063834372638e+00">
+                <line />
+            </geometry>
+            <geometry s="2.5734191615793094e+01" x="-1.3595258126439393e+02" y="-1.8132637379741095e+02" hdg="2.1570389686384619e+00" length="1.7397684019347469e+01">
+                <arc curvature="3.0608728864786761e-02" />
+            </geometry>
+            <geometry s="4.3131875635140560e+01" x="-1.4885338957135724e+02" y="-1.6992192657926358e+02" hdg="2.6372814622736365e+00" length="3.9126691571174945e+01">
+                <arc curvature="1.0661750185900017e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.8230849677573207e+00" b="6.8450656768383432e-03" c="1.1141585061742493e-04" d="-2.2644946441359773e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.3519726423077172e+00" id="10217" junction="800036">
+        <link>
+            <predecessor elementType="road" elementId="10226" contactPoint="end" />
+            <successor elementType="road" elementId="10204" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1766869298433127e+02" y="-1.9840266203250292e+02" hdg="2.7624223137565846e+00" length="7.3519726423077172e+00">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0022351964297050e-01" cU="2.8541089660154711e-01" dU="-2.5880664169865449e-02" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="-1.0335838449545050e-02" dV="9.3584263719508629e-04" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.8230849677573207e+00" b="1.4808908609446345e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.3000000000000000e+01" id="10226" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10227" contactPoint="end" />
+            <successor elementType="junction" elementId="800036" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-8.7042242760991911e+01" y="-2.2089219275212645e+02" hdg="1.1817414413477303e+00" length="3.2678100939537593e+00">
+                <line />
+            </geometry>
+            <geometry s="3.2678100939537593e+00" x="-8.5807217779302022e+01" y="-2.1786747680842709e+02" hdg="1.3277900554038746e+00" length="4.9335607385251130e+00">
+                <arc curvature="1.5484678629206192e-01" />
+            </geometry>
+            <geometry s="8.2013708324788723e+00" x="-8.6427485401373616e+01" y="-2.1307127302534835e+02" hdg="2.2643119846545590e+00" length="2.1413529055776963e+00">
+                <line />
+            </geometry>
+            <geometry s="1.0342723738056570e+01" x="-8.7791045692684520e+01" y="-2.1141398427882314e+02" hdg="2.5438008354070916e+00" length="3.3920496853763762e+00">
+                <line />
+            </geometry>
+            <geometry s="1.3734773423432948e+01" x="-9.0613463300918525e+01" y="-2.0951737465553572e+02" hdg="2.6998814526612280e+00" length="4.6987763198765613e+00">
+                <line />
+            </geometry>
+            <geometry s="1.8433549743309509e+01" x="-9.4847147233247895e+01" y="-2.0749593029785487e+02" hdg="2.7624223137565846e+00" length="2.4566450256690491e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7313717083984317e+00" b="-1.5297849267282469e-02" c="4.0353565971096598e-04" d="-2.2644946441359773e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.7968596698923740e+00" id="10227" junction="800002">
+        <link>
+            <predecessor elementType="road" elementId="10003" contactPoint="start" />
+            <successor elementType="road" elementId="10226" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-9.1480796761279606e+01" y="-2.2962486122342838e+02" hdg="1.1782917131352182e+00" length="9.7968596698923740e+00">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0100637644021566e-01" cU="2.1309267678707594e-01" dU="-1.4500753328326559e-02" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="-2.3884480736645498e-02" dV="1.6289217505434154e-03" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7434062138484387e+00" b="4.0952250421425934e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="-1.5311028743320548e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <junction name="" id="800000">
+        <connection id="0" incomingRoad="10001" connectingRoad="10017" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10001" connectingRoad="10075" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10001" connectingRoad="10207" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10199" connectingRoad="10075" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10199" connectingRoad="10206" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10201" connectingRoad="10208" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10201" connectingRoad="10207" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800001">
+        <connection id="0" incomingRoad="10001" connectingRoad="10018" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10001" connectingRoad="10035" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10002" connectingRoad="10037" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10002" connectingRoad="10018" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10002" connectingRoad="10220" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10002" connectingRoad="10092" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10033" connectingRoad="10035" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10033" connectingRoad="10037" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="8" incomingRoad="10203" connectingRoad="10190" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="9" incomingRoad="10203" connectingRoad="10092" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800002">
+        <connection id="0" incomingRoad="10002" connectingRoad="10019" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10002" connectingRoad="10020" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10002" connectingRoad="10012" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10003" connectingRoad="10042" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10003" connectingRoad="10019" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10003" connectingRoad="10227" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10222" connectingRoad="10042" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10222" connectingRoad="10020" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="8" incomingRoad="10223" connectingRoad="10042" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="9" incomingRoad="10223" connectingRoad="10020" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800003">
+        <connection id="0" incomingRoad="10020" connectingRoad="10222" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10020" connectingRoad="10223" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10042" connectingRoad="10222" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10042" connectingRoad="10223" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10221" connectingRoad="10222" contactPoint="start">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+        <connection id="5" incomingRoad="10221" connectingRoad="10223" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10221" connectingRoad="10145" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800004">
+        <connection id="0" incomingRoad="10003" connectingRoad="10111" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10003" connectingRoad="10197" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10003" connectingRoad="10095" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10166" connectingRoad="10097" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10166" connectingRoad="10197" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800005">
+        <connection id="0" incomingRoad="10111" connectingRoad="10097" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10111" connectingRoad="10225" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800006">
+        <connection id="0" incomingRoad="10013" connectingRoad="10021" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10013" connectingRoad="10048" contactPoint="start">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+        <connection id="2" incomingRoad="10221" connectingRoad="10021" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10221" connectingRoad="10047" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10028" connectingRoad="10047" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10028" connectingRoad="10048" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800007">
+        <connection id="0" incomingRoad="10013" connectingRoad="10022" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10013" connectingRoad="10039" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10014" connectingRoad="10022" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10014" connectingRoad="10038" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10033" connectingRoad="10038" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10033" connectingRoad="10039" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800008">
+        <connection id="0" incomingRoad="10016" connectingRoad="10024" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10016" connectingRoad="10084" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10015" connectingRoad="10024" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10015" connectingRoad="10085" contactPoint="end">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+        <connection id="4" incomingRoad="10066" connectingRoad="10084" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10066" connectingRoad="10085" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800009">
+        <connection id="0" incomingRoad="10016" connectingRoad="10073" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10016" connectingRoad="10025" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10016" connectingRoad="10026" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10016" connectingRoad="10175" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10157" connectingRoad="10025" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10157" connectingRoad="10175" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10157" connectingRoad="10000" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10170" connectingRoad="10027" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="8" incomingRoad="10170" connectingRoad="10073" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800010">
+        <connection id="0" incomingRoad="10028" connectingRoad="10049" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10028" connectingRoad="10082" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10029" connectingRoad="10049" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10029" connectingRoad="10083" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10057" connectingRoad="10082" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10057" connectingRoad="10083" contactPoint="start">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+    </junction>
+    <junction name="" id="800011">
+        <connection id="0" incomingRoad="10029" connectingRoad="10090" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10029" connectingRoad="10050" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10029" connectingRoad="10186" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10062" connectingRoad="10090" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10062" connectingRoad="10051" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10062" connectingRoad="10179" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10030" connectingRoad="10050" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10030" connectingRoad="10051" contactPoint="start">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+        <connection id="8" incomingRoad="10030" connectingRoad="10185" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="9" incomingRoad="10178" connectingRoad="10179" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="10" incomingRoad="10178" connectingRoad="10185" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="11" incomingRoad="10178" connectingRoad="10186" contactPoint="end">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+    </junction>
+    <junction name="" id="800012">
+        <connection id="0" incomingRoad="10057" connectingRoad="10076" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10057" connectingRoad="10122" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10058" connectingRoad="10076" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10058" connectingRoad="10123" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10114" connectingRoad="10122" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10114" connectingRoad="10123" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800013">
+        <connection id="0" incomingRoad="10059" connectingRoad="10087" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10059" connectingRoad="10088" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10066" connectingRoad="10086" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10066" connectingRoad="10088" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10067" connectingRoad="10086" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10067" connectingRoad="10087" contactPoint="end">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+    </junction>
+    <junction name="" id="800014">
+        <connection id="0" incomingRoad="10060" connectingRoad="10089" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10060" connectingRoad="10069" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10067" connectingRoad="10089" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10067" connectingRoad="10054" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10031" connectingRoad="10054" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10031" connectingRoad="10069" contactPoint="end">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+    </junction>
+    <junction name="" id="800015">
+        <connection id="0" incomingRoad="10061" connectingRoad="10078" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10061" connectingRoad="10139" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10061" connectingRoad="10128" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10062" connectingRoad="10078" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10062" connectingRoad="10126" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10062" connectingRoad="10137" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10114" connectingRoad="10126" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10114" connectingRoad="10128" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="8" incomingRoad="10114" connectingRoad="10127" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="9" incomingRoad="10117" connectingRoad="10127" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="10" incomingRoad="10117" connectingRoad="10137" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="11" incomingRoad="10117" connectingRoad="10139" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800016">
+        <connection id="0" incomingRoad="10063" connectingRoad="10052" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10063" connectingRoad="10056" contactPoint="start">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+        <connection id="2" incomingRoad="10030" connectingRoad="10052" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10030" connectingRoad="10091" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10044" connectingRoad="10091" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10044" connectingRoad="10056" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10104" connectingRoad="10091" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10104" connectingRoad="10056" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800017">
+        <connection id="0" incomingRoad="10063" connectingRoad="10080" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10063" connectingRoad="10142" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10063" connectingRoad="10143" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10064" connectingRoad="10080" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10064" connectingRoad="10144" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10064" connectingRoad="10141" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10118" connectingRoad="10143" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10118" connectingRoad="10144" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="8" incomingRoad="10118" connectingRoad="10131" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="9" incomingRoad="10117" connectingRoad="10142" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="10" incomingRoad="10117" connectingRoad="10141" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="11" incomingRoad="10117" connectingRoad="10131" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800018">
+        <connection id="0" incomingRoad="10056" connectingRoad="10044" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10056" connectingRoad="10104" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10091" connectingRoad="10044" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10091" connectingRoad="10104" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10151" connectingRoad="10044" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10151" connectingRoad="10191" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10180" connectingRoad="10191" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10180" connectingRoad="10104" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800019">
+        <connection id="0" incomingRoad="10064" connectingRoad="10081" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10064" connectingRoad="10148" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10065" connectingRoad="10081" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10065" connectingRoad="10189" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10065" connectingRoad="10077" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800020">
+        <connection id="0" incomingRoad="10065" connectingRoad="10112" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10065" connectingRoad="10121" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10065" connectingRoad="10115" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10124" connectingRoad="10138" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10124" connectingRoad="10121" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10096" connectingRoad="10138" contactPoint="end">
+            <laneLink from="-1" to="1" />
+        </connection>
+        <connection id="6" incomingRoad="10096" connectingRoad="10121" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800021">
+        <connection id="0" incomingRoad="10121" connectingRoad="10124" contactPoint="start">
+            <laneLink from="-1" to="1" />
+        </connection>
+        <connection id="1" incomingRoad="10121" connectingRoad="10096" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10138" connectingRoad="10124" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10138" connectingRoad="10096" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800022">
+        <connection id="0" incomingRoad="10105" connectingRoad="10109" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10105" connectingRoad="10133" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10106" connectingRoad="10109" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10106" connectingRoad="10134" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10116" connectingRoad="10133" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10116" connectingRoad="10134" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800023">
+        <connection id="0" incomingRoad="10106" connectingRoad="10108" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10106" connectingRoad="10136" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10107" connectingRoad="10108" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10107" connectingRoad="10135" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10119" connectingRoad="10136" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10119" connectingRoad="10135" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800024">
+        <connection id="0" incomingRoad="10031" connectingRoad="10070" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10031" connectingRoad="10071" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10124" connectingRoad="10070" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10124" connectingRoad="10072" contactPoint="end">
+            <laneLink from="-1" to="1" />
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10043" connectingRoad="10071" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10043" connectingRoad="10072" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800025">
+        <connection id="0" incomingRoad="10149" connectingRoad="10158" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10149" connectingRoad="10198" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10149" connectingRoad="10160" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10110" connectingRoad="10177" contactPoint="start">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+        <connection id="4" incomingRoad="10110" connectingRoad="10198" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10110" connectingRoad="10214" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10178" connectingRoad="10177" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10178" connectingRoad="10181" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800026">
+        <connection id="0" incomingRoad="10110" connectingRoad="10103" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10110" connectingRoad="10209" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10110" connectingRoad="10176" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10110" connectingRoad="10172" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10183" connectingRoad="10140" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10183" connectingRoad="10209" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10184" connectingRoad="10113" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10184" connectingRoad="10094" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="8" incomingRoad="10184" connectingRoad="10172" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="9" incomingRoad="10094" connectingRoad="10113" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="10" incomingRoad="10094" connectingRoad="10172" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800027">
+        <connection id="0" incomingRoad="10172" connectingRoad="10184" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10172" connectingRoad="10094" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10113" connectingRoad="10184" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10113" connectingRoad="10094" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800028">
+        <connection id="0" incomingRoad="10154" connectingRoad="10156" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10154" connectingRoad="10155" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800029">
+        <connection id="0" incomingRoad="10155" connectingRoad="10102" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10155" connectingRoad="10174" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800030">
+        <connection id="0" incomingRoad="10171" connectingRoad="10162" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10171" connectingRoad="10055" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800031">
+        <connection id="0" incomingRoad="10171" connectingRoad="10098" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10171" connectingRoad="10215" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10171" connectingRoad="10216" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800032">
+        <connection id="0" incomingRoad="10163" connectingRoad="10159" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10163" connectingRoad="10181" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800033">
+        <connection id="0" incomingRoad="10055" connectingRoad="10161" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10055" connectingRoad="10099" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800034">
+        <connection id="0" incomingRoad="10218" connectingRoad="10195" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10218" connectingRoad="10147" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10180" connectingRoad="10147" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10180" connectingRoad="10233" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800035">
+        <connection id="0" incomingRoad="10036" connectingRoad="10153" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10036" connectingRoad="10183" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800036">
+        <connection id="0" incomingRoad="10226" connectingRoad="10193" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10226" connectingRoad="10217" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+</OpenDRIVE>

map/map_0922_jiudian.xodr

@@ -0,0 +1,11345 @@
+<?xml version="1.0" ?>
+<OpenDRIVE>
+    <header revMajor="1" revMinor="1" name="adcmap" version="1.1" date="2021-07-21" north="0.0000000000000000e+00" south="0.0000000000000000e+00" east="0.0000000000000000e+00" west="0.0000000000000000e+00" lat0="3.9067764300000000e+01" lon0="1.1735483680000000e+02" hdg0="3.6000000000000000e+02" vendor="adc" />
+    <road name="" length="1.6219042379150739e+01" id="10001" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800000" contactPoint="start" />
+            <successor elementType="junction" elementId="800001" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.7371139847523338e+01" y="-1.0027933610548020e+02" hdg="4.3154417225422357e+00" length="1.6219042379150739e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6856575444237070e+00" b="1.9499245903697770e-03" c="-1.6537192373956361e-04" d="2.4989411196293447e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.9562315399664305e+00" b="-1.6248351744922767e-02" c="7.2512653662643110e-04" d="-9.1794809710303353e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.8967604394936961e+00" b="7.3207595250667867e-04" c="-2.9728632736727824e-05" d="3.7145135259947416e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="5" t="0" id="69" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="6" t="0" id="70" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="16.219" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="6.9420696415221343e+01" id="10002" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800001" contactPoint="start" />
+            <successor elementType="junction" elementId="800002" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.1627865149781179e+01" y="-1.3423039616258293e+02" hdg="4.3167759282036320e+00" length="6.9420696415221343e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6434768721263806e+00" b="-9.6835673349559030e-04" c="5.6006187609479075e-06" d="-2.3526642141263908e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="-3.5538200000000001e-04" c="7.1096599999999996e-06" d="-3.2708599999999997e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="-2.1875599999999999e-04" c="2.6050300000000000e-06" d="-8.4013900000000005e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="6" t="0" id="73" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="7" t="0" id="74" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="0" t="0" id="75" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="0" t="0" id="87" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="5" t="0" id="8" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="69.421" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="6.5855973388251115e+01" id="10003" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800002" contactPoint="start" />
+            <successor elementType="junction" elementId="800004" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-9.1480796761279606e+01" y="-2.2962486122342838e+02" hdg="4.3198843667250113e+00" length="1.6321743083610119e+01">
+                <line />
+            </geometry>
+            <geometry s="1.6321743083610119e+01" x="-9.7723924861968641e+01" y="-2.4470539996731156e+02" hdg="4.3395384970733266e+00" length="2.1884692102230048e+00">
+                <line />
+            </geometry>
+            <geometry s="1.8510212293833124e+01" x="-9.8521121917541606e+01" y="-2.4674350554325210e+02" hdg="4.3284778069423293e+00" length="2.3765123358120736e+01">
+                <line />
+            </geometry>
+            <geometry s="4.2275335651953860e+01" x="-1.0742234391817588e+02" y="-2.6877868957066880e+02" hdg="4.3167390999456314e+00" length="2.3330244714069899e+00">
+                <line />
+            </geometry>
+            <geometry s="4.4608360123360853e+01" x="-1.0832151008514354e+02" y="-2.7093147924649980e+02" hdg="4.3193107965084154e+00" length="2.1247613264890262e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7434062138484387e+00" b="-1.4852546315919600e-03" c="1.1942240042300422e-05" d="-1.0066460227083705e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="-1.8056800000000000e-03" c="3.7336799999999998e-05" d="-2.0796900000000000e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="-9.7848100000000006e-06" c="-6.8588700000000003e-07" d="7.2301900000000002e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="45" t="0" id="12" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="65.856" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="1.0569452238817439e+02" id="10004" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10026" contactPoint="end" />
+            <successor elementType="road" elementId="10011" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.3673442056392764e+00" y="1.3917149468303933e+01" hdg="2.7484464326396099e+00" length="1.2836595436550207e+01">
+                <line />
+            </geometry>
+            <geometry s="1.2836595436550207e+01" x="-1.6224614305540769e+01" y="1.8834804212147144e+01" hdg="2.7267410823044207e+00" length="2.2367937656577559e+00">
+                <line />
+            </geometry>
+            <geometry s="1.5073389202207963e+01" x="-1.8271674624366739e+01" y="1.9736353102209975e+01" hdg="2.7381412137292105e+00" length="2.0906042106359813e+01">
+                <line />
+            </geometry>
+            <geometry s="3.5979431308567776e+01" x="-3.7499201062733640e+01" y="2.7943960769173064e+01" hdg="2.7728049042650116e+00" length="2.3403501008688226e+00">
+                <line />
+            </geometry>
+            <geometry s="3.8319781409436601e+01" x="-3.9682197792437663e+01" y="2.8787621763138205e+01" hdg="2.7425312363158145e+00" length="6.7374740978737790e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6959318111543684e+00" b="-1.4670793262296268e-04" c="8.6569318241781369e-07" d="-6.2991565170928901e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7985551183501998e+00" b="-4.5119083029963662e-05" c="8.5588791556377879e-09" d="9.1048366103748747e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.4987319655672761e+02" id="10005" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10011" contactPoint="end" />
+            <successor elementType="road" elementId="10006" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1082739390066655e+02" y="5.5470435576140325e+01" hdg="2.7227695527866445e+00" length="3.2649553836957530e+00">
+                <line />
+            </geometry>
+            <geometry s="3.2649553836957530e+00" x="-1.1381015331622656e+02" y="5.6798245775834538e+01" hdg="2.6845299383218002e+00" length="1.0045801197283986e+00">
+                <line />
+            </geometry>
+            <geometry s="4.2695355034241516e+00" x="-1.1471161593096053e+02" y="5.7241581282184427e+01" hdg="2.6492013730625334e+00" length="8.0815897757850230e+00">
+                <arc curvature="-3.1286322746283610e-02" />
+            </geometry>
+            <geometry s="1.2351125279209175e+01" x="-1.2127709601110274e+02" y="6.1916980379864981e+01" hdg="2.4733050450177565e+00" length="2.3099689436930615e+00">
+                <line />
+            </geometry>
+            <geometry s="1.4661094222902236e+01" x="-1.2309015341505189e+02" y="6.3348336160518983e+01" hdg="2.4284153083798281e+00" length="5.9191855135359459e+00">
+                <arc curvature="1.4013979401305688e-02" />
+            </geometry>
+            <geometry s="2.0580279736438182e+01" x="-1.2772214937285003e+02" y="6.7030901130106997e+01" hdg="2.4895770699154722e+00" length="8.4277361592407118e-01">
+                <line />
+            </geometry>
+            <geometry s="2.1423053352362253e+01" x="-1.2839203841370687e+02" y="6.7542287520850465e+01" hdg="2.5195125954833704e+00" length="3.7610672102004954e+00">
+                <line />
+            </geometry>
+            <geometry s="2.5184120562562747e+01" x="-1.3144853779484797e+02" y="6.9733962244145289e+01" hdg="2.8080146832982931e+00" length="8.9361309278668122e-01">
+                <line />
+            </geometry>
+            <geometry s="2.6077733655349427e+01" x="-1.3229289214063621e+02" y="7.0026554278124820e+01" hdg="2.5121107416842161e+00" length="3.3080919152328576e+01">
+                <arc curvature="1.7778358391826704e-02" />
+            </geometry>
+            <geometry s="5.9158652807678003e+01" x="-1.6308203200513506e+02" y="8.0759394091970080e+01" hdg="3.2151546524981085e+00" length="2.3274603257494642e+00">
+                <line />
+            </geometry>
+            <geometry s="6.1486113133427466e+01" x="-1.6540319779835963e+02" y="8.0588335832005896e+01" hdg="3.2452811661859888e+00" length="4.4100256896390619e+01">
+                <arc curvature="2.1912440203194931e-02" />
+            </geometry>
+            <geometry s="1.0558637002981808e+02" x="-2.0071252019218545e+02" y="5.7106986438766043e+01" hdg="4.2761242981181971e+00" length="2.3446291199167586e+00">
+                <line />
+            </geometry>
+            <geometry s="1.0793099914973484e+02" x="-2.0170325956070045e+02" y="5.4981963800384008e+01" hdg="4.3726958510536749e+00" length="2.0499599534846350e+01">
+                <arc curvature="1.3266063162263184e-02" />
+            </geometry>
+            <geometry s="1.2843059868458118e+02" x="-2.0583781579455763e+02" y="3.4968081273530373e+01" hdg="4.5520419749178700e+00" length="2.3202066628493094e+00">
+                <line />
+            </geometry>
+            <geometry s="1.3075080534743049e+02" x="-2.0620826177755629e+02" y="3.2677638361774989e+01" hdg="4.5219297978642992e+00" length="1.8406053679433157e+01">
+                <arc curvature="4.3425769068336402e-03" />
+            </geometry>
+            <geometry s="1.4915685902686363e+02" x="-2.0908556610537212e+02" y="1.4394169960586346e+01" hdg="4.5616695970530721e+00" length="7.1633752986397270e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7711095026723065e+00" b="1.3804717298431682e-03" c="-1.1948258473245313e-05" d="3.3397462599167079e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9984077484847105e+00" b="-1.7467953927376995e-05" c="2.1703412623815940e-07" d="-7.4539354817012722e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.2389429006811099e+01" id="10006" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10005" contactPoint="end" />
+            <successor elementType="road" elementId="10007" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.0915668926140560e+02" y="1.3709895584391445e+01" hdg="4.5637890503104153e+00" length="4.5314263658871269e+01">
+                <line />
+            </geometry>
+            <geometry s="4.5314263658871269e+01" x="-2.1586563084088465e+02" y="-3.1104974646691879e+01" hdg="4.5560679202234535e+00" length="2.2825165851103617e+00">
+                <line />
+            </geometry>
+            <geometry s="4.7596780243981634e+01" x="-2.1622098486197507e+02" y="-3.3359659875498494e+01" hdg="4.5626349977738219e+00" length="4.4792648762829458e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6414027589604707e+00" b="-2.3024624416874374e-03" c="2.4644738173227130e-05" d="-8.6071448782010596e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9952517782429768e+00" b="-1.8465296382514712e-05" c="4.3818209757924571e-07" d="-1.9565200300083650e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.8551253794668600e+01" id="10007" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10006" contactPoint="end" />
+            <successor elementType="road" elementId="10008" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.2293631456038281e+02" y="-7.7635769037519609e+01" hdg="4.5418608185131610e+00" length="1.7184175278344476e+00">
+                <line />
+            </geometry>
+            <geometry s="1.7184175278344476e+00" x="-2.2322793495314272e+02" y="-7.9329261389582413e+01" hdg="4.5232457487573070e+00" length="8.0037692896054691e-01">
+                <line />
+            </geometry>
+            <geometry s="2.5187944567949945e+00" x="-2.2337841980284867e+02" y="-8.0115364142675986e+01" hdg="4.4935649680157992e+00" length="3.5182615187445609e+00">
+                <arc curvature="-4.9127791348802526e-02" />
+            </geometry>
+            <geometry s="6.0370559755395554e+00" x="-2.2443444030294378e+02" y="-8.3466811415100196e+01" hdg="4.5095722134060523e+00" length="9.8693705274484700e-01">
+                <line />
+            </geometry>
+            <geometry s="7.0239930282844023e+00" x="-2.2463323820265447e+02" y="-8.4433519303322541e+01" hdg="4.2893026796481486e+00" length="4.9540245015607418e+00">
+                <arc curvature="3.9320226276886727e-01" />
+            </geometry>
+            <geometry s="1.1978017529845143e+01" x="-2.2243108071900849e+02" y="-8.8018242075214403e+01" hdg="4.4366541443574115e-01" length="2.3630315956097014e+00">
+                <line />
+            </geometry>
+            <geometry s="1.4341049125454845e+01" x="-2.2029682757683739e+02" y="-8.7003903942744515e+01" hdg="1.2579499322631813e+00" length="6.8193953506107414e+00">
+                <arc curvature="7.5218164217040889e-02" />
+            </geometry>
+            <geometry s="2.1160444476065585e+01" x="-2.1991678501039794e+02" y="-8.0269738860122999e+01" hdg="1.4727830714780874e+00" length="2.3889910703331303e+00">
+                <line />
+            </geometry>
+            <geometry s="2.3549435546398716e+01" x="-2.1968300694060164e+02" y="-7.7892213645069802e+01" hdg="1.5167553398419038e+00" length="4.2774181660603494e+00">
+                <arc curvature="-9.0490689735424727e-03" />
+            </geometry>
+            <geometry s="2.7826853712459066e+01" x="-2.1935416601983110e+02" y="-7.3528089294948543e+01" hdg="1.4906995177593190e+00" length="7.2440008220953322e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6388743141069915e+00" b="6.5075341573295016e-03" c="-1.6433019686162256e-04" d="9.7187854801048041e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9935478037525192e+00" b="3.6570238213599692e-04" c="-9.3738884047327547e-06" d="6.4742074484203276e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.0000000000000000e+01" id="10009" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10008" contactPoint="end" />
+            <successor elementType="road" elementId="10164" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.1411665947670181e+02" y="-3.5626068675323921e+01" hdg="1.4176548078303357e+00" length="1.4955925659005409e+00">
+                <line />
+            </geometry>
+            <geometry s="1.4955925659005409e+00" x="-2.1388851635314455e+02" y="-3.4147979422825784e+01" hdg="1.3145548930801036e+00" length="7.8416369326422120e-01">
+                <line />
+            </geometry>
+            <geometry s="2.2797562591647620e+00" x="-2.1368977280668713e+02" y="-3.3389419141387776e+01" hdg="1.3935243566190576e+00" length="1.0792119942499092e+01">
+                <arc curvature="-1.0888865073221431e-01" />
+            </geometry>
+            <geometry s="1.3071876201663853e+01" x="-2.0663967914476615e+02" y="-2.6043348993659833e+01" hdg="1.1373213043589722e-01" length="2.2874413130235522e+00">
+                <line />
+            </geometry>
+            <geometry s="1.5359317514687405e+01" x="-2.0436701591572017e+02" y="-2.5783753909212464e+01" hdg="6.1496873171148829e+00" length="1.4640682485312595e+01">
+                <arc curvature="4.0943003645852157e-03" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7673031338299872e+00" b="1.4424200167962469e-03" c="2.5190488897680045e-06" d="-6.1917236111958645e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9952357808730197e+00" b="3.0440184736790810e-05" c="-1.9534639552529845e-07" d="3.4764649689718825e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.7120520585876037e+01" id="10008" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10007" contactPoint="end" />
+            <successor elementType="road" elementId="10009" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.1926432711264397e+02" y="-7.2250422533601721e+01" hdg="1.4462385306335368e+00" length="9.5259823806615547e+00">
+                <line />
+            </geometry>
+            <geometry s="9.5259823806615547e+00" x="-2.1808085747431170e+02" y="-6.2798240778481897e+01" hdg="1.4367245333902661e+00" length="2.2246119121077674e+00">
+                <line />
+            </geometry>
+            <geometry s="1.1750594292769321e+01" x="-2.1778349250549090e+02" y="-6.0593592907548768e+01" hdg="1.4257361308197034e+00" length="2.5369926293106719e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6856200230512188e+00" b="6.4560785548130935e-04" c="1.1517796331600567e-05" d="-2.3005168793568882e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0008122054952402e+00" b="2.9209757786282516e-06" c="-8.0833934781456878e-06" d="9.6010364449038232e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.0783591172010087e+00" id="10011" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10004" contactPoint="end" />
+            <successor elementType="road" elementId="10005" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.0176304190893720e+02" y="5.4966325240103885e+01" hdg="3.0860352829345712e+00" length="9.0783591172010087e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7092048102998865e+00" b="-6.8189296736595887e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7949569448141949e+00" b="2.2410526070182877e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="6.7850319509119487e+01" id="10013" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800006" contactPoint="start" />
+            <successor elementType="junction" elementId="800007" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2081568446008575e+01" y="-2.3532719318391497e+02" hdg="1.1771324787525883e+00" length="3.3948737091607335e+01">
+                <line />
+            </geometry>
+            <geometry s="3.3948737091607335e+01" x="2.5103441085669303e+01" y="-2.0397519830206525e+02" hdg="1.1683078442212262e+00" length="2.3400465019781214e+00">
+                <line />
+            </geometry>
+            <geometry s="3.6288783593585457e+01" x="2.6020058778449801e+01" y="-2.0182214706331087e+02" hdg="1.1760444725485764e+00" length="3.1561535915534023e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7868785461080821e+00" b="4.8077468623765581e-03" c="-8.1806965375890226e-05" d="3.9513991741651050e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.4452687747481776e+00" b="-2.1360857618878395e-03" c="4.5662150917027177e-05" d="-2.6708910773012608e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.3974404083379892e+00" b="4.1287545769157078e-04" c="-8.5343725223936052e-06" d="5.0066167064082738e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="67.85" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="1.5081928803303192e+01" id="10014" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800007" contactPoint="start" />
+            <successor elementType="road" elementId="10023" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.6557462809174538e+01" y="-1.5252258205322482e+02" hdg="1.1757868634484134e+00" length="1.5081928803303192e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7136872845190112e+00" b="-1.1846322471244144e-03" c="1.1940519275219436e-04" d="-1.6107315047784644e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3259337948821419e+00" b="1.1972070111631749e-02" c="-4.1844161053151844e-04" d="4.1617129919027174e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3955124582165821e+00" b="2.0341435681318562e-03" c="-1.2078120776258220e-04" d="1.8239010977374858e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="15.082" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="6.9163176930026225e+01" id="10016" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800008" contactPoint="start" />
+            <successor elementType="junction" elementId="800009" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="8.5581875328596112e+01" y="-2.3662147799951914e+01" hdg="2.7446631243850388e+00" length="3.4367004375612332e+01">
+                <line />
+            </geometry>
+            <geometry s="3.4367004375612332e+01" x="5.3886824849823597e+01" y="-1.0376261871590978e+01" hdg="2.7428324910470945e+00" length="2.2417895119172080e+00">
+                <line />
+            </geometry>
+            <geometry s="3.6608793887529544e+01" x="5.1820919190324140e+01" y="-9.5058286336053719e+00" hdg="2.7468164164460735e+00" length="3.2554383042496681e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6258252260722363e+00" b="-6.2990830962438632e-03" c="7.3358231504356820e-05" d="-2.4665055051063978e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.4580630972089690e+00" b="-6.0034639302078473e-04" c="1.4877550163678988e-05" d="-8.5301065215491245e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.3910054818358017e+00" b="4.3479745109413747e-04" c="-6.0573431298208584e-06" d="2.5925529090531376e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="69.163" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.1244308710813787e+01" id="10017" junction="800000">
+        <link>
+            <predecessor elementType="road" elementId="10157" contactPoint="end" />
+            <successor elementType="road" elementId="10001" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.9160206914839051e+01" y="-8.0685938417092430e+01" hdg="4.3155549347403115e+00" length="2.1244308710813787e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7530343704164011e+00" b="3.1715235788490467e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9308006428342255e+00" b="1.1970687057122355e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8968457731089563e+00" b="-4.0167753360108324e-06" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="21" t="0" id="81" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="21.244" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.5834989168536115e+01" id="10021" junction="800006">
+        <link>
+            <predecessor elementType="road" elementId="10221" contactPoint="end" />
+            <successor elementType="road" elementId="10013" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.9823453368002646e+00" y="-2.4175858845200838e+02" hdg="5.8873854384307416e+00" length="9.1259981119152886e+00">
+                <line />
+            </geometry>
+            <geometry s="9.1259981119152886e+00" x="1.4381079264999101e+00" y="-2.4527708363876917e+02" hdg="5.8873854384307416e+00" length="9.4375940850085964e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.8563592196923885e+01" x="9.2924453919979033e+00" y="-2.4204240029228905e+02" hdg="1.1771324787525883e+00" length="7.2713969716122300e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7855376194885411e+00" b="-5.1903510034139293e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3489698298938095e+00" b="3.7274621725658982e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3991602404700814e+00" b="-6.6569880129336157e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="25.835" />
+        </userData>
+    </road>
+    <road name="" length="2.1844756583911796e+01" id="10022" junction="800007">
+        <link>
+            <predecessor elementType="road" elementId="10013" contactPoint="end" />
+            <successor elementType="road" elementId="10014" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.8157967095357002e+01" y="-1.7268794497988495e+02" hdg="1.1761209400873356e+00" length="2.1844756583911796e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7138573354097346e+00" b="7.7845175372041241e-06" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4271199515282973e+00" b="-4.6320569541469210e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4018034185879169e+00" b="-2.8798491515204011e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="21.845" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.8320546049834050e+01" id="10026" junction="800009">
+        <link>
+            <predecessor elementType="road" elementId="10016" contactPoint="end" />
+            <successor elementType="road" elementId="10004" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.1770533118874344e+01" y="3.0146406960328562e+00" hdg="2.7464193198121638e+00" length="2.8320546049834050e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7921805639232149e+00" b="3.3985486225965784e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4006792173072560e+00" b="-2.1261034229267076e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.2797632829766997e+01" id="10015" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10023" contactPoint="end" />
+            <successor elementType="junction" elementId="800008" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="6.0202039540697065e+01" y="-1.1978945179370398e+02" hdg="1.1760147626038535e+00" length="8.2797632829766997e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6567287490432454e+00" b="-1.0862199380062222e-03" c="8.3176292913016312e-06" d="-6.0663473170706920e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4230956114317972e+00" b="-6.4179440338889596e-04" c="1.7656388492610469e-05" d="-1.0595713966781849e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4030374753697572e+00" b="-3.7462942929476119e-05" c="8.3577511014663795e-07" d="-4.0626143705251924e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="82.798" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.0381182947979742e+01" id="10023" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10014" contactPoint="end" />
+            <successor elementType="road" elementId="10015" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="5.2361244250611335e+01" y="-1.3860206850637820e+02" hdg="1.1759053415333600e+00" length="2.0381182947979742e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7099191549597919e+00" b="2.6097801119938859e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4255922517477240e+00" b="-1.2249732129381897e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4049749038217794e+00" b="-9.5059666407351772e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="20.381" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.6649004211036935e+01" id="10024" junction="800008">
+        <link>
+            <predecessor elementType="road" elementId="10015" contactPoint="end" />
+            <successor elementType="road" elementId="10016" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="9.2046552621305267e+01" y="-4.3360563349138189e+01" hdg="1.1760147626038535e+00" length="9.6806507224906007e+00">
+                <line />
+            </geometry>
+            <geometry s="9.6806507224906007e+00" x="9.5769794434207938e+01" y="-3.4424542488961606e+01" hdg="1.1760147626038535e+00" length="9.4118901706871121e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.9092540893177713e+01" x="9.2550841365988006e+01" y="-2.6583389016255410e+01" hdg="2.7446631243850388e+00" length="7.5564633178592224e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6930874624574068e+00" b="2.5240056195913389e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4308561595909945e+00" b="1.0209363697990046e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4033592448716599e+00" b="-4.6357315785712115e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="26.649" />
+        </userData>
+    </road>
+    <road name="" length="2.1105966488922242e+01" id="10027" junction="800009">
+        <link>
+            <predecessor elementType="road" elementId="10170" contactPoint="end" />
+            <successor elementType="road" elementId="10000" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.2175774330178157e+00" y="1.4153527848751079e+01" hdg="5.8875339702506011e+00" length="8.5892523827902778e+00">
+                <line />
+            </geometry>
+            <geometry s="8.5892523827902778e+00" x="2.7081185168812949e+00" y="1.0843150195820634e+01" hdg="5.8875339702506011e+00" length="9.3726180414290923e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.7961870424219370e+01" x="5.9520306157170388e+00" y="3.0424372061791383e+00" hdg="4.3254309633457524e+00" length="3.1440960647028713e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6740326889086443e+00" b="-2.2403407222323242e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4014651488811505e+00" b="7.0223278887741672e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="6.6518779996481584e+01" id="10033" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800001" contactPoint="start" />
+            <successor elementType="junction" elementId="800007" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.3364197436822955e+01" y="-1.2770103037420641e+02" hdg="5.8798634812453692e+00" length="1.5046358481176888e+01">
+                <line />
+            </geometry>
+            <geometry s="1.5046358481176888e+01" x="-1.9525123631421906e+01" y="-1.3360636184269708e+02" hdg="5.9003410344672105e+00" length="2.3263579898314468e+00">
+                <line />
+            </geometry>
+            <geometry s="1.7372716471008335e+01" x="-1.7367180277263827e+01" y="-1.3447539692662500e+02" hdg="5.8893976202410938e+00" length="4.9146063525473252e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7387229869805143e+00" b="5.1447542346203185e-04" c="-6.4083109915045022e-07" d="-6.7436328478316271e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0047472383148013e+00" b="-7.6443927717263587e-04" c="9.6136070945701034e-06" d="-2.5471924445686536e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.9190067230365642e+01" id="10035" junction="800001">
+        <link>
+            <predecessor elementType="road" elementId="10001" contactPoint="end" />
+            <successor elementType="road" elementId="10033" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.3641499002797588e+01" y="-1.1523727485921749e+02" hdg="4.3154417225422357e+00" length="1.4683777784599119e+00">
+                <line />
+            </geometry>
+            <geometry s="1.4683777784599119e+00" x="-4.4209180856715371e+01" y="-1.1659147964912459e+02" hdg="4.3154417225422357e+00" length="9.3865305522188009e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.0854908330678713e+01" x="-4.1030562646505928e+01" y="-1.2442968227979750e+02" hdg="5.8798634812453692e+00" length="8.3351588996869292e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6868721050782076e+00" b="-2.7019645778134536e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9023984868097079e+00" b="-9.8887159993485296e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.4889239815634753e+01" id="10037" junction="800001">
+        <link>
+            <predecessor elementType="road" elementId="10002" contactPoint="start" />
+            <successor elementType="road" elementId="10033" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.1627865149781179e+01" y="-1.3423039616258293e+02" hdg="1.1751832746138389e+00" length="7.1274717706677553e+00">
+                <line />
+            </geometry>
+            <geometry s="7.1274717706677553e+00" x="-4.8881123117912004e+01" y="-1.2765344686583228e+02" hdg="1.1751832746138389e+00" length="9.4710306032883356e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.6598502373956091e+01" x="-4.0989705462577405e+01" y="-1.2444711662673139e+02" hdg="5.8798634812453692e+00" length="8.2907374416786634e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6434768721263806e+00" b="-3.8267988721094907e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9503714520120425e+00" b="-7.8171299248563322e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.2094228764374378e+01" id="10038" junction="800007">
+        <link>
+            <predecessor elementType="road" elementId="10033" contactPoint="end" />
+            <successor elementType="road" elementId="10014" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.8017361200515680e+01" y="-1.5333219821691716e+02" hdg="5.8893976202410938e+00" length="1.0808167294064303e+01">
+                <line />
+            </geometry>
+            <geometry s="1.0808167294064303e+01" x="3.7998297244396269e+01" y="-1.5747917252892424e+02" hdg="5.8893976202410938e+00" length="9.4174473023214365e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.0225614596385739e+01" x="4.5838388453976464e+01" y="-1.5424729970562603e+02" hdg="1.1757868634484134e+00" length="1.8686141679886379e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7271846823214405e+00" b="6.1090151398237799e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9889383377678111e+00" b="1.8401824511944376e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.8206996401513518e+01" id="10039" junction="800007">
+        <link>
+            <predecessor elementType="road" elementId="10033" contactPoint="end" />
+            <successor elementType="road" elementId="10013" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.8017361200515680e+01" y="-1.5333219821691716e+02" hdg="5.8893976202410938e+00" length="1.0798748871476079e+01">
+                <line />
+            </geometry>
+            <geometry s="1.0798748871476079e+01" x="3.7989599685325459e+01" y="-1.5747555878429296e+02" hdg="5.8893976202410938e+00" length="9.4305629646163460e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.0229311836092425e+01" x="4.1226018159013506e+01" y="-1.6532380798386470e+02" hdg="4.3176371261383695e+00" length="7.9776845654210939e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7271846823214405e+00" b="4.7248373141178487e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9889383377678111e+00" b="1.5534500998375509e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.2720613852178168e+01" id="10042" junction="800002">
+        <link>
+            <predecessor elementType="junction" elementId="800003" contactPoint="start" />
+            <successor elementType="road" elementId="10003" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.0445950980940864e+01" y="-2.1524025457957745e+02" hdg="2.7457927848409476e+00" length="7.9133338661656829e+00">
+                <line />
+            </geometry>
+            <geometry s="7.9133338661656829e+00" x="-7.7747492922960177e+01" y="-2.1218929765652240e+02" hdg="2.7457927848409476e+00" length="9.4445494913043824e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.7357883357470065e+01" x="-8.5604494581818372e+01" y="-2.1543040593452443e+02" hdg="4.3198843667250113e+00" length="1.5362730494708101e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7570934541444876e+00" b="4.1830634223073108e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4004390070924404e+00" b="5.4646931059176167e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4321578058075679e+00" b="4.4864593234608938e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.6306275252245911e+01" id="10028" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800006" contactPoint="start" />
+            <successor elementType="junction" elementId="800010" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2538469941908740e+01" y="-2.5400473901870711e+02" hdg="5.9012973352522415e+00" length="1.4101413936268330e+01">
+                <line />
+            </geometry>
+            <geometry s="1.4101413936268330e+01" x="3.5624056000024595e+01" y="-2.5925995666573436e+02" hdg="5.8700925611531769e+00" length="2.2139713631540126e+00">
+                <line />
+            </geometry>
+            <geometry s="1.6315385299422342e+01" x="3.7651796153631679e+01" y="-2.6014874182892936e+02" hdg="5.8880271823361756e+00" length="3.9990889952823565e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8386846816057165e+00" b="-2.8182951112638825e-05" c="-3.8684310251208643e-06" d="2.3350488505955858e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.5287432806730110e+00" b="-1.1647663711624659e-02" c="1.5531807395979626e-04" d="-6.9017251666587601e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.3915649420799356e+00" b="4.8675042995076042e-04" c="-7.1334412950163585e-06" d="3.0874621984442952e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="56.306" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="7.7171992980661628e+01" id="10029" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800010" contactPoint="start" />
+            <successor elementType="junction" elementId="800011" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.0491439644847156e+02" y="-2.8836757628318526e+02" hdg="5.8883300631547142e+00" length="7.7171992980661628e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8676986766580743e+00" b="1.8252125329906218e-03" c="-2.3168210582158548e-05" d="7.7992181202487722e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.4688979211349857e+00" b="-3.0722981459096700e-03" c="2.1268234251686581e-05" d="-3.1058587464505792e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.3977449747254327e+00" b="1.3241087685081305e-05" c="5.1094761020239415e-07" d="-3.1083215191036382e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="77.172" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="3.1960080388226729e+01" id="10047" junction="800006">
+        <link>
+            <predecessor elementType="road" elementId="10221" contactPoint="end" />
+            <successor elementType="road" elementId="10028" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.9823453368002646e+00" y="-2.4175858845200838e+02" hdg="5.8899592886231611e+00" length="3.1960080388226729e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7855376194885411e+00" b="-1.6629201638914985e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3489698298938095e+00" b="5.6249373779868649e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3991602404700814e+00" b="-2.3764953960953220e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="101" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="31" t="0" id="102" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="30" t="0" id="108" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="30.1" t="0" id="109" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="31.96" />
+        </userData>
+    </road>
+    <road name="" length="2.7611725820374204e+01" id="10048" junction="800006">
+        <link>
+            <predecessor elementType="road" elementId="10013" contactPoint="start" />
+            <successor elementType="road" elementId="10028" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2081568446008575e+01" y="-2.3532719318391497e+02" hdg="4.3187251323423812e+00" length="7.3649168642636624e+00">
+                <line />
+            </geometry>
+            <geometry s="7.3649168642636624e+00" x="9.2565735382645649e+00" y="-2.4212876683923443e+02" hdg="4.3187251323423812e+00" length="9.4954332174591620e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.6860350081722824e+01" x="1.2561594352900109e+01" y="-2.4999799049214531e+02" hdg="5.9012973352522415e+00" length="1.0751375738651381e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7868785461080821e+00" b="-1.8762367783402960e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3974404083379892e+00" b="4.7553301517334256e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4452687747481776e+00" b="-1.9449647232341726e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.2951469105159710e+01" id="10049" junction="800010">
+        <link>
+            <predecessor elementType="road" elementId="10028" contactPoint="end" />
+            <successor elementType="road" elementId="10029" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="7.4560816369406126e+01" y="-2.7554340018598288e+02" hdg="5.8834399985327765e+00" length="3.2951469105159710e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8483676482853140e+00" b="-5.8665148770964501e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2421216982961814e+00" b="6.8821278382181330e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4018677358614573e+00" b="-1.2511615560652036e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="103" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="32" t="0" id="104" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="32.951" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="6.8147575050279571e+01" id="10057" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800010" contactPoint="start" />
+            <successor elementType="junction" elementId="800012" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="9.6581238601339251e+01" y="-2.6921817744375124e+02" hdg="1.1777654933734480e+00" length="3.2459705032361640e+01">
+                <line />
+            </geometry>
+            <geometry s="3.2459705032361640e+01" x="1.0901297810794208e+02" y="-2.3923344293387282e+02" hdg="1.1654136763753273e+00" length="2.4401995725468395e+00">
+                <line />
+            </geometry>
+            <geometry s="3.4899904604908478e+01" x="1.0997532065395076e+02" y="-2.3699101773378268e+02" hdg="1.1763284432537688e+00" length="3.3247670445371092e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7179859082861277e+00" b="2.3963631469843811e-03" c="-2.5508460210537265e-05" d="7.0453287292800521e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.5233920888018253e+00" b="-6.4701931345837824e-03" c="7.2735804135514091e-05" d="-2.5736059042922743e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.3960244356847387e+00" b="1.1801779848151626e-04" c="-3.5020985867045980e-07" d="-1.0046331599600754e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.6240406619478300e+01" id="10058" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800012" contactPoint="start" />
+            <successor elementType="road" elementId="10074" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2955398165907883e+02" y="-1.9000120886508540e+02" hdg="1.1761259400671238e+00" length="1.6240406619478300e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7546904870504161e+00" b="-2.2671556210256691e-03" c="3.1002142529624403e-04" d="-6.6565724009925564e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2407336491020220e+00" b="6.7838860435330854e-03" c="-3.7210389253916458e-04" d="4.6029667290181423e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3964738208024055e+00" b="1.1327031496943993e-04" c="1.0330461050811547e-05" d="-2.3101962923980468e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.6747871605263668e+01" id="10059" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10074" contactPoint="end" />
+            <successor elementType="junction" elementId="800013" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.4334198083302101e+02" y="-1.5683709809759969e+02" hdg="1.1733614550918403e+00" length="2.1317718069436893e+01">
+                <line />
+            </geometry>
+            <geometry s="2.1317718069436893e+01" x="1.5159309792389266e+02" y="-1.3718094968442571e+02" hdg="1.1845332077141355e+00" length="2.3379614758290357e+00">
+                <line />
+            </geometry>
+            <geometry s="2.3655679545265929e+01" x="1.5247387696679402e+02" y="-1.3501524145383544e+02" hdg="1.1747935383101282e+00" length="3.1392565535889496e+01">
+                <line />
+            </geometry>
+            <geometry s="5.5048245081155429e+01" x="1.6458304320116832e+02" y="-1.0605213968566486e+02" hdg="1.1706614344614850e+00" length="2.3256129356409296e+00">
+                <line />
+            </geometry>
+            <geometry s="5.7373858016796362e+01" x="1.6548896847078552e+02" y="-1.0391023050638357e+02" hdg="1.1725609419941228e+00" length="2.9374013588467299e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5896148345584464e+00" b="-8.1727498348500797e-03" c="8.8229157930546352e-05" d="-2.6580804756069905e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4509979535488058e+00" b="-4.4545324743471681e-03" c="-7.9845372680666027e-06" d="2.6985083573679469e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4069480314016283e+00" b="-3.0420147171239271e-04" c="4.1512553426140340e-06" d="-1.7072997627407391e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.4500708923430736e+01" id="10060" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10079" contactPoint="end" />
+            <successor elementType="junction" elementId="800014" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.4213971127601656e+02" y="-1.9797574575752819e+02" hdg="1.1745457874902883e+00" length="8.4500708923430736e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7513227435942484e+00" b="-1.2750351584812723e-03" c="2.5536665093184937e-05" d="-1.3502527019412378e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2024561094784816e+00" b="-8.6855167023601691e-03" c="8.8908911180694329e-05" d="-2.7125366065808402e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1079752850351792e+00" b="-2.5603630780927602e-04" c="3.4452466550542516e-06" d="-1.3428425227626201e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.6239160212835245e+01" id="10061" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800015" contactPoint="start" />
+            <successor elementType="road" elementId="10079" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2863075798372736e+02" y="-2.3061311512741105e+02" hdg="1.1801250808327877e+00" length="1.6239160212835245e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7803632895672168e+00" b="5.6277021978167144e-03" c="-2.0660262893180405e-04" d="2.4186185877288394e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1799085905536906e+00" b="-1.8738495210742761e-02" c="5.9360557506700192e-04" d="-6.7205077349799305e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0959949015162276e+00" b="-1.5873411220549856e-05" c="1.0749421060215701e-05" d="-1.8027398349675256e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.0504183058815329e+01" id="10062" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800011" contactPoint="start" />
+            <successor elementType="junction" elementId="800015" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.9412941877973583e+02" y="-3.1370053089456167e+02" hdg="1.1764709281485308e+00" length="7.0504183058815329e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8504560478169916e+00" b="5.9236614704998710e-03" c="-1.1939683870160283e-04" d="5.9664326729787234e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.1559411579419718e+00" b="-5.7474354138776782e-03" c="8.0318940766745551e-05" d="-3.3413423816342104e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0981546393081443e+00" b="8.5557299745465435e-06" c="2.4150658993050763e-06" d="-2.0785408754378311e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="6.9127235926783413e+01" id="10063" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800016" contactPoint="start" />
+            <successor elementType="junction" elementId="800017" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.9549591178644187e+02" y="-3.5572139769145201e+02" hdg="1.1766418154351941e+00" length="3.3927048438038113e+01">
+                <line />
+            </geometry>
+            <geometry s="3.3927048438038113e+01" x="3.0852483708873223e+02" y="-3.2439582154057615e+02" hdg="1.1508198403544341e+00" length="2.5529107788463228e+00">
+                <line />
+            </geometry>
+            <geometry s="3.6479959216884438e+01" x="3.0956575833332670e+02" y="-3.2206476246639943e+02" hdg="1.1790338383335754e+00" length="3.2647276709898968e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9037441403439894e+00" b="1.0486049111214665e-02" c="-1.4754376357083664e-04" d="5.9876110315310240e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.9324918499203330e+00" b="-5.4399319577738761e-03" c="1.0011064708642260e-04" d="-4.7993449463077096e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.8950592857348845e+00" b="3.4490625635526354e-04" c="-5.0975987153656470e-06" d="2.0670902763771745e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="63" t="0" id="36" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="66" t="0" id="86" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="65" t="0" id="88" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="63" t="0" id="89" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="62" t="0" id="90" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="65" t="0" id="97" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="66" t="0" id="98" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="1.8273774337844255e+01" id="10064" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800017" contactPoint="start" />
+            <successor elementType="junction" elementId="800019" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.2910250671235144e+02" y="-2.7489329270449485e+02" hdg="1.1803615058573320e+00" length="1.8273774337844255e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7415491234940568e+00" b="7.6573915832107917e-03" c="-2.2799377154270146e-04" d="1.3335114467614117e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.8370227552466005e+00" b="2.0670961620496624e-02" c="-9.5826452313017819e-04" d="9.7804690357836768e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.8952376769560058e+00" b="8.2424338597347833e-04" c="-3.2956317451674391e-05" d="3.6582607232951967e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.0000000000000000e+01" id="10065" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800019" contactPoint="start" />
+            <successor elementType="junction" elementId="800020" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.4232886126512204e+02" y="-2.4296677787488889e+02" hdg="1.1787349925189550e+00" length="2.1787228183284867e+01">
+                <line />
+            </geometry>
+            <geometry s="2.1787228183284867e+01" x="3.5065363375948652e+02" y="-2.2283269048986955e+02" hdg="1.1910104123954142e+00" length="2.3554085468252297e+00">
+                <line />
+            </geometry>
+            <geometry s="2.4142636730110098e+01" x="3.5152683469576669e+02" y="-2.2064511888022182e+02" hdg="1.1738539524541853e+00" length="1.5857363269889902e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8152104530042479e+00" b="8.8420411505876744e-03" c="-1.4402681670032684e-04" d="5.8780456291928871e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="5.0208868946536587e+00" b="-1.1017460019243305e-02" c="1.1022855558884372e-04" d="-2.8865687926783044e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.9015290970793988e+00" b="-1.2096974704562935e-04" c="2.4318052358812872e-06" d="-1.2220933707258243e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="12" t="0" id="83" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="16" t="0" id="84" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="16" t="0" id="85" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="12" t="0" id="9" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="5.9082758650359239e+01" id="10066" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800013" contactPoint="start" />
+            <successor elementType="junction" elementId="800008" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.7050610430984258e+02" y="-5.9082474551806634e+01" hdg="2.7465595953614428e+00" length="5.9082758650359239e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7576166159823048e+00" b="4.0602593566526650e-03" c="-1.0390087327970777e-04" d="6.3476952319598418e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.2176051725251753e+00" b="-2.8067749811682835e-03" c="2.2500449047132352e-05" d="1.3898716318955751e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.2913956892317340e+00" b="6.5185816541594294e-04" c="-9.1059758599649504e-06" d="3.4556059847201173e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.5659985433595551e+01" id="10067" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800014" contactPoint="start" />
+            <successor elementType="junction" elementId="800013" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.7225181544264780e+02" y="-1.0136383341419696e+02" hdg="2.7472369980448064e+00" length="8.5659985433595551e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7556282004368855e+00" b="1.9313745969172006e-03" c="-4.1230717902295692e-05" d="2.0606001244652257e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.4219863329041629e+00" b="-8.8440395353734432e-03" c="1.2845627958902052e-04" d="-5.4532727001546970e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.3001221501277942e+00" b="1.6211739656933613e-04" c="-2.4063682505584935e-06" d="1.0548343468421751e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7657796746145962e+01" id="10076" junction="800012">
+        <link>
+            <predecessor elementType="road" elementId="10057" contactPoint="end" />
+            <successor elementType="road" elementId="10058" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2275296537343816e+02" y="-2.0629672859937597e+02" hdg="1.1754188600340838e+00" length="1.7657796746145962e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6508458960039221e+00" b="-5.8809483730839418e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3388054736127439e+00" b="-5.5540238638281617e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4021227057399446e+00" b="-3.1990882094460980e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.9461796774611489e+01" id="10078" junction="800015">
+        <link>
+            <predecessor elementType="road" elementId="10062" contactPoint="end" />
+            <successor elementType="road" elementId="10061" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2121609983275735e+02" y="-2.4860712463614846e+02" hdg="1.1799346106332906e+00" length="1.9461796774611489e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8172131129556277e+00" b="1.8934440542757410e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0328731529788788e+00" b="7.5550803082387536e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1034782015169085e+00" b="-3.8451228770629568e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.9083538180361540e+01" id="10079" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10061" contactPoint="end" />
+            <successor elementType="road" elementId="10060" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.3481477912044599e+02" y="-2.1559751633819360e+02" hdg="1.1768503457346753e+00" length="1.9083538180361540e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7330998032717844e+00" b="-9.5490365309808820e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0033709512368847e+00" b="1.0432298055004872e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0977998524896497e+00" b="5.3320471546522538e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.8409904933894314e+01" id="10080" junction="800017">
+        <link>
+            <predecessor elementType="road" elementId="10063" contactPoint="end" />
+            <successor elementType="road" elementId="10064" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.2203107510003770e+02" y="-2.9189092355786369e+02" hdg="1.1765524665358764e+00" length="1.8409904933894314e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6861328981784123e+00" b="-3.0101309873479124e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8762939997948136e+00" b="-2.1331584649256457e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9013706577625227e+00" b="-3.3313484390815848e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="17" t="0" id="25" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="18" t="0" id="33" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="6" t="0" id="34" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="5" t="0" id="35" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="1.6284090126201736e+01" id="10081" junction="800019">
+        <link>
+            <predecessor elementType="road" elementId="10064" contactPoint="end" />
+            <successor elementType="road" elementId="10065" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.3605733251978569e+02" y="-2.5799473576791883e+02" hdg="1.1754451725689148e+00" length="1.6284090126201736e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6696165043681184e+00" b="-8.9408709671695546e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9544473264062345e+00" b="4.0800295093258105e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9015269194983437e+00" b="1.3372445363254945e-07" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="16" t="0" id="29" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="17" t="0" id="30" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="5" t="0" id="31" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="4" t="0" id="32" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="2.9645610576321431e+01" id="10082" junction="800010">
+        <link>
+            <predecessor elementType="road" elementId="10028" contactPoint="end" />
+            <successor elementType="road" elementId="10057" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="7.4560816369406126e+01" y="-2.7554340018598288e+02" hdg="5.8880271823361756e+00" length="1.1906187368312619e+01">
+                <line />
+            </geometry>
+            <geometry s="1.1906187368312619e+01" x="8.5549461803109992e+01" y="-2.8012673621792578e+02" hdg="5.8880271823361756e+00" length="9.4375417093011507e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.1343729077613769e+01" x="9.3401701753924129e+01" y="-2.7688706144694976e+02" hdg="1.1777654933734480e+00" length="8.3018814987076599e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8483676482853140e+00" b="4.3980116268316919e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2421216982961814e+00" b="9.4877583911292581e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4018677358614573e+00" b="-1.9710507097417659e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.6937897602308713e+01" id="10083" junction="800010">
+        <link>
+            <predecessor elementType="road" elementId="10057" contactPoint="start" />
+            <successor elementType="road" elementId="10029" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="9.6581238601339251e+01" y="-2.6921817744375124e+02" hdg="4.3193581469632409e+00" length="8.4813024525887677e+00">
+                <line />
+            </geometry>
+            <geometry s="8.4813024525887677e+00" x="9.3332985338958196e+01" y="-2.7705280200627618e+02" hdg="4.3193581469632409e+00" length="9.4138314971488395e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.7895133949737605e+01" x="9.6567453040612037e+01" y="-2.8488905501370141e+02" hdg="5.8883300631547142e+00" length="9.0427636525711073e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7179859082861277e+00" b="-5.5577005519211508e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.5233920888018253e+00" b="-4.6643251797654781e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3960244356847387e+00" b="2.7052402725000133e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.2932046702370208e+01" id="10084" junction="800008">
+        <link>
+            <predecessor elementType="road" elementId="10066" contactPoint="end" />
+            <successor elementType="road" elementId="10016" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.1597367268858461e+02" y="-3.6345142447766307e+01" hdg="2.7462480655545809e+00" length="3.2932046702370208e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7495018915514038e+00" b="3.7555110557482025e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1589824421842869e+00" b="9.0817512111434125e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3052493749139544e+00" b="2.6040321057748052e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.2494955056087043e+01" id="10085" junction="800008">
+        <link>
+            <predecessor elementType="road" elementId="10066" contactPoint="end" />
+            <successor elementType="road" elementId="10015" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.1597367268858461e+02" y="-3.6345142447766307e+01" hdg="2.7465595953614428e+00" length="1.3386974835995874e+01">
+                <line />
+            </geometry>
+            <geometry s="1.3386974835995874e+01" x="1.0361771121123394e+02" y="-3.1193316438494172e+01" hdg="2.7465595953614428e+00" length="9.4262869249932209e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.2813261760989093e+01" x="9.5770195414476305e+01" y="-3.4423580110415514e+01" hdg="4.3176074161936464e+00" length="9.6816932950979524e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7495018915514038e+00" b="1.7360980803519917e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1589824421842869e+00" b="7.5204536293579398e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3052493749139544e+00" b="3.8654241700054643e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.4521292520014352e+01" id="10086" junction="800013">
+        <link>
+            <predecessor elementType="road" elementId="10067" contactPoint="end" />
+            <successor elementType="road" elementId="10066" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.9316672028870101e+02" y="-6.8452120773026394e+01" hdg="2.7495223288231667e+00" length="2.4521292520014352e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7632052826452984e+00" b="2.2791077013710177e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2642102399783512e+00" b="-1.9005958766299430e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3029821487187991e+00" b="-4.7250606702759477e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.3206519871150423e+01" id="10087" junction="800013">
+        <link>
+            <predecessor elementType="road" elementId="10059" contactPoint="end" />
+            <successor elementType="road" elementId="10067" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.7687998824496489e+02" y="-7.6834829441953957e+01" hdg="1.1725609419941228e+00" length="8.0202072459460236e+00">
+                <line />
+            </geometry>
+            <geometry s="8.0202072459460236e+00" x="1.7999016381073969e+02" y="-6.9442229613883825e+01" hdg="1.1725609419941228e+00" length="9.4014995852346530e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.7421706831180678e+01" x="1.8782592449708309e+02" y="-6.6229518195047078e+01" hdg="5.8888296516345999e+00" length="5.7848130399697446e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8081600565461819e+00" b="1.9371613732039944e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1806486969207302e+00" b="5.2715121645684525e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4006530409029492e+00" b="-5.8795029018641910e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.4097194053787486e+01" id="10088" junction="800013">
+        <link>
+            <predecessor elementType="road" elementId="10059" contactPoint="end" />
+            <successor elementType="road" elementId="10066" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.7687998824496489e+02" y="-7.6834829441953957e+01" hdg="1.1725609419941228e+00" length="7.9130461666573906e+00">
+                <line />
+            </geometry>
+            <geometry s="7.9130461666573906e+00" x="1.7994860755661995e+02" y="-6.9541004988638065e+01" hdg="1.1725609419941228e+00" length="9.4439919202039206e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.7357038086861312e+01" x="1.7672715936514473e+02" y="-6.1676347420200557e+01" hdg="2.7465595953614428e+00" length="6.7401559669261735e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8081600565461819e+00" b="2.0974824060867358e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1806486969207302e+00" b="1.5336422789290066e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4006530409029492e+00" b="-4.5340279630624722e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.3188432079249079e+01" id="10089" junction="800014">
+        <link>
+            <predecessor elementType="road" elementId="10060" contactPoint="end" />
+            <successor elementType="road" elementId="10067" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.7475378497142361e+02" y="-1.2002260595191854e+02" hdg="1.1745457874902883e+00" length="1.0253964737206887e+01">
+                <line />
+            </geometry>
+            <geometry s="1.0253964737206887e+01" x="2.7871142705360313e+02" y="-1.1056317351750451e+02" hdg="1.1745457874902883e+00" length="9.4361472633271077e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.9690112000533993e+01" x="2.7548161959103413e+02" y="-1.0270793480033103e+02" hdg="2.7472369980448064e+00" length="3.4983200787150843e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7581925850871327e+00" b="1.1058896269843285e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9397009753475447e+00" b="2.0798532471206058e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1028381113245249e+00" b="8.5078645304274506e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.3285580934697947e+01" id="10090" junction="800011">
+        <link>
+            <predecessor elementType="road" elementId="10029" contactPoint="end" />
+            <successor elementType="road" elementId="10062" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.7614817882186890e+02" y="-3.1805367992422845e+02" hdg="5.8883300631547142e+00" length="8.9256923924257556e+00">
+                <line />
+            </geometry>
+            <geometry s="8.9256923924257556e+00" x="1.8438705933870708e+02" y="-3.2148716685641142e+02" hdg="5.8883300631547142e+00" length="9.4279570330404159e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.8353649425466173e+01" x="1.9223464247044271e+02" y="-3.1825396598792742e+02" hdg="1.1764709281485308e+00" length="4.9319315092317746e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8289769137462963e+00" b="-9.2242208304492358e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3441913720593872e+00" b="-8.0844113206942972e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4003811910718231e+00" b="-1.2979128698194930e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.2450469210012287e+01" id="10030" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800011" contactPoint="start" />
+            <successor elementType="junction" elementId="800016" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.0041687972361080e+02" y="-3.2814331712028729e+02" hdg="5.8887088184910734e+00" length="8.2450469210012287e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9389009597234530e+00" b="-3.0371339219121998e-04" c="9.3165207384703804e-06" d="-4.1091642648253929e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.3991427612559320e+00" b="-8.8806331070079964e-04" c="7.2403315505943345e-06" d="-2.9535622742744265e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.4015310074706120e+00" b="-6.6320651591032190e-05" c="1.0632163452707223e-06" d="-4.8323673417155003e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="82.45" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.6282515522801518e+01" id="10050" junction="800011">
+        <link>
+            <predecessor elementType="road" elementId="10029" contactPoint="end" />
+            <successor elementType="road" elementId="10030" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.7614817882186890e+02" y="-3.1805367992422845e+02" hdg="5.8891781488031389e+00" length="2.6282515522801518e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8289769137462963e+00" b="-4.1824020186268527e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3441913720593872e+00" b="2.0907964136412821e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4003811910718231e+00" b="4.3748338997130336e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="105" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="26" t="0" id="106" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="26.283" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.4432867764057143e+01" id="10052" junction="800016">
+        <link>
+            <predecessor elementType="road" elementId="10030" contactPoint="end" />
+            <successor elementType="road" elementId="10063" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.7653497887119397e+02" y="-3.5983108850152968e+02" hdg="5.8887088184910734e+00" length="9.9268723110714241e+00">
+                <line />
+            </geometry>
+            <geometry s="9.9268723110714241e+00" x="2.8569944643625877e+02" y="-3.6364623307666596e+02" hdg="5.8887088184910734e+00" length="9.4267098247422414e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.9353582135813667e+01" x="2.9354532557024800e+02" y="-3.6041121175029008e+02" hdg="1.1766418154351941e+00" length="5.0792856282434737e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9236398853333130e+00" b="8.1430248718457516e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3585870162471316e+00" b="6.4417523512673824e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4005821028119558e+00" b="6.1166670951390875e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.4230002306832844e+01" id="10105" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800022" contactPoint="start" />
+            <successor elementType="road" elementId="10053" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.8657505846002499e+02" y="-3.0336034557363718e+02" hdg="1.4521907651932020e+00" length="2.4154146925601705e+01">
+                <line />
+            </geometry>
+            <geometry s="2.4154146925601705e+01" x="4.8943316264902523e+02" y="-2.7937589114689706e+02" hdg="1.4481537112781209e+00" length="2.2866247976080438e+00">
+                <line />
+            </geometry>
+            <geometry s="2.6440771723209750e+01" x="4.8971289780312668e+02" y="-2.7710644160822125e+02" hdg="1.4421065779061344e+00" length="1.6661811755089786e+01">
+                <line />
+            </geometry>
+            <geometry s="4.3102583478299536e+01" x="4.9185118869289454e+02" y="-2.6058240811053116e+02" hdg="1.4680317847428437e+00" length="2.2271236142930251e+00">
+                <line />
+            </geometry>
+            <geometry s="4.5329707092592564e+01" x="4.9207965541280589e+02" y="-2.5836703397706418e+02" hdg="1.4481264946626091e+00" length="4.8900295214240280e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6870717683767751e+00" b="-1.0746547650595940e-03" c="4.2361834254732316e-05" d="-2.6245954238413602e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7604574616577731e+00" b="-3.2373253888741036e-03" c="7.3055835327098925e-05" d="-3.2485566070043673e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.8928327857947442e+00" b="4.6571304028629629e-05" c="1.1331948636894052e-08" d="-1.8394909614238100e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.5921376049331251e+01" id="10106" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800023" contactPoint="start" />
+            <successor elementType="junction" elementId="800022" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.8267531372027742e+02" y="-3.3560923800226016e+02" hdg="1.4509744163394132e+00" length="1.5921376049331251e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6606985006310717e+00" b="1.5550203943446831e-02" c="-1.0550014666146983e-03" d="1.7685092889697566e-05" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="2.4506617449535328e+00" b="4.2209317078156262e-02" c="-1.2520777032515784e-03" d="6.5912207385092059e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="2.8942044542877636e+00" b="9.1031905478451282e-05" c="-1.1794930028396114e-05" d="2.4125497181863082e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="6.4169190948204132e+01" id="10107" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10068" contactPoint="end" />
+            <successor elementType="junction" elementId="800023" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.7246128410438826e+02" y="-4.2031281730505003e+02" hdg="1.4495682893299680e+00" length="3.0371718564887356e+01">
+                <line />
+            </geometry>
+            <geometry s="3.0371718564887356e+01" x="4.7613417620965026e+02" y="-3.9016400054273203e+02" hdg="1.4432741433601599e+00" length="2.3866020070959233e+00">
+                <line />
+            </geometry>
+            <geometry s="3.2758320571983276e+01" x="4.7643769670814532e+02" y="-3.8779677760281538e+02" hdg="1.4467802139914885e+00" length="8.5274981997544259e+00">
+                <line />
+            </geometry>
+            <geometry s="4.1285818771737702e+01" x="4.7749253512542219e+02" y="-3.7933477184411657e+02" hdg="1.4343248031352140e+00" length="2.4503787383954534e+00">
+                <line />
+            </geometry>
+            <geometry s="4.3736197510133152e+01" x="4.7782590498594789e+02" y="-3.7690717622341003e+02" hdg="1.4560958700305764e+00" length="2.0432993438070980e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6578878887245247e+00" b="-2.3745397518910348e-03" c="-1.1816528524331163e-05" d="2.1175753341661417e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0365051068350417e+00" b="-6.8891816659803814e-03" c="1.7486241413458255e-04" d="-1.3054620436284043e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.8866183732313724e+00" b="6.3411933411197641e-04" c="-1.0352403375796741e-05" d="4.7863097679666673e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.1148787099034287e+01" id="10108" junction="800023">
+        <link>
+            <predecessor elementType="road" elementId="10107" contactPoint="end" />
+            <successor elementType="road" elementId="10106" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.8016444307452281e+02" y="-3.5660844571018492e+02" hdg="1.4517915351154886e+00" length="2.1148787099034287e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8029645470148230e+00" b="6.7269127878377272e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9695199416625973e+00" b="-2.4533709393327663e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.8973281565086513e+00" b="-1.4770124670791568e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.6562456028131074e+01" id="10109" junction="800022">
+        <link>
+            <predecessor elementType="road" elementId="10106" contactPoint="end" />
+            <successor elementType="road" elementId="10105" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.8457848172001502e+02" y="-3.1980201918081679e+02" hdg="1.4499540850275545e+00" length="1.6562456028131074e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6091749078674713e+00" b="-4.7032191588612928e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.8319043021112256e+00" b="-4.3137829517615727e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.8936375922223521e+00" b="-4.8592215202919068e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.7960454129533730e+01" id="10114" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800012" contactPoint="start" />
+            <successor elementType="junction" elementId="800015" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.3939891245789704e+02" y="-1.9943350848055547e+02" hdg="5.8861931511679728e+00" length="3.6339919735911764e+01">
+                <line />
+            </geometry>
+            <geometry s="3.6339919735911764e+01" x="1.7291260887589883e+02" y="-2.1348419952457618e+02" hdg="5.8932745054878835e+00" length="2.4030989281661022e+00">
+                <line />
+            </geometry>
+            <geometry s="3.8743018664077866e+01" x="1.7513533833173454e+02" y="-2.1439763163738661e+02" hdg="5.8872659241001566e+00" length="3.9217435465455871e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6895660861986910e+00" b="-3.6520316107171324e-04" c="1.4480482512216187e-05" d="-1.0964179323431458e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="2.9995580865796789e+00" b="-2.8579424263456735e-04" c="4.1315498740737779e-06" d="-1.8658726822560005e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.3119239831518425e+02" id="10116" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800022" contactPoint="start" />
+            <successor elementType="road" elementId="10148" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.7597397842491597e+02" y="-3.0770081088139881e+02" hdg="2.7529885394143667e+00" length="1.5286628652691617e+01">
+                <line />
+            </geometry>
+            <geometry s="1.5286628652691617e+01" x="4.6182713825864170e+02" y="-3.0190875348569034e+02" hdg="2.7357166288697021e+00" length="2.2371052384944692e+00">
+                <line />
+            </geometry>
+            <geometry s="1.7523733891186087e+01" x="4.5977178244209199e+02" y="-3.0102549117160993e+02" hdg="2.7427288708881727e+00" length="2.7954580213303785e+01">
+                <line />
+            </geometry>
+            <geometry s="4.5478314104489868e+01" x="4.3401155673529547e+02" y="-2.9016872708478667e+02" hdg="2.7530490741345552e+00" length="2.3668296602001750e+00">
+                <line />
+            </geometry>
+            <geometry s="4.7845143764690043e+01" x="4.3182114631438310e+02" y="-2.8927207507404796e+02" hdg="2.7481439787880406e+00" length="4.4812630658987366e+01">
+                <line />
+            </geometry>
+            <geometry s="9.2657774423677409e+01" x="3.9043254049147379e+02" y="-2.7209199432293821e+02" hdg="2.7631883405906525e+00" length="2.4046355544142775e+00">
+                <line />
+            </geometry>
+            <geometry s="9.5062409978091694e+01" x="3.8819802009543059e+02" y="-2.7120363023698008e+02" hdg="2.7455194006488739e+00" length="3.6129988337092549e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7623375306028022e+00" b="-3.3040648570514873e-04" c="7.6698849342465347e-06" d="-2.4347073841318568e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0065727276868026e+00" b="-4.5158467504208315e-04" c="4.4333830889995618e-06" d="-1.2681107855908631e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="6.0335614771199154e+01" id="10118" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800017" contactPoint="start" />
+            <successor elementType="road" elementId="10132" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.3618960943266740e+02" y="-2.8140243894070073e+02" hdg="5.8959069565288749e+00" length="1.5555819039722351e+01">
+                <line />
+            </geometry>
+            <geometry s="1.5555819039722351e+01" x="3.5059337030979003e+02" y="-2.8727740094834468e+02" hdg="5.8770907372279835e+00" length="2.4653753039727406e+00">
+                <line />
+            </geometry>
+            <geometry s="1.8021194343695093e+01" x="3.5285823803464734e+02" y="-2.8825128470852263e+02" hdg="5.8854865844141777e+00" length="4.2314420427504061e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7615236776393512e+00" b="5.8559471915346269e-03" c="-1.3688790819405220e-04" d="9.4286763747398643e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0003182122693763e+00" b="1.1366584311127355e-05" c="-8.9725758579216467e-06" d="1.0634721396549615e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.1162459726769683e+01" id="10119" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10132" contactPoint="end" />
+            <successor elementType="junction" elementId="800023" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.0165602350118110e+02" y="-3.0885870753907892e+02" hdg="5.8785973119733077e+00" length="1.8067400695610214e+01">
+                <line />
+            </geometry>
+            <geometry s="1.8067400695610214e+01" x="4.1826474640038253e+02" y="-3.1597076009465513e+02" hdg="5.8845485622226343e+00" length="2.4272302520982616e+00">
+                <line />
+            </geometry>
+            <geometry s="2.0494630947708476e+01" x="4.2050165999078570e+02" y="-3.1691291946852488e+02" hdg="5.8861881078442790e+00" length="2.8945287166583178e+01">
+                <line />
+            </geometry>
+            <geometry s="4.9439918114291658e+01" x="4.4719576175941302e+02" y="-3.2810463872528487e+02" hdg="5.8997767161843626e+00" length="2.3224773418400462e+00">
+                <line />
+            </geometry>
+            <geometry s="5.1762395456131706e+01" x="4.4934961546434602e+02" y="-3.2897343975032271e+02" hdg="5.8950500998466326e+00" length="1.9400064270637973e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6926411682506908e+00" b="2.2107741152801186e-04" c="-1.4429692301406645e-05" d="9.5026724696753830e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0123691753467137e+00" b="-1.0082185128341011e-03" c="1.6087352307987481e-05" d="-7.3132821211638960e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.2905127904361503e+01" id="10122" junction="800012">
+        <link>
+            <predecessor elementType="road" elementId="10057" contactPoint="end" />
+            <successor elementType="road" elementId="10114" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2275296537343816e+02" y="-2.0629672859937597e+02" hdg="1.1763284432537688e+00" length="6.7504223861675507e+00">
+                <line />
+            </geometry>
+            <geometry s="6.7504223861675507e+00" x="1.2534726740427209e+02" y="-2.0006473057591006e+02" hdg="1.1763284432537688e+00" length="9.4399235955922922e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.6190345981759844e+01" x="1.3320635164591559e+02" y="-1.9683726371975004e+02" hdg="5.8861931511679728e+00" length="6.7147819226016594e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6508458960039221e+00" b="-1.6904594620227363e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4021227057399446e+00" b="-1.7575305444315414e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.5899567388644510e+01" id="10123" junction="800012">
+        <link>
+            <predecessor elementType="road" elementId="10058" contactPoint="start" />
+            <successor elementType="road" elementId="10114" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2955398165907883e+02" y="-1.9000120886508540e+02" hdg="4.3177185936569167e+00" length="9.0151672767719648e-01">
+                <line />
+            </geometry>
+            <geometry s="9.0151672767719648e-01" x="1.2920734492892413e+02" y="-1.9083342000871991e+02" hdg="4.3177185936569167e+00" length="6.2738982300442245e+00">
+                <arc curvature="2.5000000000000000e-01" />
+            </geometry>
+            <geometry s="7.1754149577214212e+00" x="1.3135325362873363e+02" y="-1.9606034829421893e+02" hdg="5.8861931511679728e+00" length="8.7241524309230876e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7546904870504161e+00" b="4.0959857120538403e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2407336491020220e+00" b="-1.5168687086077005e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.7695883748017685e+01" id="10126" junction="800015">
+        <link>
+            <predecessor elementType="road" elementId="10114" contactPoint="end" />
+            <successor elementType="road" elementId="10062" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.1131900664814876e+02" y="-2.2952209498835938e+02" hdg="5.8872659241001566e+00" length="1.0479317988533037e+01">
+                <line />
+            </geometry>
+            <geometry s="1.0479317988533037e+01" x="2.2098766962365892e+02" y="-2.3356351327539565e+02" hdg="5.8872659241001566e+00" length="9.4152140541709972e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.9894532042704036e+01" x="2.2421326562145953e+02" y="-2.4140448028389605e+02" hdg="4.3180635817383237e+00" length="7.8013517053136514e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6819791784826332e+00" b="-4.8828170894771959e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9935472301038311e+00" b="1.4199194087050027e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.9920521530478457e+01" id="10128" junction="800015">
+        <link>
+            <predecessor elementType="road" elementId="10114" contactPoint="end" />
+            <successor elementType="road" elementId="10061" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.1131900664814876e+02" y="-2.2952209498835938e+02" hdg="5.8872659241001566e+00" length="1.1396760946767820e+01">
+                <line />
+            </geometry>
+            <geometry s="1.1396760946767820e+01" x="2.2183414138566991e+02" y="-2.3391733121972945e+02" hdg="5.8872659241001566e+00" length="7.8802223195610877e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.9276983266328909e+01" x="2.2838569271091586e+02" y="-2.3120816513328151e+02" hdg="1.1801250808327877e+00" length="6.4353826414954740e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6819791784826332e+00" b="-4.9388320950360448e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9935472301038311e+00" b="5.1428207467184676e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.7900688194869261e+01" id="10127" junction="800015">
+        <link>
+            <predecessor elementType="road" elementId="10114" contactPoint="end" />
+            <successor elementType="road" elementId="10117" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.1131900664814876e+02" y="-2.2952209498835938e+02" hdg="5.8860738449755932e+00" length="2.7900688194869261e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6819791784826332e+00" b="-4.2697210427839995e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9935472301038311e+00" b="-6.5635240823727501e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.0656603008583868e+01" id="10132" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10118" contactPoint="end" />
+            <successor elementType="road" elementId="10119" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.9187021741229381e+02" y="-3.0463956226150725e+02" hdg="5.8761175403762769e+00" length="1.0656603008583868e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6994302674144510e+00" b="6.3707911032170807e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9916990076185512e+00" b="1.9396582298798844e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.3997542438294081e+01" id="10133" junction="800022">
+        <link>
+            <predecessor elementType="road" elementId="10105" contactPoint="start" />
+            <successor elementType="road" elementId="10116" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.8657505846002499e+02" y="-3.0336034557363718e+02" hdg="4.5937834187829951e+00" length="4.4945538621000397e-01">
+                <line />
+            </geometry>
+            <geometry s="4.4945538621000397e-01" x="4.8652187544652207e+02" y="-3.0380664335681331e+02" hdg="4.5937834187829951e+00" length="1.1044769276211770e+01">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.1494224662421775e+01" x="4.7829064596916373e+02" y="-3.0864931042089648e+02" hdg="2.7529885394143667e+00" length="2.5033177758723055e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6870717683767751e+00" b="-5.3770697647693606e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7604574616577731e+00" b="1.7582748337001956e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7266267169237409e+01" id="10134" junction="800022">
+        <link>
+            <predecessor elementType="road" elementId="10106" contactPoint="end" />
+            <successor elementType="road" elementId="10116" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.8457848172001502e+02" y="-3.1980201918081679e+02" hdg="1.4509744163394132e+00" length="3.6635948234561395e+00">
+                <line />
+            </geometry>
+            <geometry s="3.6635948234561395e+00" x="4.8501641098004899e+02" y="-3.1616469255351745e+02" hdg="1.4509744163394132e+00" length="7.8120847384497214e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.1475679561905860e+01" x="4.8133281320862773e+02" y="-3.0989484702491666e+02" hdg="2.7529885394143667e+00" length="5.7905876073315481e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6091749078674713e+00" b="-8.8706274051066677e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.8936375922223521e+00" b="6.5407962449267783e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.8522605612320085e+01" id="10136" junction="800023">
+        <link>
+            <predecessor elementType="road" elementId="10119" contactPoint="end" />
+            <successor elementType="road" elementId="10106" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.6730663357703691e+02" y="-3.3631564610845345e+02" hdg="5.8950500998466326e+00" length="9.1768714574085415e+00">
+                <line />
+            </geometry>
+            <geometry s="9.1768714574085415e+00" x="4.7580089651759477e+02" y="-3.3978875233234942e+02" hdg="5.8950500998466326e+00" length="9.1955481183618346e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.8372419575770376e+01" x="4.8265736117284160e+02" y="-3.3575834719585691e+02" hdg="1.4509744163394132e+00" length="1.5018603654970844e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7157369844241162e+00" b="2.9714223228095005e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9957346261937174e+00" b="-5.4814195168320307e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.8819076979214657e+01" id="10135" junction="800023">
+        <link>
+            <predecessor elementType="road" elementId="10119" contactPoint="end" />
+            <successor elementType="road" elementId="10107" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.6730663357703691e+02" y="-3.3631564610845345e+02" hdg="5.8950500998466326e+00" length="1.1129528795044555e+01">
+                <line />
+            </geometry>
+            <geometry s="1.1129528795044555e+01" x="4.7760830821946621e+02" y="-3.4052776086962211e+02" hdg="5.8950500998466326e+00" length="7.7841694573575761e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.8913698252402131e+01" x="4.8129810493883156e+02" y="-3.4676815412410872e+02" hdg="4.5976885236203699e+00" length="9.9053787268125255e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7157369844241162e+00" b="-3.0267299210734082e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9957346261937174e+00" b="-9.0962956759604603e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.2602288704836823e+01" id="10137" junction="800015">
+        <link>
+            <predecessor elementType="road" elementId="10062" contactPoint="end" />
+            <successor elementType="road" elementId="10117" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2121609983275735e+02" y="-2.4860712463614846e+02" hdg="1.1764709281485308e+00" length="7.7466678895308752e+00">
+                <line />
+            </geometry>
+            <geometry s="7.7466678895308752e+00" x="2.2419225689527326e+02" y="-2.4145496744199190e+02" hdg="1.1764709281485308e+00" length="9.4318012307506898e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.7178469120281566e+01" x="2.3204338794842059e+02" y="-2.3822324647525681e+02" hdg="5.8876893635363352e+00" length="5.4238195845552584e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8172131129556277e+00" b="5.4561341346474031e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1034782015169085e+00" b="-4.9447310961026076e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.5063356092422524e+01" id="10139" junction="800015">
+        <link>
+            <predecessor elementType="road" elementId="10061" contactPoint="start" />
+            <successor elementType="road" elementId="10117" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2863075798372736e+02" y="-2.3061311512741105e+02" hdg="4.3217177344225810e+00" length="7.3203385765866025e-01">
+                <line />
+            </geometry>
+            <geometry s="7.3203385765866025e-01" x="2.2835199277732360e+02" y="-2.3128999290696751e+02" hdg="4.3217177344225810e+00" length="7.8298581455687710e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="8.5618920032274310e+00" x="2.3104893155644731e+02" y="-2.3780806679988248e+02" hdg="5.8876893635363352e+00" length="6.5014640891950934e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7803632895672168e+00" b="5.7405066311021664e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1799085905536906e+00" b="-1.2493406362035482e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.7671230203051771e+01" id="10142" junction="800017">
+        <link>
+            <predecessor elementType="road" elementId="10117" contactPoint="end" />
+            <successor elementType="road" elementId="10063" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.1352123554072449e+02" y="-2.7223976704529929e+02" hdg="5.8876893635363352e+00" length="9.3907439529579939e+00">
+                <line />
+            </geometry>
+            <geometry s="9.3907439529579939e+00" x="3.2218706672085443e+02" y="-2.7585770042604372e+02" hdg="5.8876893635363352e+00" length="9.4023772296777999e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.8793121182635794e+01" x="3.2542089662212879e+02" y="-2.8368544186409582e+02" hdg="4.3206264919233686e+00" length="8.8781090204159785e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6835170515582281e+00" b="-9.4533080061461134e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9947960972652941e+00" b="6.7994732750335588e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7670204035814464e+01" id="10141" junction="800017">
+        <link>
+            <predecessor elementType="road" elementId="10117" contactPoint="end" />
+            <successor elementType="road" elementId="10064" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.1352123554072449e+02" y="-2.7223976704529929e+02" hdg="5.8876893635363352e+00" length="1.2403564050192847e+01">
+                <line />
+            </geometry>
+            <geometry s="1.2403564050192847e+01" x="3.2496731400153084e+02" y="-2.7701843725952222e+02" hdg="5.8876893635363352e+00" length="4.7275723485017505e+00">
+                <arc curvature="3.3333333333333331e-01" />
+            </geometry>
+            <geometry s="1.7131136398694597e+01" x="3.2889734266439501e+02" y="-2.7539179208344746e+02" hdg="1.1803615058573320e+00" length="5.3906763711986794e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6835170515582281e+00" b="-3.2841766749386529e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9947960972652941e+00" b="1.0755063019299854e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.1591923593884328e+01" id="10143" junction="800017">
+        <link>
+            <predecessor elementType="road" elementId="10063" contactPoint="end" />
+            <successor elementType="road" elementId="10118" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.2203107510003770e+02" y="-2.9189092355786369e+02" hdg="1.1790338383335754e+00" length="9.0859573052624381e+00">
+                <line />
+            </geometry>
+            <geometry s="9.0859573052624381e+00" x="3.2550025683134476e+02" y="-2.8349334067537796e+02" hdg="1.1790338383335754e+00" length="9.3978731339057209e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.8483830439168159e+01" x="3.3331170049903710e+02" y="-2.8022860623195368e+02" hdg="5.8959069565288749e+00" length="3.1080931547161694e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6861328981784123e+00" b="-3.4916194072811824e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9013706577625227e+00" b="-8.8044607847334103e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.1084521241122765e+01" id="10144" junction="800017">
+        <link>
+            <predecessor elementType="road" elementId="10064" contactPoint="start" />
+            <successor elementType="road" elementId="10118" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.2910250671235144e+02" y="-2.7489329270449485e+02" hdg="4.3219541594471256e+00" length="3.4102940977544999e-01">
+                <line />
+            </geometry>
+            <geometry s="3.4102940977544999e-01" x="3.2897271414206188e+02" y="-2.7520865748856153e+02" hdg="4.3219541594471256e+00" length="4.7218583912452479e+00">
+                <arc curvature="3.3333333333333331e-01" />
+            </geometry>
+            <geometry s="5.0628878010206977e+00" x="3.3061393592171709e+02" y="-2.7912825025322502e+02" hdg="5.8959069565288749e+00" length="6.0216334401020681e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7415491234940568e+00" b="-1.8020222714888521e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8370227552466005e+00" b="-1.6569994346379024e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.2869800343312832e+01" id="10117" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800015" contactPoint="start" />
+            <successor elementType="junction" elementId="800017" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.3704851907612354e+02" y="-2.4031285918585755e+02" hdg="5.8876893635363352e+00" length="8.2869800343312832e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6938919940320121e+00" b="2.2075238783554559e-03" c="-3.7341344981984034e-05" d="1.4738344368992446e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="2.9917159617150131e+00" b="3.0378235860584738e-04" c="-4.9828344750738280e-06" d="2.1305360127268355e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.4450147876192862e+01" id="10131" junction="800017">
+        <link>
+            <predecessor elementType="road" elementId="10117" contactPoint="end" />
+            <successor elementType="road" elementId="10118" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.1352123554072449e+02" y="-2.7223976704529929e+02" hdg="5.8990591252602806e+00" length="2.4450147876192862e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6835170515582281e+00" b="-3.1904357583488617e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9947960972652941e+00" b="2.2585200842319543e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.2435191609817917e+01" id="10148" junction="800019">
+        <link>
+            <predecessor elementType="road" elementId="10116" contactPoint="end" />
+            <successor elementType="road" elementId="10064" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.5486510575263912e+02" y="-2.5726473219392909e+02" hdg="2.7455194006488739e+00" length="1.1080882295418625e+01">
+                <line />
+            </geometry>
+            <geometry s="1.1080882295418625e+01" x="3.4464207171925847e+02" y="-2.5298974358607728e+02" hdg="2.7455194006488739e+00" length="9.4586085527895101e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.0539490848208136e+01" x="3.3677881831337527e+02" y="-2.5624169851012414e+02" hdg="4.3219541594471256e+00" length="1.8957007616097810e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7286504999142824e+00" b="2.6313122960059791e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9949991035310086e+00" b="8.7338154135387328e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.8000000000000000e+01" id="10044" junction="800018">
+        <link>
+            <predecessor elementType="junction" elementId="800016" contactPoint="start" />
+            <successor elementType="road" elementId="10151" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.0290016217869237e+02" y="-3.7081642071481946e+02" hdg="5.8911209547225596e+00" length="2.8000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8757356142291446e+00" b="8.7634189151375771e-03" c="-1.8646652392448123e-04" d="1.0312733585097437e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.6437832934044381e+00" b="-1.0696288766498696e-02" c="5.1204176813294251e-05" d="2.1275274559243509e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4044031612043648e+00" b="-2.4125431245557231e-04" c="4.0521119714546009e-06" d="-2.0989105233597708e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.5286553803581675e+01" id="10046" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10045" contactPoint="end" />
+            <successor elementType="road" elementId="10068" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.2558337625659897e+02" y="-4.2176136488233988e+02" hdg="5.8883269111204273e+00" length="2.5286553803581675e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7602731410718215e+00" b="-2.8987288627187871e-02" c="1.0129114922347933e-03" d="-1.0186267778564524e-05" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3552612916949704e+00" b="-1.2458642292080683e-02" c="6.0448916054149421e-04" d="-6.9314324022546849e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3913017539781882e+00" b="1.1463058395927064e-03" c="-5.1897039380537739e-05" d="6.9189255500447105e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.8216759187607735e+01" id="10068" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10046" contactPoint="end" />
+            <successor elementType="road" elementId="10107" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.4892415618120515e+02" y="-4.3148853280381280e+02" hdg="5.8883269111204273e+00" length="1.4947629296890071e+01">
+                <line />
+            </geometry>
+            <geometry s="1.4947629296890071e+01" x="4.6272158103092465e+02" y="-4.3723854924844920e+02" hdg="5.8883269111204273e+00" length="1.1066560112334763e+01">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.6014189409224834e+01" x="4.7098561119812263e+02" y="-4.3242583091315009e+02" hdg="1.4495682893299680e+00" length="1.2202569778382902e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0102926055819808e+00" b="9.2212088190808100e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3146707986972883e+00" b="-7.2786310973340018e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3982912468167732e+00" b="-1.3388703921061867e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.6323159327228893e+01" id="10045" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10151" contactPoint="end" />
+            <successor elementType="road" elementId="10046" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.4588780895945933e+02" y="-3.8859052845301187e+02" hdg="5.8887754020010741e+00" length="8.6323159327228893e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7677675130787405e+00" b="8.6817628841753808e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2784346013595687e+00" b="8.8998932539263969e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3998361637507588e+00" b="-9.8865818154532915e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.4291218867380705e+01" id="10031" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800024" contactPoint="start" />
+            <successor elementType="junction" elementId="800014" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.6816541728691237e+02" y="-1.4110490584516859e+02" hdg="2.7475919565288671e+00" length="1.4291218867380705e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8168111796029462e+00" b="1.0566003983786322e-02" c="-4.2785967610254379e-04" d="4.7803353337347714e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.0870337315355805e+00" b="-9.1093045804126888e-02" c="3.4407974189134818e-03" d="-4.1724988435055907e-05" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.2904235375085480e+00" b="1.6364468242361697e-03" c="-6.1088437142369376e-05" d="7.1622750879216836e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.9529657164110688e+01" id="10054" junction="800014">
+        <link>
+            <predecessor elementType="road" elementId="10031" contactPoint="end" />
+            <successor elementType="road" elementId="10067" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.5496918241420747e+02" y="-1.3561871209177406e+02" hdg="2.7489738202718144e+00" length="8.9529657164110688e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7392427550545584e+00" b="-1.8301695663027140e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3661600125952056e+00" b="6.2355114581334628e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3034242613645710e+00" b="-3.6882875924833964e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.3850271307897970e+01" id="10069" junction="800014">
+        <link>
+            <predecessor elementType="road" elementId="10060" contactPoint="end" />
+            <successor elementType="road" elementId="10031" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.7475378497142361e+02" y="-1.2002260595191854e+02" hdg="1.1745457874902883e+00" length="1.0405922334102071e+01">
+                <line />
+            </geometry>
+            <geometry s="1.0405922334102071e+01" x="2.7877007693153735e+02" y="-1.1042299041198726e+02" hdg="1.1745457874902883e+00" length="9.4112789073072882e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.9817201241409357e+01" x="2.8660847854347742e+02" y="-1.0719847933818870e+02" hdg="5.8891846101186598e+00" length="7.4033070066488605e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7581925850871327e+00" b="2.0191555941703079e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1028381113245249e+00" b="2.8057660100607594e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9397009753475447e+00" b="3.8755698939190726e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.7119360043732200e+01" id="10070" junction="800024">
+        <link>
+            <predecessor elementType="road" elementId="10124" contactPoint="end" />
+            <successor elementType="road" elementId="10031" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.7664301194040098e+02" y="-1.6032805649975279e+02" hdg="1.1778333079165604e+00" length="8.5020889848420271e+00">
+                <line />
+            </geometry>
+            <geometry s="8.5020889848420271e+00" x="3.7989869362377675e+02" y="-1.5247400952493123e+02" hdg="1.1778333079165604e+00" length="9.4185518916738395e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.7920640876515868e+01" x="3.7665933650997493e+02" y="-1.4463616207339692e+02" hdg="2.7475919565288671e+00" length="9.1987191672163302e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7560758806504504e+00" b="-2.2395550210091678e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.7108044099549025e+00" b="-2.3000936504896888e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9014198661152575e+00" b="-5.9403921258054958e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.9196453862792037e+01" id="10073" junction="800009">
+        <link>
+            <predecessor elementType="road" elementId="10170" contactPoint="end" />
+            <successor elementType="road" elementId="10016" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.2175774330178157e+00" y="1.4153527848751079e+01" hdg="5.8917505205800076e+00" length="2.9196453862792037e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6740326889086443e+00" b="-4.0466515409646455e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4014651488811505e+00" b="1.9872985442625146e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.0278939813253576e+00" id="10043" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10053" contactPoint="end" />
+            <successor elementType="junction" elementId="800024" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.2340175232820786e+02" y="-1.6420781315810382e+02" hdg="2.7427616636000782e+00" length="8.0278939813253576e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6945040673500120e+00" b="2.8137809066315508e-03" c="-2.2264997154203576e-04" d="3.6135754461280058e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1533024955880542e+00" b="2.5654905029750853e-02" c="-1.1253944476017333e-03" d="1.0932499581157326e-05" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3010755770477362e+00" b="-3.7577827672121054e-03" c="3.0518261390881157e-04" d="-5.9039577963025122e-06" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.5952185978385032e+01" id="10053" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10105" contactPoint="end" />
+            <successor elementType="road" elementId="10043" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.9806321337920622e+02" y="-2.0983420069790586e+02" hdg="1.4481264946626091e+00" length="1.2053334019702000e+01">
+                <line />
+            </geometry>
+            <geometry s="1.2053334019702000e+01" x="4.9953808837698068e+02" y="-1.9787144162102709e+02" hdg="1.4481264946626091e+00" length="2.5892703378749382e+00">
+                <arc curvature="5.0000000000000000e-01" />
+            </geometry>
+            <geometry s="1.4642604357576937e+01" x="4.9832980009813883e+02" y="-1.9578368560428962e+02" hdg="2.7427616636000782e+00" length="8.1309581620808089e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6317921418499344e+00" b="-6.5357474517781851e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.8322830973603983e+00" b="3.3456183926854084e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.8957827251574448e+00" b="4.2239043098152131e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.1845314066941349e+01" id="10071" junction="800024">
+        <link>
+            <predecessor elementType="road" elementId="10043" contactPoint="end" />
+            <successor elementType="road" elementId="10031" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.1600392280142609e+02" y="-1.6109024999626160e+02" hdg="2.7458644232616205e+00" length="5.1845314066941349e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6843949022570417e+00" b="-2.5540645230720761e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2923851600279392e+00" b="1.5327297863054918e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2875220679950652e+00" b="5.5963968310356810e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.8625968489194150e+01" id="10072" junction="800024">
+        <link>
+            <predecessor elementType="road" elementId="10043" contactPoint="end" />
+            <successor elementType="road" elementId="10124" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.1600392280142609e+02" y="-1.6109024999626160e+02" hdg="2.7427616636000782e+00" length="3.0617947214510650e+01">
+                <line />
+            </geometry>
+            <geometry s="3.0617947214510650e+01" x="3.8778900684963895e+02" y="-1.4920003513427747e+02" hdg="2.7427616636000782e+00" length="9.4599857874376525e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="4.0077933001948303e+01" x="3.7991628779228733e+02" y="-1.5243156513404662e+02" hdg="4.3194259615063535e+00" length="8.5480354872458495e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6843949022570417e+00" b="-1.4741295776831247e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2923851600279392e+00" b="3.3090028971759895e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2875220679950652e+00" b="2.9270005023676281e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.2868329104134938e+01" id="10075" junction="800000">
+        <link>
+            <predecessor elementType="road" elementId="10001" contactPoint="start" />
+            <successor elementType="road" elementId="10199" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.7371139847523338e+01" y="-1.0027933610548020e+02" hdg="1.1738490689524426e+00" length="6.8870832649712421e-01">
+                <line />
+            </geometry>
+            <geometry s="6.8870832649712421e-01" x="-3.7104881923077926e+01" y="-9.9644177954578794e+01" hdg="1.1738490689524426e+00" length="7.8340069593750368e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="8.5227152858721613e+00" x="-3.9764679462201038e+01" y="-9.3107685712084375e+01" hdg="2.7406504608274500e+00" length="4.3456138182627768e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6856575444237070e+00" b="1.6917323291437489e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9562315399664305e+00" b="-7.4197820442218260e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="10" t="0" id="71" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="11" t="0" id="72" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="12.868" />
+        </userData>
+    </road>
+    <road name="" length="3.3963830593811821e+01" id="10019" junction="800002">
+        <link>
+            <predecessor elementType="road" elementId="10002" contactPoint="end" />
+            <successor elementType="road" elementId="10003" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.8380793938645922e+01" y="-1.9828907154689179e+02" hdg="4.3164176784807449e+00" length="3.3963830593811821e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6915811280888509e+00" b="-1.5258904797690979e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.4986494329165643e+00" b="3.9764863380333773e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.4945573299369421e+00" b="1.6024900512987263e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="20" t="0" id="61" name="" dynamic="yes" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="22" t="0" id="62" name="" dynamic="yes" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="4" t="0" id="63" name="" dynamic="yes" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="5" t="0" id="64" name="" dynamic="yes" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="33.964" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.0603900142401191e+01" id="10018" junction="800001">
+        <link>
+            <predecessor elementType="road" elementId="10001" contactPoint="end" />
+            <successor elementType="road" elementId="10002" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.3641499002797588e+01" y="-1.1523727485921749e+02" hdg="4.3143468377274639e+00" length="2.0603900142401191e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6868721050782076e+00" b="2.1061659516842185e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8442840841130117e+00" b="-1.6709656023060526e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9023984868097079e+00" b="-1.9530209524826991e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="20" t="0" id="65" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="19" t="0" id="66" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="0" t="0" id="67" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="1" t="0" id="68" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="20.604" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.8562220058572727e+01" id="10091" junction="800016">
+        <link>
+            <predecessor elementType="road" elementId="10030" contactPoint="end" />
+            <successor elementType="junction" elementId="800018" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.7653497887119397e+02" y="-3.5983108850152968e+02" hdg="5.8883993852497101e+00" length="2.8562220058572727e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9236398853333130e+00" b="1.6771900435586168e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3585870162471316e+00" b="9.9850878738575854e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4005821028119558e+00" b="1.3378016080588671e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="107" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="28.562" />
+        </userData>
+    </road>
+    <road name="" length="8.5000000000000000e+01" id="10149" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10196" contactPoint="end" />
+            <successor elementType="junction" elementId="800025" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.4181543585285550e+02" y="-4.6493690063804382e+02" hdg="2.7447324386182959e+00" length="8.5000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5149999999999988e+00" b="-7.4658406990874102e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="85" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="5.6205950001313887e+01" id="10110" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800025" contactPoint="start" />
+            <successor elementType="junction" elementId="800026" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.4391130818428650e+02" y="-4.3496868331578526e+02" hdg="4.3205491488394951e+00" length="5.6205950001313887e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5442369652037709e+00" b="1.5876782654093713e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.5000000000000000e+01" id="10154" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800028" contactPoint="start" />
+            <successor elementType="road" elementId="10098" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2717329378793092e+01" y="-4.4757997898963919e+02" hdg="1.1767223340483770e+00" length="4.5000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4261269359378153e+00" b="-1.1269359378176176e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.2542191671187382e+01" id="10098" junction="800031">
+        <link>
+            <predecessor elementType="road" elementId="10171" contactPoint="end" />
+            <successor elementType="road" elementId="10154" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.0004073012620239e+01" y="-3.7974626377783716e+02" hdg="5.8879788995370186e+00" length="2.2557081338653997e+01">
+                <line />
+            </geometry>
+            <geometry s="2.2557081338653997e+01" x="4.0822389497539724e+01" y="-3.8843071063715882e+02" hdg="5.8879788995370186e+00" length="9.4179834713930894e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="3.1975064810047087e+01" x="4.4052512355150043e+01" y="-3.9627193327585832e+02" hdg="4.3183149876381703e+00" length="1.0567126861140292e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5469999999999979e+00" b="2.7220471675988610e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="32" t="0" id="57" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="30" t="0" id="58" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="15" t="0" id="59" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="16" t="0" id="60" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="8.0448827175697559e+01" id="10100" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10156" contactPoint="end" />
+            <successor elementType="road" elementId="10103" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.1192417687298686e+01" y="-4.6605621195046979e+02" hdg="5.8877941983733271e+00" length="8.0448827175697559e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4499999999999984e+00" b="1.5164919649301519e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.5158197194388492e+01" id="10103" junction="800026">
+        <link>
+            <predecessor elementType="road" elementId="10100" contactPoint="end" />
+            <successor elementType="road" elementId="10110" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.0543429539960786e+02" y="-4.9704261844905858e+02" hdg="5.8877941983733271e+00" length="5.8341118753825310e+00">
+                <line />
+            </geometry>
+            <geometry s="5.8341118753825310e+00" x="1.1081828216011249e+02" y="-4.9928973836957692e+02" hdg="5.8877941983733271e+00" length="9.4460856243357672e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.5280197499718298e+01" x="1.1867454514210810e+02" y="-4.9604399910354272e+02" hdg="1.1789564952497020e+00" length="9.8779996946701960e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.3279999999999985e+00" b="-5.0480564652036304e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.9134626410285094e+01" id="10155" junction="800028">
+        <link>
+            <predecessor elementType="junction" elementId="800029" contactPoint="start" />
+            <successor elementType="road" elementId="10154" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.0036910232942034e+01" y="-4.6882474992617580e+02" hdg="2.7462015447835375e+00" length="8.9234641277853832e+00">
+                <line />
+            </geometry>
+            <geometry s="8.9234641277853832e+00" x="2.1801927128733997e+01" y="-4.6538770682006253e+02" hdg="2.7462015447835375e+00" length="9.4168752644109635e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.8340339392196348e+01" x="1.8572827014909098e+01" y="-4.5754691093405614e+02" hdg="1.1767223340483770e+00" length="1.0794287018088744e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4499999999999993e+00" b="8.1940518906933283e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="7" t="0" id="53" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="8" t="0" id="54" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="24" t="0" id="55" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="25" t="0" id="56" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="2.6138575158555298e+01" id="10156" junction="800028">
+        <link>
+            <predecessor elementType="road" elementId="10154" contactPoint="start" />
+            <successor elementType="road" elementId="10100" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2717329378793092e+01" y="-4.4757997898963919e+02" hdg="4.3183149876381703e+00" length="7.7942844158947802e+00">
+                <line />
+            </geometry>
+            <geometry s="7.7942844158947802e+00" x="1.9724687981327300e+01" y="-4.5477685102004477e+02" hdg="4.3183149876381703e+00" length="9.4168752644109404e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.7211159680305720e+01" x="2.2953788095152181e+01" y="-4.6261764690605111e+02" hdg="5.8877941983733271e+00" length="8.9274154782495785e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4261269359378153e+00" b="-9.1332690926610675e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.0528210263710243e+01" id="10158" junction="800025">
+        <link>
+            <predecessor elementType="road" elementId="10159" contactPoint="end" />
+            <successor elementType="road" elementId="10149" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.5015288654917052e+02" y="-4.1985304321306069e+02" hdg="4.3570053155778954e+00" length="3.9921213313915566e-01">
+                <line />
+            </geometry>
+            <geometry s="3.9921213313915566e-01" x="1.5001398065486762e+02" y="-4.2022730980223668e+02" hdg="4.3570053155778954e+00" length="9.1759186597811642e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="9.5751307929203193e+00" x="1.5331991206029568e+02" y="-4.2784868514298120e+02" hdg="5.8863250922080894e+00" length="1.0953079470789923e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5444121178616319e+00" b="-1.6585726492094064e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.0884561416171763e+01" id="10163" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10146" contactPoint="end" />
+            <successor elementType="junction" elementId="800032" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="7.1225985363254651e+01" y="-3.8127975010211446e+02" hdg="5.8885655576611526e+00" length="7.0884561416171763e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5757547515584251e+00" b="4.0565605519662175e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.7039743890779746e+01" id="10146" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10216" contactPoint="end" />
+            <successor elementType="road" elementId="10163" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.9594061949060439e+01" y="-3.8294530372669436e+02" hdg="1.1767223340483770e+00" length="4.8513643246076024e+00">
+                <line />
+            </geometry>
+            <geometry s="4.8513643246076024e+00" x="5.1456759399823490e+01" y="-3.7846578433093367e+02" hdg="1.1767223340483770e+00" length="7.8567104178340541e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.2708074742441656e+01" x="5.7995807874149413e+01" y="-3.7576983683744334e+02" hdg="5.8885655576611526e+00" length="1.4331669148338090e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4311981476579945e+00" b="-5.3460788861141133e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.9910710754682519e+01" id="10159" junction="800032">
+        <link>
+            <predecessor elementType="road" elementId="10163" contactPoint="end" />
+            <successor elementType="road" elementId="10158" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.3666255936357499e+02" y="-4.0853182947715720e+02" hdg="5.8885655576611526e+00" length="1.1791780661034686e+01">
+                <line />
+            </geometry>
+            <geometry s="1.1791780661034686e+01" x="1.4754805702915417e+02" y="-4.1306526434827003e+02" hdg="5.8885655576611526e+00" length="7.6578012104162863e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.9449581871450974e+01" x="1.5031333638172069e+02" y="-4.1942072886193989e+02" hdg="4.3570053155778954e+00" length="4.6112888323154455e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5469999999999979e+00" b="1.2997437260030606e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.9696450327015789e+01" id="10051" junction="800011">
+        <link>
+            <predecessor elementType="road" elementId="10030" contactPoint="start" />
+            <successor elementType="road" elementId="10062" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.0041687972361080e+02" y="-3.2814331712028729e+02" hdg="2.7471161649012803e+00" length="5.3545505815969570e+00">
+                <line />
+            </geometry>
+            <geometry s="5.3545505815969570e+00" x="1.9547356992845863e+02" y="-3.2608542980558008e+02" hdg="2.7471161649012803e+00" length="9.4238714205164964e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.4778422002113453e+01" x="1.9223998387152295e+02" y="-3.1824112979032071e+02" hdg="1.1764709281485308e+00" length="4.9180283249023358e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9389009597234530e+00" b="4.4903985458308576e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4015310074706120e+00" b="-1.2468736521107431e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3991427612559320e+00" b="-1.5281338360493833e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.9999999999999957e+01" id="10164" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10009" contactPoint="end" />
+            <successor elementType="road" elementId="10167" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.8980690071052828e+02" y="-2.7296517283765183e+01" hdg="6.2096306687522747e+00" length="5.8785982810830006e-01">
+                <arc curvature="4.0943003645852157e-03" />
+            </geometry>
+            <geometry s="5.8785982810830006e-01" x="-1.8922057898670425e+02" y="-2.7339012540510794e+01" hdg="6.2051871958168805e+00" length="2.2822841441621384e+00">
+                <line />
+            </geometry>
+            <geometry s="2.8701439722704407e+00" x="-1.8694523369580241e+02" y="-2.7516845950939569e+01" hdg="6.2129477548325793e+00" length="1.4171915298715289e+01">
+                <arc curvature="1.4226942847840237e-02" />
+            </geometry>
+            <geometry s="1.7042059270985732e+01" x="-1.7280392296525304e+02" y="-2.7084355284137246e+01" hdg="2.1302942206065117e-01" length="8.2449537010061025e-01">
+                <line />
+            </geometry>
+            <geometry s="1.7866554641086339e+01" x="-1.7199806538325319e+02" y="-2.6910038982975522e+01" hdg="2.3419132030408313e-01" length="5.8758125102832226e-01">
+                <line />
+            </geometry>
+            <geometry s="1.8454135892114664e+01" x="-1.7142652373794581e+02" y="-2.6773686959743944e+01" hdg="2.7783638273288758e-01" length="8.0065882519578269e-01">
+                <line />
+            </geometry>
+            <geometry s="1.9254794717310446e+01" x="-1.7065656928497464e+02" y="-2.6554085742275220e+01" hdg="2.4426815290847959e-01" length="6.4645255334817939e+00">
+                <arc curvature="1.1090438819242633e-01" />
+            </geometry>
+            <geometry s="2.5719320250792236e+01" x="-1.6544451190266599e+02" y="-2.2967318702688999e+01" hdg="9.4979257322207100e-01" length="2.3080518421720901e+00">
+                <line />
+            </geometry>
+            <geometry s="2.8027372092964328e+01" x="-1.6410156778125159e+02" y="-2.1090192070596089e+01" hdg="1.1444196964078883e+00" length="1.9726279070356725e+00">
+                <arc curvature="-1.4379606781796653e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7219305658628103e+00" b="1.5768452964320984e-03" c="1.9617937647603766e-06" d="-6.1917236111958645e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9959825611145670e+00" b="1.9658046546895309e-05" c="-1.6405821080455151e-07" d="3.4764649689718825e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.4000000000000043e+01" id="10167" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10164" contactPoint="end" />
+            <successor elementType="road" elementId="10168" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.6326037759008764e+02" y="-1.9305983838002032e+01" hdg="1.1160540827779168e+00" length="7.2019315907182726e+00">
+                <arc curvature="-1.4379606781796653e-02" />
+            </geometry>
+            <geometry s="7.2019315907182744e+00" x="-1.5976799707287773e+02" y="-1.3011163965131971e+01" hdg="8.8550064860068556e-01" length="2.3714611480130685e+00">
+                <line />
+            </geometry>
+            <geometry s="9.5733927387313429e+00" x="-1.5826709465787485e+02" y="-1.1175102986522063e+01" hdg="8.2881446804574388e-01" length="7.1702289266517747e+00">
+                <arc curvature="-5.1900933758373312e-02" />
+            </geometry>
+            <geometry s="1.6743621665383117e+01" x="-1.5256071611914720e+02" y="-6.9020686506711399e+00" hdg="5.0726235367268468e-01" length="1.0703691636264847e+00">
+                <line />
+            </geometry>
+            <geometry s="1.7813990829009597e+01" x="-1.5162513031086348e+02" y="-6.3820981305639313e+00" hdg="4.4440175459155051e-01" length="9.1703002440555075e+00">
+                <line />
+            </geometry>
+            <geometry s="2.6984291073065108e+01" x="-1.4334555945635282e+02" y="-2.4396226352359003e+00" hdg="1.4695858529543646e-01" length="8.8523299699122671e-01">
+                <line />
+            </geometry>
+            <geometry s="2.7869524070056329e+01" x="-1.4246986837928048e+02" y="-2.3099978054463577e+00" hdg="4.7949210038747747e-01" length="1.7688899197208414e+01">
+                <arc curvature="1.0655007783019277e-02" />
+            </geometry>
+            <geometry s="4.5558423267264743e+01" x="-1.2763525283068509e+02" y="7.2767732689593458e+00" hdg="3.1276394511649425e-01" length="8.4081514206670682e-01">
+                <line />
+            </geometry>
+            <geometry s="4.6399238409331446e+01" x="-1.2683522834866775e+02" y="7.5354833988374610e+00" hdg="4.5838848332655063e-01" length="5.9509640908164119e-01">
+                <line />
+            </geometry>
+            <geometry s="4.6994334818413080e+01" x="-1.2630156566794017e+02" y="7.7988156591105025e+00" hdg="4.2601294639266579e-01" length="7.4791444720611078e-01">
+                <line />
+            </geometry>
+            <geometry s="4.7742249265619193e+01" x="-1.2562049936020085e+02" y="8.1078863707639357e+00" hdg="3.5108271036081407e-01" length="8.6314753099254951e+00">
+                <arc curvature="-7.7328515443964976e-02" />
+            </geometry>
+            <geometry s="5.6373724575544685e+01" x="-1.1714963213923591e+02" y="8.2548971406992564e+00" hdg="6.1108303270494915e+00" length="2.3873108793302120e+00">
+                <line />
+            </geometry>
+            <geometry s="5.8761035454874900e+01" x="-1.1479769258126770e+02" y="7.8454663770374395e+00" hdg="6.0369334751227370e+00" length="6.6890856998620389e+00">
+                <arc curvature="7.6819430607474079e-02" />
+            </geometry>
+            <geometry s="6.5450121154736934e+01" x="-1.0818233334966062e+02" y="7.9160817031421971e+00" hdg="3.4514400365283504e-01" length="1.2730075627678072e+00">
+                <line />
+            </geometry>
+            <geometry s="6.6723128717504736e+01" x="-1.0698439919122889e+02" y="8.3467811423413707e+00" hdg="5.4111667516766815e-01" length="7.2768712824952644e+00">
+                <arc curvature="5.3925288753630403e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6730267691190654e+00" b="1.6778352685674922e-03" c="1.4045386397527496e-06" d="-6.1917236111958645e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9964340365766655e+00" b="1.0753199440244639e-05" c="-1.3277002608380462e-07" d="3.4764649689718825e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.0907188127760115e+01" id="10169" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10168" contactPoint="end" />
+            <successor elementType="road" elementId="10010" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-9.5724812905373952e+01" y="2.1311493375671382e+01" hdg="1.0341076809292593e+00" length="8.8735635134530995e+00">
+                <arc curvature="1.1402525407374131e-02" />
+            </geometry>
+            <geometry s="8.8735635134530924e+00" x="-9.1581033484989717e+01" y="2.9153818835839381e+01" hdg="1.1056909751959267e+00" length="2.3463731704534183e+00">
+                <line />
+            </geometry>
+            <geometry s="1.1219936683906496e+01" x="-9.0528645313021684e+01" y="3.1250946917413181e+01" hdg="1.3685044934414052e+00" length="1.0959370246327126e+01">
+                <arc curvature="-5.3863710159958902e-02" />
+            </geometry>
+            <geometry s="2.2179306930233622e+01" x="-8.5374606717340498e+01" y="4.0742844908381279e+01" hdg="5.2737146517252909e-01" length="1.4107867837946855e+00">
+                <line />
+            </geometry>
+            <geometry s="2.3590093714028313e+01" x="-8.4155499442114433e+01" y="4.1452842655434488e+01" hdg="4.6145299109796101e-01" length="8.2414950862741954e+00">
+                <arc curvature="-8.0708937449868359e-02" />
+            </geometry>
+            <geometry s="3.1831588800302512e+01" x="-7.6132188130915452e+01" y="4.2492583883236186e+01" hdg="6.1736598150533482e+00" length="2.3340335339722351e+00">
+                <line />
+            </geometry>
+            <geometry s="3.4165622334274758e+01" x="-7.3812139946801423e+01" y="4.2237458500147561e+01" hdg="6.0931700764446362e+00" length="6.1283370560049217e+00">
+                <arc curvature="-3.2142867603593792e-02" />
+            </geometry>
+            <geometry s="4.0293959390279667e+01" x="-6.7852720633301175e+01" y="4.0464551123547224e+01" hdg="5.9175373032281593e+00" length="6.1322873748043061e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5258480412685511e+00" b="1.7827313546441600e-03" c="-1.5577571026860880e-07" d="-6.1917236111958645e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9966065314948955e+00" b="-4.1931838955148601e-06" c="-4.5163108865713161e-08" d="3.4764649689718825e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.0028257486500541e+01" id="10168" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10167" contactPoint="end" />
+            <successor elementType="road" elementId="10169" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.0163202527433300e+02" y="1.3207741760303882e+01" hdg="9.4090528812769925e-01" length="1.0028257486500541e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5436847406624086e+00" b="1.7786439386771021e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9966435993764673e+00" b="-3.6963432203112462e-06" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.7883631416992316e+01" id="10170" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10010" contactPoint="end" />
+            <successor elementType="junction" elementId="800009" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.8638066860378956e+01" y="3.6440314015258743e+01" hdg="5.9354718715325818e+00" length="4.9491495064576041e-01">
+                <line />
+            </geometry>
+            <geometry s="4.9491495064576085e-01" x="-5.8172770434282462e+01" y="3.6271672252238645e+01" hdg="5.8875339702506011e+00" length="5.7388716466346558e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6810809169140031e+00" b="8.7676726188241785e-04" c="-1.6259266381135487e-05" d="5.5556715784792693e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3927366285441036e+00" b="3.1425152666739907e-04" c="-3.4477221038775264e-06" d="1.0777276899194293e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.4425301363663774e+00" id="10010" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10169" contactPoint="end" />
+            <successor elementType="road" elementId="10170" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.7280031061449534e+01" y="4.0245288407235883e+01" hdg="5.8684351109348061e+00" length="9.4425301363663774e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.4536060374316291e+00" b="-2.4090458404394315e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9963832220707860e+00" b="4.1975339315765234e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.0000000000000000e+01" id="10177" junction="800025">
+        <link>
+            <predecessor elementType="road" elementId="10110" contactPoint="start" />
+            <successor elementType="road" elementId="10178" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.4391130818428650e+02" y="-4.3496868331578526e+02" hdg="1.1781873619094989e+00" length="4.0000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5442369652037709e+00" b="-9.9517811804150681e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="1.1880796273120852e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="7.4781750262215365e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="6.1000000000000000e+01" id="10178" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800025" contactPoint="start" />
+            <successor elementType="junction" elementId="800011" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.5921531513356416e+02" y="-3.9801212271693544e+02" hdg="1.1781873619094989e+00" length="6.1000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.9423082124203734e+00" b="-9.9517811804150681e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0475231850924835e+00" b="1.1880796273120852e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0299127001048860e+00" b="7.4781750262215365e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.0254803429946492e+01" id="10179" junction="800011">
+        <link>
+            <predecessor elementType="road" elementId="10178" contactPoint="end" />
+            <successor elementType="road" elementId="10062" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.8255392573121259e+02" y="-3.4165336780368943e+02" hdg="1.1781873619094989e+00" length="3.0254803429946492e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5493668644256928e+00" b="-9.9517811804150681e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1199960423585207e+00" b="1.1880796273120852e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0755295677648373e+00" b="7.4781750262215365e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.3037705025359401e+01" id="10181" junction="800025">
+        <link>
+            <predecessor elementType="road" elementId="10163" contactPoint="end" />
+            <successor elementType="road" elementId="10178" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.3666255936357499e+02" y="-4.0853182947715720e+02" hdg="5.8885655576611526e+00" length="1.1801935440764897e+01">
+                <line />
+            </geometry>
+            <geometry s="1.1801935440764897e+01" x="1.4755743134116227e+02" y="-4.1306916842636144e+02" hdg="5.8885655576611526e+00" length="7.8640355571396636e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.9665970997904559e+01" x="1.5409928737156264e+02" y="-4.1036645518936888e+02" hdg="1.1781873619094989e+00" length="1.3371734027454842e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5469999999999979e+00" b="-1.1965365394386232e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="9.0541095641859270e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.8517194788699211e+01" id="10185" junction="800011">
+        <link>
+            <predecessor elementType="road" elementId="10178" contactPoint="end" />
+            <successor elementType="road" elementId="10030" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.8255392573121259e+02" y="-3.4165336780368943e+02" hdg="1.1781873619094989e+00" length="1.4328316314880928e+01">
+                <line />
+            </geometry>
+            <geometry s="1.4328316314880928e+01" x="1.8803594204257223e+02" y="-3.2841523554942978e+02" hdg="1.1781873619094989e+00" length="7.8633192529900597e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="2.2191635567870989e+01" x="1.9457713680221525e+02" y="-3.2571224697152246e+02" hdg="5.8887088184910734e+00" length="6.3255592208282225e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5493668644256928e+00" b="-1.3659621789031110e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.1199960423585207e+00" b="9.7887159296618995e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0755295677648373e+00" b="1.1431749936181046e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.2132495531113122e+01" id="10186" junction="800011">
+        <link>
+            <predecessor elementType="road" elementId="10029" contactPoint="end" />
+            <successor elementType="road" elementId="10178" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.7614817882186890e+02" y="-3.1805367992422845e+02" hdg="5.8883300631547142e+00" length="9.9588605399041636e+00">
+                <line />
+            </geometry>
+            <geometry s="9.9588605399041636e+00" x="1.8534072753010707e+02" y="-3.2188460037497248e+02" hdg="5.8883300631547142e+00" length="7.8427502382771097e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.7801610778181274e+01" x="1.8803692472741676e+02" y="-3.2841286253351797e+02" hdg="4.3197800154992922e+00" length="1.4330884752931844e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8289769137462963e+00" b="8.7017844303398043e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3441913720593872e+00" b="-8.3610625273225700e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4003811910718231e+00" b="-8.7259064096597248e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.7649415860190246e+01" id="10157" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800009" contactPoint="start" />
+            <successor elementType="road" elementId="10017" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="9.9180230033203376e-01" y="-9.1298015532845582e+00" hdg="4.3254309633457524e+00" length="3.5202653611613677e-01">
+                <line />
+            </geometry>
+            <geometry s="3.5202653611613677e-01" x="8.5895695413137529e-01" y="-9.4557997068418338e+00" hdg="4.3091463665621097e+00" length="2.3011018604114155e+00">
+                <line />
+            </geometry>
+            <geometry s="2.6531283965275527e+00" x="-4.4002169418499229e-02" y="-1.1572338058298504e+01" hdg="4.3136730869454096e+00" length="7.4996287463662696e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7311811051646462e+00" b="-8.8517410039677875e-04" c="9.8535333334225291e-06" d="-2.6765711489403358e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9508447474530124e+00" b="-8.9406920266165942e-04" c="1.1055167941535104e-05" d="-3.6901332317170502e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8865654642320280e+00" b="2.7328392395542587e-04" c="-2.3093188782086078e-06" d="6.3732765851954745e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="74" t="0" id="76" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="77" t="0" id="77" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="77.5" t="0" id="78" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="77" t="0" id="79" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="0" toLane="2" />
+            </signal>
+            <signal s="74" t="0" id="80" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="77.649" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.9054368907432270e+01" id="10175" junction="800009">
+        <link>
+            <predecessor elementType="road" elementId="10016" contactPoint="end" />
+            <successor elementType="road" elementId="10157" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.1770533118874344e+01" y="3.0146406960328562e+00" hdg="2.7468164164460735e+00" length="3.5735024010068290e+00">
+                <line />
+            </geometry>
+            <geometry s="3.5735024010068290e+00" x="1.8471895063368059e+01" y="4.3890156044065831e+00" hdg="2.7468164164460735e+00" length="1.7364760015896469e+01">
+                <arc curvature="9.0909090909090912e-02" />
+            </geometry>
+            <geometry s="2.0938262416903299e+01" x="4.0546025892853272e+00" y="-1.6137893822197658e+00" hdg="4.3254309633457524e+00" length="8.1161064905289706e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7921805639232149e+00" b="2.0994935031256076e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4006792173072560e+00" b="5.1141577077747989e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="29.054" />
+        </userData>
+    </road>
+    <road name="" length="5.7999999999999993e+01" id="10120" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10032" contactPoint="end" />
+            <successor elementType="road" elementId="10093" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.2372356779224877e+01" y="-1.0088822733355919e+02" hdg="5.8870587750219414e+00" length="5.7999999999999993e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7210174816294455e+00" b="3.1995679522652601e-03" c="-6.0787425774162508e-05" d="2.8028281378844427e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9940364603390091e+00" b="1.2871572935041565e-04" c="-3.6844765528046412e-06" d="2.4786069217061854e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.0999999999999957e+01" id="10125" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10041" contactPoint="end" />
+            <successor elementType="road" elementId="10077" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.5843039269580447e+02" y="-2.1391758394333510e+02" hdg="5.8883434001846169e+00" length="7.0999999999999957e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8769956294122920e+00" b="2.3272712257605763e-04" c="2.8575133501788492e-05" d="-1.1963003410550051e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9560411387487271e+00" b="6.5145149772769591e-04" c="-3.7620335206447727e-06" d="7.0624118384376367e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="63" t="0" id="82" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="2.8999999999999986e+01" id="10129" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10040" contactPoint="end" />
+            <successor elementType="road" elementId="10041" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.7337234199858946e+02" y="-1.7868187287677478e+02" hdg="5.8904918620094984e+00" length="2.8999999999999986e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6100349902331184e+00" b="-2.2057151935744759e-03" c="4.2790412204873399e-05" d="-2.0763829461464674e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0101326684409009e+00" b="-8.1540098009456256e-04" c="1.2041121541625943e-05" d="-4.9090029615192960e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.1664738526946422e+01" id="10040" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10034" contactPoint="end" />
+            <successor elementType="road" elementId="10129" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2572414686967301e+02" y="-1.5870952429143199e+02" hdg="5.8862692320693766e+00" length="5.1664738526946422e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7196344898521767e+00" b="2.1213598044611277e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9936662836900245e+00" b="3.1871611509827155e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="7" t="0" id="4" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="8" t="0" id="5" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="20" t="0" id="17" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="21" t="0" id="18" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="6.3067515059831102e+01" id="10041" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10129" contactPoint="end" />
+            <successor elementType="road" elementId="10125" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.0016491099416879e+02" y="-1.8977954139845627e+02" hdg="5.8904321733097662e+00" length="6.3067515059831102e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6434260979532320e+00" b="-3.7034839764572376e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9950316171618203e+00" b="-6.1823394145311744e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="34" t="0" id="19" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="35" t="0" id="20" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="46" t="0" id="21" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="47" t="0" id="22" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="2.0930970790608079e+01" id="10077" junction="800019">
+        <link>
+            <predecessor elementType="road" elementId="10125" contactPoint="end" />
+            <successor elementType="road" elementId="10065" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.2396746726591260e+02" y="-2.4122860473700155e+02" hdg="5.8883434001846169e+00" length="1.2618485578300561e+01">
+                <line />
+            </geometry>
+            <geometry s="1.2618485578300561e+01" x="3.3561505360826357e+02" y="-2.4608245997662897e+02" hdg="5.8883434001846169e+00" length="7.8678844975696194e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="2.0486370075870180e+01" x="3.4215898193169380e+02" y="-2.4337764379902890e+02" hdg="1.1787349925189550e+00" length="4.4460071473789781e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7542677800108288e+00" b="-2.9116027920102296e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9862966197174865e+00" b="9.1502324307924349e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="7" t="0" id="26" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="20" t="0" id="27" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="19" t="0" id="28" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="9" t="0" id="23" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="2.1576696622941434e+01" id="10056" junction="800016">
+        <link>
+            <predecessor elementType="road" elementId="10063" contactPoint="start" />
+            <successor elementType="junction" elementId="800018" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.9549591178644187e+02" y="-3.5572139769145201e+02" hdg="4.3182344690249872e+00" length="6.0893027623702833e+00">
+                <line />
+            </geometry>
+            <geometry s="6.0893027623702833e+00" x="2.9315745104533590e+02" y="-3.6134378237182710e+02" hdg="4.3182344690249872e+00" length="7.8508245811236144e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.3940127343493899e+01" x="2.9585100603886303e+02" y="-3.6787931532411449e+02" hdg="5.8883993852497101e+00" length="7.6365692794475342e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9037441403439894e+00" b="1.2980914828762413e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8950592857348845e+00" b="-5.7992009351423450e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9324918499203330e+00" b="-7.0821252920209618e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="17" t="0" id="37" name="" dynamic="yes" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="20" t="0" id="38" name="" dynamic="yes" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="7" t="0" id="39" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="5" t="0" id="40" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="3.2480312523530074e+01" id="10124" junction="800021">
+        <link>
+            <predecessor elementType="junction" elementId="800020" contactPoint="start" />
+            <successor elementType="junction" elementId="800024" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.6422680717647057e+02" y="-1.9034139690406576e+02" hdg="1.1891503273241297e+00" length="2.0415173303745076e+00">
+                <line />
+            </geometry>
+            <geometry s="2.0415173303745107e+00" x="3.6498716734137804e+02" y="-1.8844676094171274e+02" hdg="1.1778333079165604e+00" length="3.0438795193155567e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6702999444594004e+00" b="-1.8476848784752774e-03" c="-4.3512236441128462e-05" d="5.8780456291928871e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.6975670172226964e+00" b="-1.2649432843386639e-03" c="6.0868229234044711e-05" d="-2.8865687926783044e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.9002715253331273e+00" b="3.7138609000191255e-05" c="3.4202557194012735e-07" d="-1.2220933707258243e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.0000000000000000e+00" id="10138" junction="800020">
+        <link>
+            <predecessor elementType="road" elementId="10112" contactPoint="end" />
+            <successor elementType="junction" elementId="800021" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.6268309902981855e+02" y="-1.9403149114931759e+02" hdg="1.1738539524541853e+00" length="3.8097107603690361e+00">
+                <line />
+            </geometry>
+            <geometry s="3.8097107603690361e+00" x="3.6415593422551729e+02" y="-1.9051799537388501e+02" hdg="1.1891503273241297e+00" length="1.9028923963096389e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6636430202205847e+00" b="-1.4713723679261248e-03" c="-5.0565891196159934e-05" d="5.8780456291928871e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.7036191560680685e+00" b="-1.7657446484158779e-03" c="6.4332111785258682e-05" d="-2.8865687926783044e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9001292254460358e+00" b="3.3815799606721833e-05" c="4.8867677642722617e-07" d="-1.2220933707258243e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.8963299276354491e+01" id="10171" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800030" contactPoint="start" />
+            <successor elementType="junction" elementId="800031" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.1330849879043555e+01" y="-3.4164552278720635e+02" hdg="5.8879788995370186e+00" length="9.8963299276354491e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5697889348722587e+00" b="2.3027662819347645e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="98.963" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.0191429396826045e+01" id="10032" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10208" contactPoint="end" />
+            <successor elementType="road" elementId="10120" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.1055945431089306e+01" y="-9.3232031399876860e+01" hdg="5.8942748278459991e+00" length="2.0191429396826045e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7381975786232573e+00" b="-1.9725299406649538e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="-2.9535004896326822e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="13" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="1" t="0" id="16" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="5.6972068779857544e+01" id="10096" junction="800021">
+        <link>
+            <predecessor elementType="road" elementId="10115" contactPoint="end" />
+            <successor elementType="junction" elementId="800020" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.6199004283328424e+02" y="-1.9714276108317225e+02" hdg="1.0895616124153005e+00" length="8.8454737901384330e+00">
+                <line />
+            </geometry>
+            <geometry s="8.8454737901384330e+00" x="3.6615351215296198e+02" y="-1.8911550038997871e+02" hdg="9.8921630754143131e-01" length="1.5941823162361977e+01">
+                <arc curvature="9.4397295408823797e-03" />
+            </geometry>
+            <geometry s="2.4787296952500412e+01" x="3.7381707483714951e+02" y="-1.7515537886113592e+02" hdg="1.0611237157854818e+00" length="4.8680102735039643e+00">
+                <arc curvature="1.9989383762114327e-01" />
+            </geometry>
+            <geometry s="2.9655307226004375e+01" x="3.7389194665913055e+02" y="-1.7049569644782360e+02" hdg="2.1106878200897010e+00" length="5.0004037601483597e+00">
+                <arc curvature="2.8854982015099612e-01" />
+            </geometry>
+            <geometry s="3.4655710986152734e+01" x="3.6953235683025605e+02" y="-1.6910305648407086e+02" hdg="3.5660177390733399e+00" length="2.6516156397197377e+00">
+                <arc curvature="2.6386016008485169e-01" />
+            </geometry>
+            <geometry s="3.7307326625872470e+01" x="3.6757352333803976e+02" y="-1.7103315460889726e+02" hdg="4.4165086263831146e+00" length="2.9619281531633108e+00">
+                <line />
+            </geometry>
+            <geometry s="4.0269254779035784e+01" x="3.6678612675156546e+02" y="-1.7370211794981196e+02" hdg="4.6377938525784934e+00" length="1.6702814000821760e+01">
+                <arc curvature="-2.1294273439387619e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7573999082049880e+00" b="-5.1605572964676365e-03" c="2.9287056978389111e-04" d="-3.5269815117396298e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.3000000000000000e+01" id="10112" junction="800020">
+        <link>
+            <predecessor elementType="road" elementId="10065" contactPoint="end" />
+            <successor elementType="road" elementId="10138" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.5765729556377556e+02" y="-2.0602070711704087e+02" hdg="1.1738539524541853e+00" length="1.3000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6543522216744293e+00" b="1.4135771657411336e-04" c="-7.3490269150012190e-05" d="5.8780456291928871e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.7380801425529349e+00" b="-3.5847285926213931e-03" c="7.5589730076704073e-05" d="-2.8865687926783044e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8997990558177191e+00" b="1.4914190030034060e-05" c="9.6529319101029787e-07" d="-1.2220933707258243e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.8787967223603967e+00" id="10115" junction="800020">
+        <link>
+            <predecessor elementType="road" elementId="10065" contactPoint="end" />
+            <successor elementType="road" elementId="10096" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.5765729556377556e+02" y="-2.0602070711704087e+02" hdg="1.1167665553069119e+00" length="9.8787967223603967e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6543522216744293e+00" b="3.9447641478934292e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8997990558177191e+00" b="-1.9231077520985668e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.6976809101546714e+01" id="10121" junction="800020">
+        <link>
+            <predecessor elementType="junction" elementId="800021" contactPoint="start" />
+            <successor elementType="road" elementId="10065" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.6263638815124489e+02" y="-1.8979046730748269e+02" hdg="4.4147248155208878e+00" length="1.6976809101546714e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7530159225591753e+00" b="-2.2980386218513899e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="1.0237967171313618e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.5999999999999993e+01" id="10194" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10233" contactPoint="end" />
+            <successor elementType="road" elementId="10195" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.9314815986182924e+02" y="-4.3326168813709364e+02" hdg="5.0225307389174434e+00" length="5.6299313415713090e+00">
+                <arc curvature="-5.4136713596511218e-02" />
+            </geometry>
+            <geometry s="5.6299313415713073e+00" x="2.9402361000701785e+02" y="-4.3880024924501777e+02" hdg="4.5357765214035517e+00" length="2.3135156881465577e+00">
+                <line />
+            </geometry>
+            <geometry s="7.9434470297178663e+00" x="2.9353599672180724e+02" y="-4.4105817772137686e+02" hdg="4.4753746349857613e+00" length="7.1349300140571881e+00">
+                <arc curvature="-4.5595966181175507e-02" />
+            </geometry>
+            <geometry s="1.5078377043775056e+01" x="2.9074328335374594e+02" y="-4.4758381587825716e+02" hdg="3.9151428152075507e+00" length="2.8079826090844469e+00">
+                <line />
+            </geometry>
+            <geometry s="1.7886359652859504e+01" x="2.8873435499519110e+02" y="-4.4954569589067250e+02" hdg="3.6685290889926225e+00" length="2.8673018123865490e+00">
+                <line />
+            </geometry>
+            <geometry s="2.0753661465246054e+01" x="2.8627744097732023e+02" y="-4.5105418039786628e+02" hdg="3.4532863997048393e+00" length="5.2463385347539457e+00">
+                <arc curvature="6.7782813305608106e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.8108819145679877e+00" b="5.2609565863385700e-05" c="-6.8879602282289406e-05" d="1.2026663460486854e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="26" />
+        </userData>
+    </road>
+    <road name="" length="1.3692280952020727e+01" id="10195" junction="800034">
+        <link>
+            <predecessor elementType="road" elementId="10194" contactPoint="end" />
+            <successor elementType="road" elementId="10218" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.8167154796534544e+02" y="-4.5350794905516494e+02" hdg="4.3327858304853706e+00" length="1.3692280952020727e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.8349386133002157e+00" b="-1.9665220422364416e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="13.692" />
+        </userData>
+    </road>
+    <road name="" length="2.2286225184833441e+01" id="10196" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10218" contactPoint="end" />
+            <successor elementType="road" elementId="10149" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.6236955649148661e+02" y="-4.7355107255191359e+02" hdg="2.7447324386182959e+00" length="2.2286225184833441e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5216173405496427e+00" b="2.9692514074330256e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="22.286" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="8.0448827175697744e+01" id="10102" junction="800029">
+        <link>
+            <predecessor elementType="road" elementId="10140" contactPoint="end" />
+            <successor elementType="road" elementId="10155" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.0427878794525149e+02" y="-4.9981115642476436e+02" hdg="2.7462015447835375e+00" length="8.0448827175697744e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.3279999999999994e+00" b="-1.5164919649301495e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.3224775837266968e+01" id="10198" junction="800025">
+        <link>
+            <predecessor elementType="road" elementId="10149" contactPoint="end" />
+            <successor elementType="road" elementId="10110" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.6342170879527345e+02" y="-4.3208231864372641e+02" hdg="2.7447324386182959e+00" length="7.8843124539428739e+00">
+                <line />
+            </geometry>
+            <geometry s="7.8843124539428739e+00" x="1.5615017187114296e+02" y="-4.2903483876152774e+02" hdg="2.7447324386182959e+00" length="1.4182350391990793e+01">
+                <arc curvature="1.1111111111111110e-01" />
+            </geometry>
+            <geometry s="2.2066662845933667e+01" x="1.4435357931476227e+02" y="-4.3389834601014621e+02" hdg="4.3205491488394951e+00" length="1.1581129913333008e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5784596459422415e+00" b="1.4735419182628337e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="10" t="0" id="45" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="9" t="0" id="46" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="22" t="0" id="47" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="23" t="0" id="48" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="3.3000000000000000e+01" id="10166" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10165" contactPoint="end" />
+            <successor elementType="junction" elementId="800004" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1313949142609354e+02" y="-3.3234361488430346e+02" hdg="2.6348023453373886e+00" length="7.9876651606718632e+00">
+                <arc curvature="-3.4882770800880890e-02" />
+            </geometry>
+            <geometry s="7.9876651606718632e+00" x="-1.1951912129886274e+02" y="-3.2757254097514499e+02" hdg="2.3875732223712038e+00" length="8.9076894626732308e+00">
+                <line />
+            </geometry>
+            <geometry s="1.6895354623345092e+01" x="-1.2601232065630126e+02" y="-3.2147456642020745e+02" hdg="2.2929452424413896e+00" length="3.2663840016750583e+00">
+                <arc curvature="-1.4304257561903566e-01" />
+            </geometry>
+            <geometry s="2.0161738625020149e+01" x="-1.2750762222977413e+02" y="-3.1860588778947016e+02" hdg="1.9880324290850568e+00" length="2.9909339919137139e+00">
+                <arc curvature="-2.6650578878718623e-01" />
+            </geometry>
+            <geometry s="2.3152672616933863e+01" x="-1.2772821011932498e+02" y="-3.1577105321000482e+02" hdg="1.2080436924397799e+00" length="2.0598917655142466e+00">
+                <line />
+            </geometry>
+            <geometry s="2.5212564382448107e+01" x="-1.2694015088007605e+02" y="-3.1377523311443383e+02" hdg="1.1066316853590576e+00" length="7.7874356175518926e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-3.0016345045425630e+00" b="-3.6260710500456983e-03" c="9.8197386087276687e-04" d="-1.8373689193174229e-05" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="21" t="0" id="7" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="9.5201238216287205e+00" id="10165" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10150" contactPoint="end" />
+            <successor elementType="road" elementId="10166" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.0463026969395030e+02" y="-3.3661279549565779e+02" hdg="2.6765761989037222e+00" length="9.5201238216287205e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.6392385211313369e+00" b="-3.8066309871716213e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.5797998407478921e+01" id="10176" junction="800026">
+        <link>
+            <predecessor elementType="road" elementId="10110" contactPoint="end" />
+            <successor elementType="road" elementId="10174" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2244684898853289e+02" y="-4.8691467264108377e+02" hdg="4.3205491488394951e+00" length="9.3708939573804155e+00">
+                <line />
+            </geometry>
+            <geometry s="9.3708939573804155e+00" x="1.1886820347197772e+02" y="-4.9557532791809996e+02" hdg="4.3205491488394951e+00" length="1.2594780832447661e+01">
+                <arc curvature="-1.2500000000000000e-01" />
+            </geometry>
+            <geometry s="2.1965674789828078e+01" x="1.0839318616265025e+02" y="-4.9990298027281221e+02" hdg="2.7462015447835375e+00" length="3.8323236176508426e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4549999999999992e+00" b="4.9228625412730499e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="49" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="1" t="0" id="50" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="24" t="0" id="51" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="25" t="0" id="52" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="8.0462810005276879e+01" id="10174" junction="800029">
+        <link>
+            <predecessor elementType="road" elementId="10176" contactPoint="end" />
+            <successor elementType="road" elementId="10155" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.0485654167242980e+02" y="-4.9842688743691139e+02" hdg="2.7648447775510383e+00" length="8.0462810005276879e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.3279999999999994e+00" b="-1.5162284289101876e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.9675712715967663e+01" id="10074" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10058" contactPoint="end" />
+            <successor elementType="road" elementId="10059" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.3579848192638192e+02" y="-1.7500931026692092e+02" hdg="1.1773308322888407e+00" length="1.9675712715967663e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7382545127590951e+00" b="7.5544749177000031e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2724804562809733e+00" b="9.0729875885491099e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4000484900337780e+00" b="3.5066284344815877e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.9326436576919598e+01" id="10199" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800000" contactPoint="start" />
+            <successor elementType="road" elementId="10130" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.3765658632087884e+01" y="-9.1411653536797616e+01" hdg="2.7406504608274500e+00" length="3.9284380498702056e+01">
+                <line />
+            </geometry>
+            <geometry s="3.9284380498702056e+01" x="-7.9934539404850497e+01" y="-7.6079510346346865e+01" hdg="2.7406504608274500e+00" length="5.9097095862945288e+00">
+                <arc curvature="8.3333333333333329e-02" />
+            </geometry>
+            <geometry s="4.5194090084996589e+01" x="-8.5714841345897199e+01" y="-7.5178069800672120e+01" hdg="3.2331262596853274e+00" length="4.1323464919230073e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-4.5086807076710578e+00" b="-1.9400323016136194e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.0014295677064551e+00" b="-5.6550006019002719e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="49.326" />
+        </userData>
+    </road>
+    <road name="" length="4.5999999999999986e+01" id="10201" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10202" contactPoint="end" />
+            <successor elementType="junction" elementId="800000" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.4073690492106422e+01" y="-1.1449942870403049e+02" hdg="6.1511665813496315e+00" length="1.5470802509870722e+00">
+                <arc curvature="1.4096191228416767e-02" />
+            </geometry>
+            <geometry s="1.5470802509870794e+00" x="-7.2528406554110788e+01" y="-1.1463085049130251e+02" hdg="6.1159191926849230e+00" length="1.2576302004782629e+01">
+                <arc curvature="6.7592165272055721e-02" />
+            </geometry>
+            <geometry s="1.4123382255769712e+01" x="-6.0714164970653478e+01" y="-1.1153430228517888e+02" hdg="7.7079542340526608e-01" length="9.5648665687060408e+00">
+                <arc curvature="4.9077522648510327e-02" />
+            </geometry>
+            <geometry s="2.3688248824475750e+01" x="-5.5541323324403912e+01" y="-1.0355999657733408e+02" hdg="1.3074550872619222e+00" length="8.8497226708883634e+00">
+                <arc curvature="-3.1846706353753057e-02" />
+            </geometry>
+            <geometry s="3.2537971495364118e+01" x="-5.2058401906459260e+01" y="-9.5458691675022251e+01" hdg="9.9350024289841965e-01" length="9.6345540860649077e+00">
+                <arc curvature="-8.1495793213263334e-02" />
+            </geometry>
+            <geometry s="4.2172525581429028e+01" x="-4.4315219161901865e+01" y="-9.0145463343020623e+01" hdg="1.9340110333617822e-01" length="3.8274744185709721e+00">
+                <arc curvature="-8.2879182405817903e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.6789828493442940e+00" b="1.0259858009175572e-03" c="-1.7472549719329374e-05" d="-3.5233702060478230e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="44" t="0" id="6" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="43" t="0" id="14" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="46" />
+        </userData>
+    </road>
+    <road name="" length="1.0000000000000000e+01" id="10202" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10190" contactPoint="end" />
+            <successor elementType="road" elementId="10201" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-8.3861251465017332e+01" y="-1.1248990778328155e+02" hdg="6.0102046690654634e+00" length="1.0000000000000000e+01">
+                <arc curvature="1.4096191228416767e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.6906376253047979e+00" b="1.2697356891227104e-03" c="-6.9024391011859022e-06" d="-3.5233702060478230e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="10" />
+        </userData>
+    </road>
+    <road name="" length="3.4000000000000007e+01" id="10203" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10130" contactPoint="end" />
+            <successor elementType="junction" elementId="800001" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.0107825467751400e+02" y="-8.1178415384455207e+01" hdg="4.1446418444430595e+00" length="3.7325281852307208e+00">
+                <line />
+            </geometry>
+            <geometry s="3.7325281852307208e+00" x="-1.0308536196055748e+02" y="-8.4325364225459069e+01" hdg="4.1446418444430595e+00" length="3.0267471814769280e+01">
+                <arc curvature="5.8823529411764705e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7296464594926104e+00" b="8.6139178647196663e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="34" />
+        </userData>
+    </road>
+    <road name="" length="9.9999999999999982e+00" id="10000" junction="800009">
+        <link>
+            <predecessor elementType="road" elementId="10027" contactPoint="end" />
+            <successor elementType="road" elementId="10157" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.7655333282915695e+00" y="1.3081150032131195e-01" hdg="4.3254309633457524e+00" length="9.9999999999999982e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7213172451158476e+00" b="-9.8638600487985792e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.8835953198280668e+00" b="2.9701444039611510e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.1239785597583676e+01" id="10025" junction="800009">
+        <link>
+            <predecessor elementType="road" elementId="10157" contactPoint="start" />
+            <successor elementType="road" elementId="10016" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="9.9180230033203376e-01" y="-9.1298015532845582e+00" hdg="1.1838383097559593e+00" length="1.3155351202853870e+01">
+                <line />
+            </geometry>
+            <geometry s="1.3155351202853870e+01" x="5.9562780021234776e+00" y="3.0528601541072691e+00" hdg="1.1838383097559593e+00" length="9.4716872813980757e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.2627038484251948e+01" x="1.3820255715259515e+01" y="6.3271174195398228e+00" hdg="5.8884090700358662e+00" length="8.6127471133317268e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7311811051646462e+00" b="-1.9526209156597693e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.9508447474530124e+00" b="-4.7739044932115685e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="31.24" />
+        </userData>
+    </road>
+    <road name="" length="3.8716092817974243e+01" id="10093" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10120" contactPoint="end" />
+            <successor elementType="road" elementId="10034" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.1136267059606809e+01" y="-1.2326739565757006e+02" hdg="5.8735228609514545e+00" length="3.8716092817974243e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6862797975525972e+00" b="6.9564319588352351e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9938955636001015e+00" b="4.2261270667655411e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="29" t="0" id="93" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="28" t="0" id="94" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="10" t="0" id="2" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="9" t="0" id="3" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="31" t="0" id="15" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="32" t="0" id="24" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="12" t="0" id="99" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="5.3002358438092166e+01" id="10034" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10093" contactPoint="end" />
+            <successor elementType="road" elementId="10040" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="7.6648809268976237e+01" y="-1.3868800488411333e+02" hdg="5.8958227425369811e+00" length="5.3002358438092166e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6593472110125784e+00" b="-1.1374452121789081e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9955317548778759e+00" b="-3.5196003401062180e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.3267405174633250e+01" id="10130" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10199" contactPoint="end" />
+            <successor elementType="road" elementId="10203" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-8.9829888693063282e+01" y="-7.5555790411560338e+01" hdg="3.2331262596853274e+00" length="3.2712061729225499e+00">
+                <line />
+            </geometry>
+            <geometry s="3.2712061729225499e+00" x="-9.3087400692657013e+01" y="-7.5854797766435510e+01" hdg="3.2331262596853274e+00" length="9.1151558475773200e+00">
+                <arc curvature="1.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.2386362020499870e+01" x="-1.0060448782470525e+02" y="-8.0435595077365406e+01" hdg="4.1446418444430595e+00" length="8.8104315413337997e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-4.5182501956993297e+00" b="1.3481187260538771e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.9986401574211343e+00" b="-7.5270193702269270e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="14" />
+        </userData>
+    </road>
+    <road name="" length="1.3874690924506965e+01" id="10095" junction="800004">
+        <link>
+            <predecessor elementType="road" elementId="10003" contactPoint="end" />
+            <successor elementType="road" elementId="10101" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1646006093928240e+02" y="-2.9055863032476219e+02" hdg="4.3193107965084154e+00" length="2.0000000000000000e+00">
+                <line />
+            </geometry>
+            <geometry s="2.0000000000000000e+00" x="-1.1722612823848226e+02" y="-2.9240609910476815e+02" hdg="4.3193107965084154e+00" length="3.7427699818945199e+00">
+                <arc curvature="6.5150905840411444e-02" />
+            </geometry>
+            <geometry s="5.7427699818945204e+00" x="-1.1822612918001228e+02" y="-2.9600318835253142e+02" hdg="4.5631556511811437e+00" length="4.5597725309496768e+00">
+                <line />
+            </geometry>
+            <geometry s="1.0302542512844198e+01" x="-1.1890407628174805e+02" y="-3.0051228064048155e+02" hdg="4.5631556511811437e+00" length="1.3285753193218053e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.1631117832166002e+01" x="-1.1927281743431573e+02" y="-3.0178459402439950e+02" hdg="4.2974405873167827e+00" length="2.2435730923409620e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7923006599198237e+00" b="1.8906074635347703e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+            <elevation s="5.7427699818945204e+00" a="-5.7065682810065024e+00" b="1.3372926763745013e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.4984459857133841e+00" b="-9.5664764406080460e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+            <laneSection s="5.7427699818945204e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.9490652483571340e+00" b="-6.7647629638853207e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="7" t="0" id="95" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="13" t="0" id="96" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="2.5981089941769980e+01" id="10101" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10095" contactPoint="end" />
+            <successor elementType="road" elementId="10099" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.2017729755626848e+02" y="-3.0383777105760163e+02" hdg="4.2974405873167827e+00" length="6.4208973159561440e+00">
+                <line />
+            </geometry>
+            <geometry s="6.4208973159561431e+00" x="-1.2276583545913779e+02" y="-3.0971377257797769e+02" hdg="4.2974405873167827e+00" length="3.8280624659744702e+00">
+                <line />
+            </geometry>
+            <geometry s="1.0248959781930614e+01" x="-1.2430909091084885e+02" y="-3.1321697466380812e+02" hdg="4.2974405873167827e+00" length="9.4914698824314101e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.9740429664362026e+01" x="-1.2117594395130611e+02" y="-3.2115320025979099e+02" hdg="5.8793522343886844e+00" length="6.2406602774079545e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-4.6190924488652971e+00" b="5.3139022971480433e-04" c="-6.2780647639577511e-05" d="1.4463107743264318e-06" />
+            <elevation s="6.4208973159561467e+00" a="-4.6178858946727610e+00" b="4.8753422959391651e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3989600721788533e+00" b="-2.4552802595354081e-04" c="1.7053504722920045e-05" d="-2.5819856817579000e-07" />
+                    </lane>
+                </right>
+            </laneSection>
+            <laneSection s="6.4208973159561467e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3980182921133499e+00" b="8.9282117040473572e-07" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="1.5" t="0" id="0" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="2.5" t="0" id="1" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="5.0000000000000000e+00" id="10097" junction="800004">
+        <link>
+            <predecessor elementType="road" elementId="10166" contactPoint="end" />
+            <successor elementType="road" elementId="10111" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.2345390298047911e+02" y="-3.0681174052234530e+02" hdg="1.1066316853590576e+00" length="5.0000000000000000e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7122205832387301e+00" b="1.1573611734567099e-03" c="-8.3702136925148168e-04" d="-1.8373689193174229e-05" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <speed sOffset="0.0000000000000000e+00" max="1.3890000000000000e+00" />
+                        <speed sOffset="1.0000000000000000e+01" max="5.5000000000000004e-01" />
+                        <speed sOffset="1.5000000000000000e+01" max="5.5500000000000005e-01" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.2705629853099698e+01" id="10111" junction="800004">
+        <link>
+            <predecessor elementType="junction" elementId="800005" contactPoint="start" />
+            <successor elementType="road" elementId="10003" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.2121552306261540e+02" y="-3.0234076128471690e+02" hdg="1.1871761950573287e+00" length="1.2705629853099698e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7296560227518802e+00" b="-3.1975153409469198e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="1.1793559257102232e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="5" t="0" id="44" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="12.706" />
+        </userData>
+    </road>
+    <road name="" length="2.6938606924069830e+01" id="10150" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10162" contactPoint="end" />
+            <successor elementType="road" elementId="10165" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.8405187015730846e+01" y="-3.3859049565041954e+02" hdg="2.9162961025753087e+00" length="8.9682373401609397e+00">
+                <arc curvature="6.2437701218190388e-02" />
+            </geometry>
+            <geometry s="8.9682373401609397e+00" x="-8.7273596892836593e+01" y="-3.3898649542058564e+02" hdg="3.4438834226870583e+00" length="8.2150793087400711e+00">
+                <arc curvature="-5.3296743574456434e-02" />
+            </geometry>
+            <geometry s="1.7183316648901013e+01" x="-9.5402804620489036e+01" y="-3.3970295526312395e+02" hdg="2.9403504176012714e+00" length="9.7552902751688180e+00">
+                <arc curvature="-2.4992824505284787e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.8101400505259515e+00" b="3.7220303223475533e-04" c="-5.4760691049630480e-05" d="1.0262095767251369e-05" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.7058053913926949e+00" id="10162" junction="800030">
+        <link>
+            <predecessor elementType="road" elementId="10171" contactPoint="start" />
+            <successor elementType="road" elementId="10150" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.1330849879043555e+01" y="-3.4164552278720635e+02" hdg="2.7339373516726582e+00" length="7.7058053913926949e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5697889348722587e+00" b="3.5812595104319744e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.0020823336331551e+02" id="10153" junction="800035">
+        <link>
+            <predecessor elementType="road" elementId="10036" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2168764177872222e+02" y="-5.2395854169191421e+02" hdg="2.7596749374511438e+00" length="1.0020823336331551e+02">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4138899162509890e+00" b="8.8806699920822096e-06" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.7999999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7430925017576566e+01" id="10140" junction="800026">
+        <link>
+            <predecessor elementType="road" elementId="10183" contactPoint="end" />
+            <successor elementType="road" elementId="10102" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.1229145279777126e+02" y="-5.1149167676256872e+02" hdg="1.1789564952497020e+00" length="2.7108634980439437e+00">
+                <line />
+            </geometry>
+            <geometry s="2.7108634980439437e+00" x="1.1332670296145790e+02" y="-5.0898627499765877e+02" hdg="1.1789564952497020e+00" length="7.8362252476691774e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.0547088745713122e+01" x="1.1063150865765029e+02" y="-5.0246259780033392e+02" hdg="2.7462015447835375e+00" length="6.8838362718634452e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-4.1130639354308443e+00" b="-6.9700033896311728e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4220946703341664e+00" b="-2.4215276579329273e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="6" t="0" id="10" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="7" t="0" id="11" name="" dynamic="no" orientation="-" zOffset="0" type="3000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="16" t="0" id="91" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+            <signal s="17" t="0" id="92" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0" pitch="0" roll="0" height="0" width="0">
+                <validity fromLane="-2" toLane="2" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="1.9316612914640459e+01" id="10183" junction="800035">
+        <link>
+            <predecessor elementType="road" elementId="10036" contactPoint="end" />
+            <successor elementType="junction" elementId="800026" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2168764177872222e+02" y="-5.2395854169191421e+02" hdg="2.7596749374511438e+00" length="8.3958008112350093e+00">
+                <line />
+            </geometry>
+            <geometry s="8.3958008112350093e+00" x="1.1389674491382820e+02" y="-5.2082942084053775e+02" hdg="2.7596749374511438e+00" length="7.9035922110072088e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.6299393022242217e+01" x="1.1113920835988732e+02" y="-5.1428021556173383e+02" hdg="1.1789564952497020e+00" length="3.0172198923982427e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4138899162509890e+00" b="6.7342343430934620e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.7999999999999998e+00" b="-1.9563747088363056e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.2700000000000001e+02" id="10184" junction="800027">
+        <link>
+            <predecessor elementType="junction" elementId="800026" contactPoint="start" />
+            <successor elementType="road" elementId="10210" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2128063805964192e+02" y="-5.1208046311295573e+02" hdg="5.9008577118403851e+00" length="1.2700000000000001e+02">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.3505452601151626e+00" b="1.0334680391688835e-04" c="-4.6894108362155116e-07" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.2200000000000000e+02" id="10036" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10211" contactPoint="end" />
+            <successor elementType="junction" elementId="800035" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.3489773797885502e+02" y="-5.6942802726583159e+02" hdg="2.7596749374511438e+00" length="1.2200000000000000e+02">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4149733579900232e+00" b="8.8806699920822096e-06" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.7999999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.9000000000000000e+01" id="10113" junction="800026">
+        <link>
+            <successor elementType="junction" elementId="800027" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.7778748940707253e+01" y="-4.7850317147754924e+02" hdg="5.9008577118403851e+00" length="8.9000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.3640000000000017e+00" b="1.8952172193604949e-04" c="-4.6894108362155116e-07" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.9999999999998079e-01" id="10094" junction="800027">
+        <link>
+            <predecessor elementType="junction" elementId="800026" contactPoint="start" />
+            <successor elementType="road" elementId="10184" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2035283929165374e+02" y="-5.1170738209478463e+02" hdg="5.9008577118404766e+00" length="9.9999999999998079e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.3505452601151626e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.9685229177854850e+01" id="10172" junction="800026">
+        <link>
+            <predecessor elementType="road" elementId="10110" contactPoint="end" />
+            <successor elementType="junction" elementId="800027" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2244684898853289e+02" y="-4.8691467264108377e+02" hdg="4.3205491488394951e+00" length="1.7727610013865611e+01">
+                <line />
+            </geometry>
+            <geometry s="1.7727610013865611e+01" x="1.1567686179372600e+02" y="-5.0329867185329869e+02" hdg="4.3205491488394951e+00" length="9.4818513780053397e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.7209461391870953e+01" x="1.1898362375798126e+02" y="-5.1115680114660546e+02" hdg="5.9008577118403851e+00" length="2.4757677859838987e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.4549999999999992e+00" b="3.5187446005220564e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="6.7814274596551655e+01" id="10173" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10205" contactPoint="end" />
+            <successor elementType="road" elementId="10206" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="4.2575909137725830e+01" y="-1.2711908225528896e+02" hdg="2.7454965145576913e+00" length="6.7814274596551655e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7541295085744411e+00" b="4.3363490862802319e-03" c="-6.8198033527069684e-05" d="2.8028281378844427e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9925989032278544e+00" b="1.9943581064112677e-04" c="-4.3398140464645017e-06" d="2.4786069217061854e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.9922684345045042e+01" id="10182" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10200" contactPoint="end" />
+            <successor elementType="road" elementId="10205" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.2833878901600838e+02" y="-1.6302061497792602e+02" hdg="2.7395682576484477e+00" length="2.9000000000000000e+01">
+                <line />
+            </geometry>
+            <geometry s="2.9000000000000000e+01" x="1.0165093667748371e+02" y="-1.5167343305653674e+02" hdg="2.7395682576484477e+00" length="9.9998398818390921e+00">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0206562180975693e-01" cU="2.0937519327742621e-01" dU="-1.3958593592840497e-02" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="2.1179788659030983e-03" dV="-1.3426728872870556e-04" pRange="arcLength" />
+            </geometry>
+            <geometry s="3.8999839881839094e+01" x="9.2418321987396169e+01" y="-1.4783214303750205e+02" hdg="2.7464542408288617e+00" length="2.0922844463205944e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5053900522240111e+00" b="-1.0283764932465383e-02" c="1.6885281352106495e-04" d="-7.8185401350926864e-07" />
+            <elevation s="2.9000000000000000e+01" a="-6.6806826566297692e+00" b="-1.5328142253603365e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+            <elevation s="3.8999839881839094e+01" a="-6.6960105534519778e+00" b="-6.8084534146511000e-04" c="7.7375893940480515e-05" d="-7.8185401350926864e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9897318469431475e+00" b="7.0866980764778794e-04" c="-1.7123603453276829e-05" d="1.0433605584475868e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+            <laneSection s="2.9000000000000000e+01">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9984269729267257e+00" b="-9.1290845841550923e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+            <laneSection s="3.8999839881839094e+01">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9975140790856325e+00" b="-1.5088583888817097e-04" c="-4.9162849194400631e-06" d="1.0433605584475868e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.9674250133931508e+01" id="10187" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10192" contactPoint="end" />
+            <successor elementType="road" elementId="10200" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2765169108659029e+02" y="-2.0441899512894452e+02" hdg="2.7487306868916299e+00" length="3.5000000000000000e+01">
+                <line />
+            </geometry>
+            <geometry s="3.5000000000000007e+01" x="1.9531808954631771e+02" y="-1.9101980815977049e+02" hdg="2.7487306868916299e+00" length="3.0999552764733515e+01">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0010455786472462e-01" cU="6.7732510909065416e-02" dU="-1.4566341589339140e-03" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="-2.2802686188484400e-04" dV="4.8675857783363285e-06" pRange="arcLength" />
+            </geometry>
+            <geometry s="6.5999552764733522e+01" x="1.6670863090758397e+02" y="-1.7908368628690263e+02" hdg="2.7483820864292756e+00" length="1.3674697369197979e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6100349902331184e+00" b="-2.2057151935744759e-03" c="4.2790412204873399e-05" d="-2.0763829461464674e-07" />
+            <elevation s="3.5000000000000007e+01" a="-6.6437192589388578e+00" b="4.7764954733685441e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+            <elevation s="6.5999552764733522e+01" a="-6.6289123365931379e+00" b="7.2920198344460924e-04" c="1.6780298711733414e-06" d="-2.0763829461464674e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0101326684409009e+00" b="-8.1540098009456256e-04" c="1.2041121541625943e-05" d="-4.9090029615192960e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+            <laneSection s="3.5000000000000007e+01">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9942392730063316e+00" b="1.3383064992906585e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+            <laneSection s="6.5999552764733522e+01">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9946541420357331e+00" b="1.3251855638872034e-04" c="2.3212956778177354e-06" d="-4.9090029615192960e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.7621266696243922e+01" id="10188" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10189" contactPoint="end" />
+            <successor elementType="road" elementId="10192" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.2560412539914250e+02" y="-2.4513316644355655e+02" hdg="2.7470783126633860e+00" length="7.7621266696243922e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8774495532543369e+00" b="-3.8277868484047929e-05" c="3.0229112848624567e-05" d="-1.1963003410550051e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9529582685471119e+00" b="6.8657687894257426e-04" c="-3.8596769210414073e-06" d="7.0624118384376367e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.0589477608981710e+01" id="10189" junction="800019">
+        <link>
+            <predecessor elementType="road" elementId="10065" contactPoint="start" />
+            <successor elementType="road" elementId="10188" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.4232886126512204e+02" y="-2.4296677787488889e+02" hdg="4.3203276461087476e+00" length="2.6995450663717606e+00">
+                <line />
+            </geometry>
+            <geometry s="2.6995450663717606e+00" x="3.4129738088006462e+02" y="-2.4546149064004121e+02" hdg="4.3203276461087476e+00" length="8.9907047934840723e+00">
+                <arc curvature="-1.7498620737559520e-01" />
+            </geometry>
+            <geometry s="1.1690249859855832e+01" x="3.3381974420572885e+02" y="-2.4855367256921642e+02" hdg="2.7470783126633860e+00" length="8.8992277491258758e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8152104530042479e+00" b="-3.0228596097522458e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="5.0208868946536587e+00" b="-1.0043618713300712e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.8455752512971905e+01" id="10192" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10188" contactPoint="end" />
+            <successor elementType="road" elementId="10187" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.5394546507062626e+02" y="-2.1529866555194187e+02" hdg="2.7470783126633860e+00" length="2.8455752512971905e+01">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0049569886358191e-01" cU="7.3746283087035958e-02" dU="-1.7277418162715639e-03" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="2.1352175735304610e-04" dV="-4.7980255096426369e-06" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7542362010905848e+00" b="5.0675592146695297e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9862993449318700e+00" b="8.3755730930560267e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.7921902868190760e+01" id="10200" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10187" contactPoint="end" />
+            <successor elementType="road" elementId="10182" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.5407753619179130e+02" y="-1.7384414485469460e+02" hdg="2.7483820864292756e+00" length="2.7921902868190760e+01">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0264400216917886e-01" cU="7.4924798219494951e-02" dU="-1.7889184003410199e-03" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="-4.2611488562992308e-04" dV="9.0335103114893595e-06" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6191578915701257e+00" b="4.0745016513799772e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9967748396334399e+00" b="-2.5223899400910583e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.3052153509012982e+01" id="10205" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10182" contactPoint="end" />
+            <successor elementType="road" elementId="10173" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="7.3107723016291857e+01" y="-1.3977818824443966e+02" hdg="2.7464542408288617e+00" length="3.3052153509012982e+01">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0028728648724606e-01" cU="6.3509671082891572e-02" dU="-1.2809991972013201e-03" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="1.9861144309065018e-04" dV="-4.0937733290346629e-06" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6835445176410797e+00" b="-2.1355640537647131e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9931605836192339e+00" b="-1.6993760821857756e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.5621635885877087e+01" id="10206" junction="800000">
+        <link>
+            <predecessor elementType="road" elementId="10173" contactPoint="end" />
+            <successor elementType="road" elementId="10199" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.9987791449241264e+01" y="-1.0095499985362916e+02" hdg="2.7454965145576913e+00" length="2.5621635885877087e+01">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0145248470022423e-01" cU="8.1779353242115466e-02" dU="-2.1278740796110591e-03" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="1.7457081178331225e-03" dV="-4.6164531762135526e-05" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6862808693733768e+00" b="8.4990676294117315e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9938955152407618e+00" b="3.9323564543396569e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.9999999999999964e+00" id="10208" junction="800000">
+        <link>
+            <predecessor elementType="road" elementId="10201" contactPoint="end" />
+            <successor elementType="road" elementId="10032" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.0506079039568149e+01" y="-9.0012881751323661e+01" hdg="6.1593684600254193e+00" length="3.8391865574783157e-01">
+                <arc curvature="-8.2879182405817903e-02" />
+            </geometry>
+            <geometry s="3.8391865574783424e-01" x="-4.0109215248891850e+01" y="-9.0010351785602580e+01" hdg="6.0057876800476153e+00" length="2.6160813442521658e+00">
+                <arc curvature="-1.3412209479737314e-02" />
+            </geometry>
+            <geometry s="2.9999999999999973e+00" x="-3.7606226804181745e+01" y="-9.0770765050296404e+01" hdg="5.9707002490424728e+00" length="7.0000000000000000e+00">
+                <arc curvature="-1.3412209479737314e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7030544939457744e+00" b="-2.8181241800599010e-03" c="-6.6095058562789312e-05" d="-3.5233702060478230e-07" />
+            <elevation s="2.9999999999999973e+00" a="-2.7121132351125756e+00" b="-3.2242076309929664e-03" c="-6.9266091748232354e-05" d="-3.5233702060478230e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.3335675016841170e+01" id="10207" junction="800000">
+        <link>
+            <predecessor elementType="road" elementId="10201" contactPoint="end" />
+            <successor elementType="road" elementId="10001" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.0506079039568164e+01" y="-9.0012881751323661e+01" hdg="-1.2381684715416608e-01" length="5.3119906889249546e-01">
+                <line />
+            </geometry>
+            <geometry s="5.3119906889249546e-01" x="-3.9978946574711109e+01" y="-9.0078485221399418e+01" hdg="-1.2381684715416608e-01" length="9.2196336874159215e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="9.7508327563084176e+00" x="-3.5985222728431225e+01" y="-9.6973231483434944e+01" hdg="4.3154417225422357e+00" length="3.5848422605327523e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7030544939457744e+00" b="-2.9864277927052352e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="1.4223205327801869e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="13.336" />
+        </userData>
+    </road>
+    <road name="" length="2.6592502766359235e+01" id="10209" junction="800026">
+        <link>
+            <predecessor elementType="road" elementId="10183" contactPoint="end" />
+            <successor elementType="road" elementId="10110" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.1229145279777129e+02" y="-5.1149167676256872e+02" hdg="1.1789564952497034e+00" length="2.6592502766359235e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-4.1130639354308443e+00" b="-5.0462947258456889e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4220946703341664e+00" b="-1.5872694422284162e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.1594075027830186e+01" id="10210" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10184" contactPoint="end" />
+            <successor elementType="road" elementId="10211" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.3911108159413860e+02" y="-5.5946175242069614e+02" hdg="5.9008577118403851e+00" length="3.0000000000000000e+00">
+                <line />
+            </geometry>
+            <geometry s="3.0000000000000000e+00" x="2.4189447789810308e+02" y="-5.6058099547520965e+02" hdg="5.9008577118403851e+00" length="8.5940750278301863e+00">
+                <arc curvature="-1.8482997654766237e-01" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.3449837667554503e+00" b="-3.0183344107473564e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="3.4500380499509264e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.1594075027830186e+01" id="10211" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10210" contactPoint="end" />
+            <successor elementType="road" elementId="10036" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.4485931146241083e+02" y="-5.6770750787958070e+02" hdg="4.3124150259976810e+00" length="8.5940750278301863e+00">
+                <arc curvature="-1.8482997654766237e-01" />
+            </geometry>
+            <geometry s="8.5940750278301863e+00" x="2.3768159280344844e+02" y="-5.7054612937010825e+02" hdg="2.7596749374511438e+00" length="3.0000000000000000e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.3799785623727363e+00" b="-3.0183344107473564e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="3.4500380499509264e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.3000000000000000e+01" id="10214" junction="800025">
+        <link>
+            <predecessor elementType="road" elementId="10110" contactPoint="start" />
+            <successor elementType="road" elementId="10213" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.4391130818428650e+02" y="-4.3496868331578526e+02" hdg="1.1789564952497020e+00" length="1.3000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5442369652037709e+00" b="-1.5844390496011866e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.0000000000000000e+00" id="10213" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10214" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.4887587100260509e+02" y="-4.2295397915700681e+02" hdg="1.1789564952497020e+00" length="8.5129876031768248e-01">
+                <line />
+            </geometry>
+            <geometry s="8.5129876031768248e-01" x="1.4920097301589385e+02" y="-4.2216720202193358e+02" hdg="1.1789564952497020e+00" length="1.4870123968231752e-01">
+                <arc curvature="2.1398004763875356e-01" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5648346728485860e+00" b="-1.5844390496011866e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.1285820924276997e+01" id="10190" junction="800001">
+        <link>
+            <predecessor elementType="road" elementId="10203" contactPoint="end" />
+            <successor elementType="road" elementId="10202" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-9.4710899025770800e+01" y="-1.0938841433138948e+02" hdg="5.9250813629588990e+00" length="1.4470962038115864e+00">
+                <arc curvature="5.8823529411764705e-02" />
+            </geometry>
+            <geometry s="1.4470962038115900e+00" x="-9.3335663818136197e+01" y="-1.0983735906776927e+02" hdg="6.0102046690654634e+00" length="9.8387247204654109e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7003591387525634e+00" b="8.6139178647196663e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="11.286" />
+        </userData>
+    </road>
+    <road name="" length="2.3133127112534229e+01" id="10020" junction="800002">
+        <link>
+            <predecessor elementType="junction" elementId="800003" contactPoint="start" />
+            <successor elementType="road" elementId="10002" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.0445950980940864e+01" y="-2.1524025457957745e+02" hdg="2.7457927848409476e+00" length="6.1574367901241640e+00">
+                <line />
+            </geometry>
+            <geometry s="6.1574367901241640e+00" x="-7.6127346930965231e+01" y="-2.1286627735065943e+02" hdg="2.7457927848409476e+00" length="1.2091346120956937e+01">
+                <arc curvature="-1.2989533956892527e-01" />
+            </geometry>
+            <geometry s="1.8248782911081101e+01" x="-8.0263093012976867e+01" y="-2.0279615136347388e+02" hdg="1.1751832746138389e+00" length="4.8843442014531275e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7570934541444876e+00" b="2.8319701757978134e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4321578058075679e+00" b="4.6102354511817767e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.2781184002056193e+01" id="10221" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800003" contactPoint="start" />
+            <successor elementType="junction" elementId="800006" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.5682935411509931e+01" y="-2.2140899604739241e+02" hdg="5.8873854384307416e+00" length="5.2781184002056193e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7507769320706821e+00" b="-5.1369968107330903e-06" c="-2.2060515854841545e-05" d="1.8340379978966669e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.3795855733674123e+00" b="-2.4506806616910559e-03" c="4.8295976596246028e-05" d="-2.4354781358876820e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.4003450972449740e+00" b="-1.8538878088458987e-05" c="-6.2487495386821113e-07" d="1.0435599062146135e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="52.781" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="1.5999999999999998e+01" id="10222" junction="800003">
+        <link>
+            <predecessor elementType="road" elementId="10221" contactPoint="start" />
+            <successor elementType="junction" elementId="800002" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.5682935411509931e+01" y="-2.2140899604739241e+02" hdg="2.7457927848409485e+00" length="1.5999999999999998e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7507769320706821e+00" b="-3.9478262961284433e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4003450972449740e+00" b="5.8693654666486248e-06" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3795855733674123e+00" b="3.2857645275097274e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.5999999999999998e+01" id="10223" junction="800003">
+        <link>
+            <predecessor elementType="road" elementId="10221" contactPoint="start" />
+            <successor elementType="junction" elementId="800002" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.5682935411509931e+01" y="-2.2140899604739241e+02" hdg="2.7457927848409485e+00" length="1.5999999999999998e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7507769320706821e+00" b="-3.9478262961284433e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3795855733674123e+00" b="3.2857645275097274e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.3000000000000000e+01" id="10224" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10012" contactPoint="end" />
+            <successor elementType="road" elementId="10145" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.9076230941267340e+01" y="-2.0167866556756914e+02" hdg="4.5710859686859271e+00" length="5.8826265806194140e+00">
+                <arc curvature="9.0122678776353105e-02" />
+            </geometry>
+            <geometry s="5.8826265806194158e+00" x="-7.8335824792704571e+01" y="-2.0743925004213656e+02" hdg="5.1604436826492339e+00" length="3.9030842211819321e+00">
+                <arc curvature="9.0464319902254439e-02" />
+            </geometry>
+            <geometry s="9.7857108018013470e+00" x="-7.6068294249475002e+01" y="-2.1059214530698955e+02" hdg="5.6014252878857427e+00" length="2.9632022720646325e+00">
+                <line />
+            </geometry>
+            <geometry s="1.2748913073865978e+01" x="-7.3784440739976446e+01" y="-2.1248795092216142e+02" hdg="5.7463467221213271e+00" length="1.0251086926134022e+01">
+                <arc curvature="1.4018815994146415e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7345649805200569e+00" b="-2.9044262863629818e-03" c="-1.0342443531812071e-04" d="7.0828294150150254e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="15" t="0" id="116" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="23" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="1.4914270796486696e+02" id="10212" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10160" contactPoint="end" />
+            <successor elementType="road" elementId="10215" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.6201570204212337e+02" y="-4.3171328033319759e+02" hdg="2.7541456185332964e+00" length="2.0345574313510539e+00">
+                <line />
+            </geometry>
+            <geometry s="2.0345574313510539e+00" x="1.6013395413854425e+02" y="-4.3094013579785087e+02" hdg="2.7177797653435674e+00" length="6.7790547980966069e+00">
+                <arc curvature="-4.4238683465096809e-02" />
+            </geometry>
+            <geometry s="8.8136122294476635e+00" x="1.5446572059392929e+02" y="-4.2726980629377067e+02" hdg="2.3589769989311975e+00" length="3.0267662547430092e+00">
+                <line />
+            </geometry>
+            <geometry s="1.1840378484190673e+01" x="1.5226933053279080e+02" y="-4.2517235113720596e+02" hdg="2.2037749509931248e+00" length="1.0531373564595253e+01">
+                <arc curvature="2.2500894299453924e-02" />
+            </geometry>
+            <geometry s="2.2371752048785922e+01" x="1.4509527105737530e+02" y="-4.1749249472132203e+02" hdg="2.5336705704743858e+00" length="1.6850058906537516e+01">
+                <arc curvature="1.2309033869350632e-02" />
+            </geometry>
+            <geometry s="3.9221810955323434e+01" x="1.3042138828809891e+02" y="-4.0930846439640300e+02" hdg="2.6955386211977053e+00" length="1.2895861969121604e+01">
+                <line />
+            </geometry>
+            <geometry s="5.2117672924445031e+01" x="1.1878891094009290e+02" y="-4.0374239336356464e+02" hdg="2.7595662081597099e+00" length="3.3450972162440728e+01">
+                <line />
+            </geometry>
+            <geometry s="8.5568645086885766e+01" x="8.7749383259564638e+01" y="-3.9127181759569794e+02" hdg="2.7460921506308971e+00" length="2.0611834021169408e+01">
+                <line />
+            </geometry>
+            <geometry s="1.0618047910805518e+02" x="6.8694774706500226e+01" y="-3.8337400581472843e+02" hdg="2.7658625762143147e+00" length="8.6644510530238055e+00">
+                <arc curvature="4.0045528986954675e-02" />
+            </geometry>
+            <geometry s="1.1484493016107899e+02" x="6.0249077290739777e+01" y="-3.8165706212296755e+02" hdg="3.1351604072552952e+00" length="4.5908102618573041e+00">
+                <arc curvature="5.6766032408896355e-02" />
+            </geometry>
+            <geometry s="1.1943574042293631e+02" x="5.5799685035936839e+01" y="-3.8212659525366945e+02" hdg="3.4684000793174339e+00" length="1.1615627780744944e+01">
+                <line />
+            </geometry>
+            <geometry s="1.3105136820368125e+02" x="4.4797143781495635e+01" y="-3.8584895613955734e+02" hdg="3.3980800094438894e+00" length="6.5881800395458523e+00">
+                <arc curvature="-4.9987530011352886e-02" />
+            </geometry>
+            <geometry s="1.3763954824322710e+02" x="3.8261355821353504e+01" y="-3.8648743744026507e+02" hdg="3.0131340205164578e+00" length="1.1503159721639873e+01">
+                <arc curvature="-3.2532678530869295e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.9233831660125067e+00" b="-1.2173138741207532e-03" c="2.7378764954176246e-05" d="-7.3877245759313192e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="110" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="32" t="0" id="111" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="102" t="0" id="112" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="146" t="0" id="113" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="149.143" />
+        </userData>
+    </road>
+    <road name="" length="1.4536314060110282e+00" id="10160" junction="800025">
+        <link>
+            <predecessor elementType="road" elementId="10149" contactPoint="end" />
+            <successor elementType="road" elementId="10212" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.6342170879527345e+02" y="-4.3208231864372641e+02" hdg="2.8849099154796356e+00" length="1.4536314060110282e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5784596459422415e+00" b="1.8265128759261215e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.0469447303358024e+00" id="10215" junction="800031">
+        <link>
+            <predecessor elementType="road" elementId="10212" contactPoint="end" />
+            <successor elementType="road" elementId="10171" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.7389934877026565e+01" y="-3.8293809976555087e+02" hdg="2.6389054232031040e+00" length="8.0469447303358024e+00">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.3220692486015252e-01" cU="2.4748501306163287e-01" dU="-2.0513303289046728e-02" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="3.0846682240602063e-02" dV="-2.3721096770499888e-03" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7410208201428885e+00" b="-3.4870118708271713e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.4534105880847086e+01" id="10216" junction="800031">
+        <link>
+            <predecessor elementType="road" elementId="10171" contactPoint="end" />
+            <successor elementType="road" elementId="10146" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.0004073012620253e+01" y="-3.7974626377783710e+02" hdg="5.8879788995370186e+00" length="2.2837026228785184e+01">
+                <line />
+            </geometry>
+            <geometry s="2.2837026228785184e+01" x="4.1080755428556721e+01" y="-3.8853848905429453e+02" hdg="5.8879788995370186e+00" length="8.9706803326948457e+00">
+                <arc curvature="1.7522960170165022e-01" />
+            </geometry>
+            <geometry s="3.1807706561480032e+01" x="4.8547251872112049e+01" y="-3.8546273136447155e+02" hdg="1.1767223340483770e+00" length="2.7263993193670530e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5469999999999979e+00" b="3.3532604765142675e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7714918733556392e+01" id="10197" junction="800004">
+        <link>
+            <predecessor elementType="road" elementId="10166" contactPoint="end" />
+            <successor elementType="road" elementId="10003" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.2318564422622143e+02" y="-3.0694604331741715e+02" hdg="1.1066316853590559e+00" length="1.7714918733556392e+01">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.2130670198700606e-01" cU="1.1449912291448298e-01" dU="-4.3098147440850517e-03" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="1.1352140194975772e-02" dV="-4.0297533451966845e-04" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7122205832387301e+00" b="-2.3031887066760423e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="8.3749497927786867e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="5" t="0" id="114" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+    </road>
+    <road name="" length="1.6036126063576177e+02" id="10219" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10220" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.3289404125460464e+01" y="-1.3046260225876526e+02" hdg="2.2710365212055610e+00" length="6.0472076142131925e-01">
+                <line />
+            </geometry>
+            <geometry s="6.0472076142131925e-01" x="-5.3738814016111277e+01" y="-1.3003375049194392e+02" hdg="2.5243111446148561e+00" length="1.7391477964525304e+00">
+                <line />
+            </geometry>
+            <geometry s="2.3438685578738472e+00" x="-5.5146035065730715e+01" y="-1.2901767410113860e+02" hdg="2.6427633585548604e+00" length="2.0680925225437994e+00">
+                <line />
+            </geometry>
+            <geometry s="4.4119610804176475e+00" x="-5.6976923100650311e+01" y="-1.2804044630005956e+02" hdg="2.7318741741269923e+00" length="4.1682290018158703e+01">
+                <line />
+            </geometry>
+            <geometry s="4.6094251098576351e+01" x="-9.5209295153617859e+01" y="-1.1143625922687352e+02" hdg="2.7112533419956364e+00" length="1.9290096058450708e+01">
+                <line />
+            </geometry>
+            <geometry s="6.5384347157027065e+01" x="-1.1275037489193416e+02" y="-1.0340993645957738e+02" hdg="2.7079223957777625e+00" length="1.4412978108554073e+01">
+                <arc curvature="1.3434469072615947e-02" />
+            </geometry>
+            <geometry s="7.9797325265581151e+01" x="-1.2633912346445824e+02" y="-9.8682640295892838e+01" hdg="2.9200433928705731e+00" length="1.1941129086482780e+01">
+                <arc curvature="2.6615293736566976e-02" />
+            </geometry>
+            <geometry s="9.1738454352063940e+01" x="-1.3814650218667811e+02" y="-9.7873741418931644e+01" hdg="3.2904265226343448e+00" length="1.7268128101585127e+01">
+                <line />
+            </geometry>
+            <geometry s="1.0900658245364906e+02" x="-1.5525859823477680e+02" y="-1.0045215376706506e+02" hdg="3.3299460242121919e+00" length="1.7406803237142611e+01">
+                <arc curvature="-8.1280754479314994e-03" />
+            </geometry>
+            <geometry s="1.2641338569079167e+02" x="-1.7253145725652575e+02" y="-1.0247760017123073e+02" hdg="3.1604316277953348e+00" length="5.9378074218691719e+00">
+                <line />
+            </geometry>
+            <geometry s="1.3235119311266084e+02" x="-1.7846821102499962e+02" y="-1.0258945575542748e+02" hdg="3.0653212500754576e+00" length="2.8010067523100957e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7309853026291924e+00" b="1.9618639021131139e-04" c="-1.0864811799983306e-05" d="4.5269463408440510e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="160.361" />
+        </userData>
+    </road>
+    <road name="" length="4.2174931579766097e+00" id="10220" junction="800001">
+        <link>
+            <predecessor elementType="road" elementId="10002" contactPoint="start" />
+            <successor elementType="road" elementId="10219" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.1627865149781179e+01" y="-1.3423039616258293e+02" hdg="1.1751832746138389e+00" length="4.2174931579766097e+00">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="6.1390620907296034e-01" cU="1.2070991877019586e-01" dU="-2.5324525455306206e-02" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="3.7403542712636856e-01" dV="-4.8893179485837948e-02" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6434768721263806e+00" b="9.2768178226855746e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="-3.5566151356120801e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="4.217" />
+        </userData>
+    </road>
+    <road name="" length="2.3175162304377452e+01" id="10225" junction="800005">
+        <link>
+            <predecessor elementType="road" elementId="10161" contactPoint="end" />
+            <successor elementType="road" elementId="10111" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1839962286393754e+02" y="-3.2201058938531992e+02" hdg="2.7463862459472246e+00" length="8.1814106534074682e-01">
+                <line />
+            </geometry>
+            <geometry s="8.1814106534074682e-01" x="-1.1915469925754819e+02" y="-3.2169560614352946e+02" hdg="2.7463862459472246e+00" length="1.4442151043052281e+01">
+                <arc curvature="-1.0796245283973738e-01" />
+            </geometry>
+            <geometry s="1.5260292108393028e+01" x="-1.2417790004536047e+02" y="-3.0968034525326613e+02" hdg="1.1871761950573287e+00" length="7.9148701959844239e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-3.5441332649173374e+00" b="3.5144402937433331e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="100" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="23.175" />
+        </userData>
+    </road>
+    <road name="" length="4.8999999999999943e+01" id="10147" junction="800034">
+        <link>
+            <predecessor elementType="road" elementId="10180" contactPoint="end" />
+            <successor elementType="road" elementId="10218" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.9533167496843765e+02" y="-4.2094809239300491e+02" hdg="4.3200799804760255e+00" length="4.8999999999999943e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5735391362717914e+00" b="9.3843454912822513e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="49" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="1.8354883594820336e+01" id="10218" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800034" contactPoint="start" />
+            <successor elementType="road" elementId="10196" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.7659784724925953e+02" y="-4.6622550065571522e+02" hdg="4.3200799804760255e+00" length="2.4187110760383717e+00">
+                <line />
+            </geometry>
+            <geometry s="2.4187110760383717e+00" x="2.7567311833903563e+02" y="-4.6846045920386479e+02" hdg="4.3200799804760255e+00" length="1.5426671413889206e+01">
+                <arc curvature="-1.0211843498782153e-01" />
+            </geometry>
+            <geometry s="1.7845382489927577e+01" x="2.6283945873328076e+02" y="-4.7374800720870047e+02" hdg="2.7447324386182959e+00" length="5.0950110489275935e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5275558433645084e+00" b="3.2353802649783957e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="18.355" />
+        </userData>
+    </road>
+    <road name="" length="5.4272833331488862e+01" id="10092" junction="800001">
+        <link>
+            <predecessor elementType="road" elementId="10203" contactPoint="end" />
+            <successor elementType="road" elementId="10002" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-9.4710899025770772e+01" y="-1.0938841433138948e+02" hdg="5.9250813629588999e+00" length="4.2129505515283412e+01">
+                <line />
+            </geometry>
+            <geometry s="4.2129505515283412e+01" x="-5.5253959893817772e+01" y="-1.2415476761511026e+02" hdg="5.9250813629588999e+00" length="1.1206051650216834e+01">
+                <arc curvature="-1.4352115133470295e-01" />
+            </geometry>
+            <geometry s="5.3335557165500248e+01" x="-5.1266663320657841e+01" y="-1.3336551475454581e+02" hdg="4.3167759282036320e+00" length="9.3727616598861530e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7003591387525634e+00" b="-7.2653618603067058e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="2.7638136944836939e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="54.273" />
+        </userData>
+    </road>
+    <road name="" length="3.4999999999999993e+01" id="10180" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800018" contactPoint="start" />
+            <successor elementType="junction" elementId="800034" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.0871298048213635e+02" y="-3.8860708649106891e+02" hdg="4.3200799804760246e+00" length="7.0000000000000000e+00">
+                <line />
+            </geometry>
+            <geometry s="7.0000000000000000e+00" x="3.0603671937939663e+02" y="-3.9507528767145612e+02" hdg="4.3200799804760219e+00" length="2.9999999999999947e+00">
+                <line />
+            </geometry>
+            <geometry s="9.9999999999999947e+00" x="3.0488975033536531e+02" y="-3.9784737389162206e+02" hdg="4.3200799804760255e+00" length="2.5000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5932462618034844e+00" b="9.3843454912823868e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+            <elevation s="7.0000000000000000e+00" a="-5.5866772199595864e+00" b="-3.4409266801371115e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+            <elevation s="9.9999999999999947e+00" a="-5.5969999999999978e+00" b="9.3843454912823868e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="35" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="2.2656515209473675e+01" id="10104" junction="800018">
+        <link>
+            <predecessor elementType="junction" elementId="800016" contactPoint="start" />
+            <successor elementType="road" elementId="10180" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.0290016217869237e+02" y="-3.7081642071481946e+02" hdg="5.8883993852497101e+00" length="3.5167617208618740e+00">
+                <line />
+            </geometry>
+            <geometry s="3.5167617208618740e+00" x="3.0614641079764340e+02" y="-3.7216900450345435e+02" hdg="5.8883993852497101e+00" length="1.3609460604699022e+01">
+                <arc curvature="-1.1523744036058139e-01" />
+            </geometry>
+            <geometry s="1.7126222325560896e+01" x="3.1082733872956123e+02" y="-3.8349693692541013e+02" hdg="4.3200799804760246e+00" length="5.5302928839127805e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8757356142291446e+00" b="5.6605763974214164e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4044031612043648e+00" b="-1.7849309898958613e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="41" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+            <signal s="22" t="0" id="42" name="" dynamic="no" orientation="-" zOffset="0" type="5001" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="22.657" />
+        </userData>
+    </road>
+    <road name="" length="1.8517272938520975e+01" id="10151" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800018" contactPoint="start" />
+            <successor elementType="road" elementId="10045" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.2877558508777543e+02" y="-3.8151513508973852e+02" hdg="5.8911209547225596e+00" length="1.8517272938520975e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7539111265960798e+00" b="7.4684851458154495e-04" c="-9.9839561809662760e-05" d="1.0312733585097437e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3891016308353423e+00" b="-7.3284604073208118e-03" c="6.9075407443058796e-05" d="2.1275274559243509e-07" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4003641434031415e+00" b="-6.3702417563536463e-05" c="2.2890271318323935e-06" d="-2.0989105233597708e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.6315698179438350e+01" id="10191" junction="800018">
+        <link>
+            <predecessor elementType="road" elementId="10180" contactPoint="start" />
+            <successor elementType="road" elementId="10151" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.0871298048213635e+02" y="-3.8860708649106891e+02" hdg="1.1784873268862315e+00" length="5.5240195477439498e+00">
+                <line />
+            </geometry>
+            <geometry s="5.5240195477439498e+00" x="3.1082494028876516e+02" y="-3.8350273366832619e+02" hdg="1.1784873268862315e+00" length="1.3660341950028824e+01">
+                <arc curvature="-1.1497162260568039e-01" />
+            </geometry>
+            <geometry s="1.9184361497772773e+01" x="3.2218535821116279e+02" y="-3.7879027315157697e+02" hdg="5.8911209547225596e+00" length="7.1313366816655783e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5932462618034844e+00" b="-4.4105417871811423e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="1.5213890229063510e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.2999999999999993e+01" id="10055" junction="800030">
+        <link>
+            <predecessor elementType="junction" elementId="800033" contactPoint="start" />
+            <successor elementType="road" elementId="10171" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1101628592513065e+02" y="-3.2509057893855703e+02" hdg="5.8879788995370186e+00" length="4.0000000000000000e+01">
+                <line />
+            </geometry>
+            <geometry s="4.0000000000000000e+01" x="-7.4099601231096131e+01" y="-3.4049052670474242e+02" hdg="5.8879788995370106e+00" length="2.9999999999999960e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5665735133964436e+00" b="2.3027662819347645e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+            <elevation s="4.0000000000000000e+01" a="-5.5573624482687043e+00" b="-4.1421622011848010e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="43" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="4.6641738965072195e+00" id="10099" junction="800033">
+        <link>
+            <predecessor elementType="road" elementId="10101" contactPoint="end" />
+            <successor elementType="road" elementId="10055" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1543727263561726e+02" y="-3.2360544254564030e+02" hdg="5.8793522343886844e+00" length="4.6641738965072195e+00">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0256181755796241e-01" cU="4.4649543892810289e-01" dU="-6.3819325166853291e-02" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="5.0675903322497676e-02" dV="-7.2032911484824873e-03" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-4.6222994250470348e+00" b="-2.0245259059841900e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3980357558674235e+00" b="-8.5338961346508480e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.0000000000000036e+00" id="10161" junction="800033">
+        <link>
+            <predecessor elementType="road" elementId="10055" contactPoint="start" />
+            <successor elementType="road" elementId="10225" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1101628592513065e+02" y="-3.2509057893855703e+02" hdg="2.7463862459472206e+00" length="8.0000000000000036e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5665735133964436e+00" b="2.5280503105988816e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals>
+            <signal s="0" t="0" id="43" name="" dynamic="no" orientation="-" zOffset="0" type="5000" country="OpenDrive" countryRevision="2013" subtype="-1" hOffset="0.1" pitch="0" roll="0" height="0.1" width="0.1">
+                <validity fromLane="-2" toLane="0" />
+            </signal>
+        </signals>
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="8" />
+        </userData>
+    </road>
+    <road name="" length="1.3164738248792563e+01" id="10233" junction="800034">
+        <link>
+            <predecessor elementType="road" elementId="10180" contactPoint="end" />
+            <successor elementType="road" elementId="10194" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.9533167496843765e+02" y="-4.2094809239300491e+02" hdg="4.3200799804760255e+00" length="8.6260913543865616e+00">
+                <line />
+            </geometry>
+            <geometry s="8.6260913543865616e+00" x="2.9203372171694843e+02" y="-4.2891884871880075e+02" hdg="4.3200799804760255e+00" length="7.8375003806338417e-01">
+                <arc curvature="8.9626886676413620e-01" />
+            </geometry>
+            <geometry s="9.4098413924499464e+00" x="2.9200218924199027e+02" y="-4.2968593622452511e+02" hdg="5.0225307389174434e+00" length="3.7548968563426164e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-5.5604010525839964e+00" b="2.0885482765053742e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadnoavoid">
+            <roadnoavoid sOffset="0" length="13.165" />
+        </userData>
+    </road>
+    <road name="" length="3.4624705015059782e+00" id="10012" junction="800002">
+        <link>
+            <predecessor elementType="road" elementId="10002" contactPoint="end" />
+            <successor elementType="road" elementId="10224" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.8380793938645922e+01" y="-1.9828907154689179e+02" hdg="4.3167759282036320e+00" length="3.4624705015059782e+00">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.7604619994804783e-01" cU="5.2742083686047192e-01" dU="-1.0188628487248182e-01" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="1.3896850677918901e-01" dV="-2.4126711812704604e-02" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6915811280888509e+00" b="1.1428302842862390e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.4945573299369421e+00" b="-3.1612033357710106e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="3.462" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="9.9391487078128264e+00" id="10145" junction="800003">
+        <link>
+            <predecessor elementType="road" elementId="10224" contactPoint="end" />
+            <successor elementType="road" elementId="10221" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.4629609569877786e+01" y="-2.1708067590775647e+02" hdg="5.8900548234787999e+00" length="9.9391487078128264e+00">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0078659020864790e-01" cU="2.1053588902174114e-01" dU="-1.4121661664813920e-02" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="-1.7254205704124656e-02" dV="1.1546135864022792e-03" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7699015258972035e+00" b="-4.0052478569359246e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="3.4721006307395702e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+        <userData code="roadborrow">
+            <roadborrow sOffset="0" length="9.939" mode="All" />
+        </userData>
+    </road>
+    <road name="" length="7.0833714520053320e+01" id="10204" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10217" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.2442706595310082e+02" y="-1.9550872302970231e+02" hdg="2.7616678649535125e+00" length="1.0459443921210529e+01">
+                <arc curvature="1.5833400902053334e-03" />
+            </geometry>
+            <geometry s="1.0459443921210521e+01" x="-1.3416428318247199e+02" y="-1.9168923191167414e+02" hdg="2.7432207021605803e+00" length="6.0374270598842799e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7142102767982359e+00" b="4.4062238543266679e-04" c="-2.0974480735273515e-05" d="8.2302349949829845e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.2258567206315490e+01" id="10193" junction="800036">
+        <link>
+            <predecessor elementType="road" elementId="10226" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1766869298433127e+02" y="-1.9840266203250292e+02" hdg="2.7624223137565846e+00" length="1.1996206404203456e+00">
+                <line />
+            </geometry>
+            <geometry s="1.1996206404203491e+00" x="-1.1877783593962485e+02" y="-1.9791900161618389e+02" hdg="2.8141021275265192e+00" length="1.1761871580561582e+01">
+                <arc curvature="-3.7521455679368106e-02" />
+            </geometry>
+            <geometry s="1.2961492220981938e+01" x="-1.2871983457356691e+02" y="-1.9182350267749280e+02" hdg="2.2845766777137806e+00" length="3.1471930113738864e+00">
+                <line />
+            </geometry>
+            <geometry s="1.6108685232355825e+01" x="-1.3078028918802738e+02" y="-1.8944456370547414e+02" hdg="2.1402511650703477e+00" length="9.6255063834372638e+00">
+                <line />
+            </geometry>
+            <geometry s="2.5734191615793094e+01" x="-1.3595258126439393e+02" y="-1.8132637379741095e+02" hdg="2.1570389686384619e+00" length="1.7397684019347469e+01">
+                <arc curvature="3.0608728864786761e-02" />
+            </geometry>
+            <geometry s="4.3131875635140560e+01" x="-1.4885338957135724e+02" y="-1.6992192657926358e+02" hdg="2.6372814622736365e+00" length="3.9126691571174945e+01">
+                <arc curvature="1.0661750185900017e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.8230849677573207e+00" b="6.8450656768383432e-03" c="1.1141585061742493e-04" d="-2.2644946441359773e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.3519726423077172e+00" id="10217" junction="800036">
+        <link>
+            <predecessor elementType="road" elementId="10226" contactPoint="end" />
+            <successor elementType="road" elementId="10204" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.1766869298433127e+02" y="-1.9840266203250292e+02" hdg="2.7624223137565846e+00" length="7.3519726423077172e+00">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0022351964297050e-01" cU="2.8541089660154711e-01" dU="-2.5880664169865449e-02" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="-1.0335838449545050e-02" dV="9.3584263719508629e-04" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.8230849677573207e+00" b="1.4808908609446345e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.3000000000000000e+01" id="10226" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10227" contactPoint="end" />
+            <successor elementType="junction" elementId="800036" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-8.7042242760991911e+01" y="-2.2089219275212645e+02" hdg="1.1817414413477303e+00" length="3.2678100939537593e+00">
+                <line />
+            </geometry>
+            <geometry s="3.2678100939537593e+00" x="-8.5807217779302022e+01" y="-2.1786747680842709e+02" hdg="1.3277900554038746e+00" length="4.9335607385251130e+00">
+                <arc curvature="1.5484678629206192e-01" />
+            </geometry>
+            <geometry s="8.2013708324788723e+00" x="-8.6427485401373616e+01" y="-2.1307127302534835e+02" hdg="2.2643119846545590e+00" length="2.1413529055776963e+00">
+                <line />
+            </geometry>
+            <geometry s="1.0342723738056570e+01" x="-8.7791045692684520e+01" y="-2.1141398427882314e+02" hdg="2.5438008354070916e+00" length="3.3920496853763762e+00">
+                <line />
+            </geometry>
+            <geometry s="1.3734773423432948e+01" x="-9.0613463300918525e+01" y="-2.0951737465553572e+02" hdg="2.6998814526612280e+00" length="4.6987763198765613e+00">
+                <line />
+            </geometry>
+            <geometry s="1.8433549743309509e+01" x="-9.4847147233247895e+01" y="-2.0749593029785487e+02" hdg="2.7624223137565846e+00" length="2.4566450256690491e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-2.7313717083984317e+00" b="-1.5297849267282469e-02" c="4.0353565971096598e-04" d="-2.2644946441359773e-06" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.7968596698923740e+00" id="10227" junction="800002">
+        <link>
+            <predecessor elementType="road" elementId="10003" contactPoint="start" />
+            <successor elementType="road" elementId="10226" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-9.1480796761279606e+01" y="-2.2962486122342838e+02" hdg="1.1782917131352182e+00" length="9.7968596698923740e+00">
+                <paramPoly3 aU="0.0000000000000000e+00" bU="3.0100637644021566e-01" cU="2.1309267678707594e-01" dU="-1.4500753328326559e-02" aV="0.0000000000000000e+00" bV="0.0000000000000000e+00" cV="-2.3884480736645498e-02" dV="1.6289217505434154e-03" pRange="arcLength" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7434062138484387e+00" b="4.0952250421425934e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="-1.5311028743320548e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <junction name="" id="800000">
+        <connection id="0" incomingRoad="10001" connectingRoad="10017" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10001" connectingRoad="10075" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10001" connectingRoad="10207" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10199" connectingRoad="10075" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10199" connectingRoad="10206" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10201" connectingRoad="10208" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10201" connectingRoad="10207" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800001">
+        <connection id="0" incomingRoad="10001" connectingRoad="10018" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10001" connectingRoad="10035" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10002" connectingRoad="10037" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10002" connectingRoad="10018" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10002" connectingRoad="10220" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10002" connectingRoad="10092" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10033" connectingRoad="10035" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10033" connectingRoad="10037" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="8" incomingRoad="10203" connectingRoad="10190" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="9" incomingRoad="10203" connectingRoad="10092" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800002">
+        <connection id="0" incomingRoad="10002" connectingRoad="10019" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10002" connectingRoad="10020" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10002" connectingRoad="10012" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10003" connectingRoad="10042" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10003" connectingRoad="10019" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10003" connectingRoad="10227" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10222" connectingRoad="10042" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10222" connectingRoad="10020" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="8" incomingRoad="10223" connectingRoad="10042" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="9" incomingRoad="10223" connectingRoad="10020" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800003">
+        <connection id="0" incomingRoad="10020" connectingRoad="10222" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10020" connectingRoad="10223" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10042" connectingRoad="10222" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10042" connectingRoad="10223" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10221" connectingRoad="10222" contactPoint="start">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+        <connection id="5" incomingRoad="10221" connectingRoad="10223" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10221" connectingRoad="10145" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800004">
+        <connection id="0" incomingRoad="10003" connectingRoad="10111" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10003" connectingRoad="10197" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10003" connectingRoad="10095" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10166" connectingRoad="10097" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10166" connectingRoad="10197" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800005">
+        <connection id="0" incomingRoad="10111" connectingRoad="10097" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10111" connectingRoad="10225" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800006">
+        <connection id="0" incomingRoad="10013" connectingRoad="10021" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10013" connectingRoad="10048" contactPoint="start">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+        <connection id="2" incomingRoad="10221" connectingRoad="10021" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10221" connectingRoad="10047" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10028" connectingRoad="10047" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10028" connectingRoad="10048" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800007">
+        <connection id="0" incomingRoad="10013" connectingRoad="10022" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10013" connectingRoad="10039" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10014" connectingRoad="10022" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10014" connectingRoad="10038" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10033" connectingRoad="10038" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10033" connectingRoad="10039" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800008">
+        <connection id="0" incomingRoad="10016" connectingRoad="10024" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10016" connectingRoad="10084" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10015" connectingRoad="10024" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10015" connectingRoad="10085" contactPoint="end">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+        <connection id="4" incomingRoad="10066" connectingRoad="10084" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10066" connectingRoad="10085" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800009">
+        <connection id="0" incomingRoad="10016" connectingRoad="10073" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10016" connectingRoad="10025" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10016" connectingRoad="10026" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10016" connectingRoad="10175" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10157" connectingRoad="10025" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10157" connectingRoad="10175" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10157" connectingRoad="10000" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10170" connectingRoad="10027" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="8" incomingRoad="10170" connectingRoad="10073" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800010">
+        <connection id="0" incomingRoad="10028" connectingRoad="10049" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10028" connectingRoad="10082" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10029" connectingRoad="10049" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10029" connectingRoad="10083" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10057" connectingRoad="10082" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10057" connectingRoad="10083" contactPoint="start">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+    </junction>
+    <junction name="" id="800011">
+        <connection id="0" incomingRoad="10029" connectingRoad="10090" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10029" connectingRoad="10050" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10029" connectingRoad="10186" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10062" connectingRoad="10090" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10062" connectingRoad="10051" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10062" connectingRoad="10179" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10030" connectingRoad="10050" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10030" connectingRoad="10051" contactPoint="start">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+        <connection id="8" incomingRoad="10030" connectingRoad="10185" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="9" incomingRoad="10178" connectingRoad="10179" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="10" incomingRoad="10178" connectingRoad="10185" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="11" incomingRoad="10178" connectingRoad="10186" contactPoint="end">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+    </junction>
+    <junction name="" id="800012">
+        <connection id="0" incomingRoad="10057" connectingRoad="10076" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10057" connectingRoad="10122" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10058" connectingRoad="10076" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10058" connectingRoad="10123" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10114" connectingRoad="10122" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10114" connectingRoad="10123" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800013">
+        <connection id="0" incomingRoad="10059" connectingRoad="10087" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10059" connectingRoad="10088" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10066" connectingRoad="10086" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10066" connectingRoad="10088" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10067" connectingRoad="10086" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10067" connectingRoad="10087" contactPoint="end">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+    </junction>
+    <junction name="" id="800014">
+        <connection id="0" incomingRoad="10060" connectingRoad="10089" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10060" connectingRoad="10069" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10067" connectingRoad="10089" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10067" connectingRoad="10054" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10031" connectingRoad="10054" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10031" connectingRoad="10069" contactPoint="end">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+    </junction>
+    <junction name="" id="800015">
+        <connection id="0" incomingRoad="10061" connectingRoad="10078" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10061" connectingRoad="10139" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10061" connectingRoad="10128" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10062" connectingRoad="10078" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10062" connectingRoad="10126" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10062" connectingRoad="10137" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10114" connectingRoad="10126" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10114" connectingRoad="10128" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="8" incomingRoad="10114" connectingRoad="10127" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="9" incomingRoad="10117" connectingRoad="10127" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="10" incomingRoad="10117" connectingRoad="10137" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="11" incomingRoad="10117" connectingRoad="10139" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800016">
+        <connection id="0" incomingRoad="10063" connectingRoad="10052" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10063" connectingRoad="10056" contactPoint="start">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+        <connection id="2" incomingRoad="10030" connectingRoad="10052" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10030" connectingRoad="10091" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10044" connectingRoad="10091" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10044" connectingRoad="10056" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10104" connectingRoad="10091" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10104" connectingRoad="10056" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800017">
+        <connection id="0" incomingRoad="10063" connectingRoad="10080" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10063" connectingRoad="10142" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10063" connectingRoad="10143" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10064" connectingRoad="10080" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10064" connectingRoad="10144" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10064" connectingRoad="10141" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10118" connectingRoad="10143" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10118" connectingRoad="10144" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="8" incomingRoad="10118" connectingRoad="10131" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="9" incomingRoad="10117" connectingRoad="10142" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="10" incomingRoad="10117" connectingRoad="10141" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="11" incomingRoad="10117" connectingRoad="10131" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800018">
+        <connection id="0" incomingRoad="10056" connectingRoad="10044" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10056" connectingRoad="10104" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10091" connectingRoad="10044" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10091" connectingRoad="10104" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10151" connectingRoad="10044" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10151" connectingRoad="10191" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10180" connectingRoad="10191" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10180" connectingRoad="10104" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800019">
+        <connection id="0" incomingRoad="10064" connectingRoad="10081" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10064" connectingRoad="10148" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10065" connectingRoad="10081" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10065" connectingRoad="10189" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10065" connectingRoad="10077" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800020">
+        <connection id="0" incomingRoad="10065" connectingRoad="10112" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10065" connectingRoad="10121" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10065" connectingRoad="10115" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10124" connectingRoad="10138" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10124" connectingRoad="10121" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10096" connectingRoad="10138" contactPoint="end">
+            <laneLink from="-1" to="1" />
+        </connection>
+        <connection id="6" incomingRoad="10096" connectingRoad="10121" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800021">
+        <connection id="0" incomingRoad="10121" connectingRoad="10124" contactPoint="start">
+            <laneLink from="-1" to="1" />
+        </connection>
+        <connection id="1" incomingRoad="10121" connectingRoad="10096" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10138" connectingRoad="10124" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10138" connectingRoad="10096" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800022">
+        <connection id="0" incomingRoad="10105" connectingRoad="10109" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10105" connectingRoad="10133" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10106" connectingRoad="10109" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10106" connectingRoad="10134" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10116" connectingRoad="10133" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10116" connectingRoad="10134" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800023">
+        <connection id="0" incomingRoad="10106" connectingRoad="10108" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10106" connectingRoad="10136" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10107" connectingRoad="10108" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10107" connectingRoad="10135" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10119" connectingRoad="10136" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10119" connectingRoad="10135" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800024">
+        <connection id="0" incomingRoad="10031" connectingRoad="10070" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10031" connectingRoad="10071" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10124" connectingRoad="10070" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10124" connectingRoad="10072" contactPoint="end">
+            <laneLink from="-1" to="1" />
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10043" connectingRoad="10071" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10043" connectingRoad="10072" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800025">
+        <connection id="0" incomingRoad="10149" connectingRoad="10158" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10149" connectingRoad="10198" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10149" connectingRoad="10160" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10110" connectingRoad="10177" contactPoint="start">
+            <laneLink from="1" to="-1" />
+            <laneLink from="-1" to="1" />
+        </connection>
+        <connection id="4" incomingRoad="10110" connectingRoad="10198" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10110" connectingRoad="10214" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10178" connectingRoad="10177" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10178" connectingRoad="10181" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800026">
+        <connection id="0" incomingRoad="10110" connectingRoad="10103" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10110" connectingRoad="10209" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10110" connectingRoad="10176" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10110" connectingRoad="10172" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10183" connectingRoad="10140" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10183" connectingRoad="10209" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10184" connectingRoad="10113" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10184" connectingRoad="10094" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="8" incomingRoad="10184" connectingRoad="10172" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="9" incomingRoad="10094" connectingRoad="10113" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="10" incomingRoad="10094" connectingRoad="10172" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800027">
+        <connection id="0" incomingRoad="10172" connectingRoad="10184" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10172" connectingRoad="10094" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10113" connectingRoad="10184" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10113" connectingRoad="10094" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800028">
+        <connection id="0" incomingRoad="10154" connectingRoad="10156" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10154" connectingRoad="10155" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800029">
+        <connection id="0" incomingRoad="10155" connectingRoad="10102" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10155" connectingRoad="10174" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800030">
+        <connection id="0" incomingRoad="10171" connectingRoad="10162" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10171" connectingRoad="10055" contactPoint="end">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800031">
+        <connection id="0" incomingRoad="10171" connectingRoad="10098" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10171" connectingRoad="10215" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10171" connectingRoad="10216" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800032">
+        <connection id="0" incomingRoad="10163" connectingRoad="10159" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10163" connectingRoad="10181" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800033">
+        <connection id="0" incomingRoad="10055" connectingRoad="10161" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10055" connectingRoad="10099" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800034">
+        <connection id="0" incomingRoad="10218" connectingRoad="10195" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10218" connectingRoad="10147" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10180" connectingRoad="10147" contactPoint="start">
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10180" connectingRoad="10233" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800035">
+        <connection id="0" incomingRoad="10036" connectingRoad="10153" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10036" connectingRoad="10183" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800036">
+        <connection id="0" incomingRoad="10226" connectingRoad="10193" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10226" connectingRoad="10217" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+</OpenDRIVE>

map/xiali_map_noparking.xodr

@@ -0,0 +1,5513 @@
+<?xml version="1.0" ?>
+<OpenDRIVE>
+    <header revMajor="1" revMinor="1" name="adcmap" version="1.1" date="2021-07-13" north="0.0000000000000000e+00" south="0.0000000000000000e+00" east="0.0000000000000000e+00" west="0.0000000000000000e+00" lat0="3.9120727400000000e+01" lon0="1.1702800329999999e+02" hdg0="3.6000000000000000e+02" vendor="adc" />
+    <road name="" length="9.8123049174829617e+00" id="10006" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800000" contactPoint="start" />
+            <successor elementType="road" elementId="10010" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.2922055620312971e+00" y="1.1143548527359218e+02" hdg="3.1212654674415643e+00" length="9.8123049174829617e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0802331163271353e+00" b="8.1644787494951473e-04" c="-1.5669410571624728e-04" d="-1.8764429254450244e-05" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.6000000000000001e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7547186589348652e+01" id="10038" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10003" contactPoint="end" />
+            <successor elementType="junction" elementId="800001" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.3215434825641115e+00" y="7.2863487045871381e+01" hdg="1.5757858689239848e+00" length="1.7547186589348652e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0029291563072196e+00" b="-2.3934629103147679e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.1933265366356722e+00" b="3.8031529045110955e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7157470143663382e+01" id="10039" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800002" contactPoint="start" />
+            <successor elementType="road" elementId="10002" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.0359406375824358e+00" y="9.4616579326085343e+01" hdg="4.7096381007894914e+00" length="1.7157470143663382e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0160664985947596e+00" b="3.1701995816770271e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.2000000000000002e+00" b="3.1423834397359641e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.0000000000000000e+01" id="10017" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800004" contactPoint="start" />
+            <successor elementType="road" elementId="10103" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.7167104289893782e+01" y="1.1127347613999456e+02" hdg="6.2683113663239842e+00" length="6.0937961938811611e+00">
+                <line />
+            </geometry>
+            <geometry s="6.0937961938811611e+00" x="-1.1073982161394069e+01" y="1.1118284071784819e+02" hdg="1.1584550415060601e-02" length="2.2742608317028012e+00">
+                <line />
+            </geometry>
+            <geometry s="8.3680570255839619e+00" x="-8.7998739329427220e+00" y="1.1120918641782740e+02" hdg="3.2148263368206799e-03" length="1.6319429744160381e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.1442000283034632e+00" b="-2.2046349132878520e-04" c="8.3386205971477346e-05" d="-8.7508541649427298e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3965255275269968e+00" b="5.5734346844116367e-05" c="-3.1206482870550730e-06" d="4.5778186391315538e-08" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                        <speed sOffset="0.0000000000000000e+00" max="2.2222000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.0447377729926608e+01" id="10003" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10001" contactPoint="end" />
+            <successor elementType="road" elementId="10038" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.8804068400617120e+00" y="2.2418038110526012e+01" hdg="1.5620517243091332e+00" length="5.0447377729926608e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-8.3352068635971346e+00" b="2.6409255886844157e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9973402686128270e+00" b="-1.5937671454034654e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.7951497757699208e+01" id="10002" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10039" contactPoint="end" />
+            <successor elementType="junction" elementId="800003" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.9887425625863604e+00" y="7.7459174100573620e+01" hdg="4.7216533607098068e+00" length="4.7951497757699208e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0106272381275518e+00" b="-1.6392468939879179e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.2539153500472122e+00" b="9.2569555274851101e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.1868227219236729e+01" id="10047" junction="800000">
+        <link>
+            <predecessor elementType="road" elementId="10004" contactPoint="end" />
+            <successor elementType="road" elementId="10006" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.3057789674186120e+00" y="9.5666838165648073e+01" hdg="1.5571399615355670e+00" length="9.6308675783741204e+00">
+                <line />
+            </geometry>
+            <geometry s="9.6308675783741204e+00" x="2.4372975247898570e+00" y="1.0529680769733636e+02" hdg="1.5571399615355670e+00" length="9.3847530354359847e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.9015620613810107e+01" x="-3.4401882769875742e+00" y="1.1137750380124604e+02" hdg="3.1212654674415643e+00" length="2.8526066054266219e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0614531579848991e+00" b="-8.5877827013412539e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.2000000000000002e+00" b="1.8291377530965731e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <speed sOffset="0.0000000000000000e+00" max="2.2220000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.0000000000000000e+01" id="10000" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10058" contactPoint="end" />
+            <successor elementType="road" elementId="10057" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.8306303303593307e+01" y="-1.3465294060130626e+02" hdg="3.4208910765264780e-03" length="1.0000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0289140658371805e+00" b="7.4606344656080541e-04" c="-6.7025844970307066e-06" d="1.2805673660038153e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.6968663153572963e+00" b="2.7909838711280815e-05" c="-2.3867213465126168e-07" d="5.0048169264979740e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.9412100228148994e+01" id="10001" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10057" contactPoint="end" />
+            <successor elementType="road" elementId="10003" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.0430973328390047e+00" y="-6.9936121599746519e+00" hdg="1.5763277686557067e+00" length="2.9412100228148994e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0227568492073322e+00" b="-4.4622791443288901e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.6974174505678290e+00" b="1.0197259485670983e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.8000000000000000e+01" id="10018" junction="800003">
+        <link>
+            <predecessor elementType="road" elementId="10002" contactPoint="end" />
+            <successor elementType="road" elementId="10016" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.4329771202267798e+00" y="2.9509734136540359e+01" hdg="4.7159049337553425e+00" length="1.8000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0184876725036895e+00" b="-2.4020463782798507e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.6978002322665358e+00" b="-6.8374744122837628e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.5422327563728081e+02" id="10012" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10022" contactPoint="end" />
+            <successor elementType="road" elementId="10080" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.2510104476141152e+01" y="3.5996792269123341e+02" hdg="1.5260316505673917e+00" length="3.0659405321949066e+01">
+                <arc curvature="-3.3207446901489081e-03" />
+            </geometry>
+            <geometry s="3.0659405321949066e+01" x="-5.9587570586170543e+01" y="3.9047554700671674e+02" hdg="1.4693203160431452e+00" length="6.3790000793905371e+01">
+                <arc curvature="-5.0252274126746021e-03" />
+            </geometry>
+            <geometry s="9.4449406115854430e+01" x="-4.3114778251777281e+01" y="4.5181303110631654e+02" hdg="1.1491956551029472e+00" length="2.0284988270735944e+01">
+                <arc curvature="-6.5858642742968416e-03" />
+            </geometry>
+            <geometry s="1.1473439438659037e+02" x="-3.3601904079104131e+01" y="4.6971185757951952e+02" hdg="1.0281465353320307e+00" length="1.7572274325714787e+01">
+                <arc curvature="-7.5204227534940941e-03" />
+            </geometry>
+            <geometry s="1.3230666871230517e+02" x="-2.3539907070391433e+01" y="4.8410182390758098e+02" hdg="9.3867970757958785e-01" length="2.1916606924975632e+01">
+                <arc curvature="-9.3739499714007041e-03" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5574779992973573e+00" b="-5.5169888209276915e-04" c="2.0958468974071489e-05" d="-1.1132511109888540e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="none" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.2999999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="none" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.2631143294552672e+02" id="10021" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10080" contactPoint="end" />
+            <successor elementType="road" elementId="10083" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.5416123031234681e+01" y="5.2110484035202421e+02" hdg="6.8337266938321850e-01" length="4.5044716848050058e+01">
+                <arc curvature="2.0354760453554110e-02" />
+            </geometry>
+            <geometry s="4.5044716848050058e+01" x="3.3444811710284249e+01" y="5.6064655529817173e+02" hdg="1.5833137514882252e+00" length="3.1198261326997052e+01">
+                <arc curvature="2.2341358430248967e-02" />
+            </geometry>
+            <geometry s="7.6242978175047114e+01" x="2.2646922180907321e+01" y="5.8924717793190325e+02" hdg="2.2586688773241663e+00" length="9.2545776119653581e+01">
+                <arc curvature="2.1007254312512352e-02" />
+            </geometry>
+            <geometry s="1.6878875429470071e+02" x="-5.5717938784739836e+01" y="5.8226400126994815e+02" hdg="4.2066061566016870e+00" length="2.3707902505277524e+01">
+                <arc curvature="1.7277576042640588e-02" />
+            </geometry>
+            <geometry s="1.9249665679997824e+02" x="-6.2727178156093551e+01" y="5.5978267697334627e+02" hdg="4.5929023217228213e+00" length="1.4500060256873031e+01">
+                <arc curvature="7.8771299747025861e-03" />
+            </geometry>
+            <geometry s="2.0699671705685128e+02" x="-6.3655031179030104e+01" y="5.4531876430766602e+02" hdg="4.7090316433801931e+00" length="1.9314715888675408e+01">
+                <arc curvature="5.0627345822375763e-05" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.4028538673402657e+00" b="-2.0467052343770315e-03" c="5.6638739802616114e-06" d="-3.1982523142946352e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="none" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.2999999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="none" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.4626250750034764e+00" id="10013" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10014" contactPoint="end" />
+            <successor elementType="road" elementId="10085" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.2736744400827170e+01" y="-1.8353430478874384e+02" hdg="4.7103075748931547e+00" length="5.4626250750034773e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.4999999999999982e+00" b="6.2219687656040032e-04" c="-3.3445934279537933e-05" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="none" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.2999999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="none" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.5007399517231494e+02" id="10041" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10037" contactPoint="end" />
+            <successor elementType="road" elementId="10015" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.2819719631235145e+01" y="-2.5168135274667236e+02" hdg="4.6595597917102820e+00" length="9.5757100493138232e+00">
+                <arc curvature="2.9632566711770558e-02" />
+            </geometry>
+            <geometry s="9.5757100493138232e+00" x="-6.1971009448290737e+01" y="-2.6118715768402666e+02" hdg="4.8844226128996571e+00" length="1.1598750025040326e+01">
+                <arc curvature="2.7193637041909312e-02" />
+            </geometry>
+            <geometry s="2.1174460074354151e+01" x="-5.8234927609498804e+01" y="-2.7211833650347211e+02" hdg="5.3094865833754570e+00" length="5.2861859126771556e+01">
+                <arc curvature="5.6497814117088208e-02" />
+            </geometry>
+            <geometry s="7.4036319201125707e+01" x="-2.7572595268299427e+01" y="-2.5458156125144703e+02" hdg="2.0436752759201786e+00" length="9.3998484248240857e+00">
+                <arc curvature="4.6081116204608641e-02" />
+            </geometry>
+            <geometry s="8.3436167625949793e+01" x="-3.3484017298444797e+01" y="-2.4735966215432197e+02" hdg="2.4467401128820221e+00" length="2.4081177193239416e+01">
+                <arc curvature="-1.2019766248210009e-02" />
+            </geometry>
+            <geometry s="1.0751734481918920e+02" x="-4.9493592321869791e+01" y="-2.2948697182629070e+02" hdg="2.1389723235661151e+00" length="1.5989372129507068e+01">
+                <arc curvature="-1.7510642087434612e-02" />
+            </geometry>
+            <geometry s="1.2350671694869627e+02" x="-5.6094504177152068e+01" y="-2.1498297302755128e+02" hdg="1.8970972469075762e+00" length="2.6567278223618683e+01">
+                <arc curvature="-8.6674193678651611e-03" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5094070960315538e+00" b="-7.1182131500477381e-03" c="1.3171462261135126e-04" d="-5.7566274029468096e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="none" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.2999999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="none" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.6000000000000014e+00" id="10007" junction="800007">
+        <link>
+            <predecessor elementType="junction" elementId="800006" contactPoint="start" />
+            <successor elementType="road" elementId="10009" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.5474708687328853e+01" y="1.1138159196882887e+02" hdg="1.6236135188197529e+00" length="3.6000000000000001e+00">
+                <arc curvature="1.6655735815549505e-01" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.1536690905273908e+00" b="3.2882788386959733e-03" c="3.0390530926396165e-04" d="-1.0484087177712869e-05" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="none" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.1640839084026366e+01" id="10010" junction="800007">
+        <link>
+            <predecessor elementType="road" elementId="10006" contactPoint="end" />
+            <successor elementType="road" elementId="10009" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.6102483354119510e+01" y="1.1163492808675211e+02" hdg="3.1212654674415643e+00" length="5.4884962625734062e+00">
+                <line />
+            </geometry>
+            <geometry s="5.4884962625734062e+00" x="-2.1589845747510658e+01" y="1.1174648608905950e+02" hdg="3.1212654674415643e+00" length="5.3882727555721743e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.0876769018145581e+01" x="-2.6235579126150228e+01" y="1.1410256206927995e+02" hdg="2.2232200081795352e+00" length="7.6407006588078585e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.1050361370444612e+00" b="-2.8645428552211763e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.6000000000000001e+00" b="1.2026624454598714e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.1999999999999993e+00" id="10027" junction="800009">
+        <link>
+            <predecessor elementType="junction" elementId="800008" contactPoint="start" />
+            <successor elementType="road" elementId="10008" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.6566356574839503e+01" y="1.1423909022215734e+02" hdg="4.1552853627832782e+00" length="7.2000000000000002e+00">
+                <arc curvature="1.6655735815549505e-01" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0702910707502564e+00" b="5.2602697357040616e-03" c="-1.7416906603974529e-04" d="-1.0484087177712869e-05" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="none" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="none" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="none" />
+                        <roadMark sOffset="4.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="none" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.2000000000000000e+01" id="10040" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800010" contactPoint="start" />
+            <successor elementType="road" elementId="10105" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.7407460442262000e+01" y="1.2100510632660712e+02" hdg="1.5728257333720501e+00" length="5.2000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7149999999999981e+00" b="-4.2936143362966599e-04" c="5.5230531423637017e-06" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.2568731393443366e+00" id="10004" junction="800001">
+        <link>
+            <predecessor elementType="road" elementId="10038" contactPoint="end" />
+            <successor elementType="road" elementId="10047" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2339914191064878e+00" y="9.0410455212412330e+01" hdg="1.5571399615355672e+00" length="5.2568731393443366e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0449276965891983e+00" b="-3.1435914388000656e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.2000000000000002e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.7239918797206601e+00" id="10031" junction="800004">
+        <link>
+            <predecessor elementType="road" elementId="10054" contactPoint="end" />
+            <successor elementType="road" elementId="10007" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.6407082553397171e+01" y="1.0783768500591580e+02" hdg="1.0032015552088955e+00" length="3.7224717816651456e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="3.7224717816651456e+00" x="-2.5474628437341742e+01" y="1.1138007399055566e+02" hdg="1.6236135188197529e+00" length="1.5200980555144924e-03">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.1037002900029949e+00" b="-1.3418074512059477e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.0593142906552302e+01" id="10048" junction="800004">
+        <link>
+            <predecessor elementType="road" elementId="10054" contactPoint="end" />
+            <successor elementType="road" elementId="10017" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.6407082553397174e+01" y="1.0783768500591580e+02" hdg="7.2863868623884818e+00" length="8.4933704948925670e-01">
+                <line />
+            </geometry>
+            <geometry s="8.4933704948925670e-01" x="-2.5950474262477243e+01" y="1.0855384301382907e+02" hdg="7.2863868623884818e+00" length="6.1084529763869853e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="6.9577900258762417e+00" x="-2.0802055045942065e+01" y="1.1132754616999028e+02" hdg="6.2683113663239842e+00" length="3.6353528806760598e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.1037002900029949e+00" b="9.0577486791577275e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.0000000000000000e+00" b="-5.6968406618939225e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.9000083657893722e+01" id="10049" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10051" contactPoint="end" />
+            <successor elementType="road" elementId="10050" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.7365298911929095e+01" y="8.4016682709567249e+01" hdg="1.5752848239970620e+00" length="1.9000083657893722e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7529999999999983e+00" b="4.2105077767258298e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="none" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7988583033480850e+01" id="10050" junction="800010">
+        <link>
+            <predecessor elementType="road" elementId="10049" contactPoint="end" />
+            <successor elementType="road" elementId="10040" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.7450580447912188e+01" y="1.0301657497417182e+02" hdg="1.5683992482220903e+00" length="1.7988583033480850e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7449999999999983e+00" b="1.6677244641316892e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                        <roadMark sOffset="5.0000000000000000e+00" type="none" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7356862310555908e+01" id="10051" junction="800011">
+        <link>
+            <predecessor elementType="road" elementId="10104" contactPoint="end" />
+            <successor elementType="road" elementId="10049" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.7335504468754614e+01" y="6.6659845971303213e+01" hdg="1.5725129076649691e+00" length="1.7356862310555908e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7220000140657366e+00" b="-1.7860362881030952e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="7.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.0000000000000000e+00" id="10008" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10027" contactPoint="end" />
+            <successor elementType="road" elementId="10029" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.6278432940758066e+01" y="1.0746895390327825e+02" hdg="5.3544983415028424e+00" length="5.8564409599659870e-03">
+                <line />
+            </geometry>
+            <geometry s="5.8564409599659870e-03" x="-3.6274925600133564e+01" y="1.0746426386463648e+02" hdg="5.3544983415028424e+00" length="1.9941435590400340e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0453592176075945e+00" b="-5.0276722234281809e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.5000000000000000e+00" id="10029" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10008" contactPoint="end" />
+            <successor elementType="junction" elementId="800012" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.4839576674092832e+01" y="1.0609316526043241e+02" hdg="5.6868556013428480e+00" length="3.5000000000000000e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0554145620544508e+00" b="-5.0276722234281809e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.6039928226704738e+00" id="10054" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10061" contactPoint="end" />
+            <successor elementType="junction" elementId="800004" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.8230425724361833e+01" y="1.0600726543638076e+02" hdg="5.7033696082992869e-01" length="2.5971875662738029e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.5971875662738029e+00" x="-2.6410741096839288e+01" y="1.0783194683769706e+02" hdg="1.0032015552088955e+00" length="6.8052563966711560e-03">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0906082676184479e+00" b="-5.0276722234281809e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.2474413084257229e+01" id="10011" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800013" contactPoint="start" />
+            <successor elementType="road" elementId="10084" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.3388797208123322e+01" y="2.9776168148195262e+02" hdg="4.7161913826936690e+00" length="2.2474413084257229e+01">
+                <arc curvature="-1.0229823849540102e-05" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5021156069396673e+00" b="-5.9795414235605830e-04" c="2.7341126526881566e-06" d="-3.4941962244029351e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="2" type="driving" level="false">
+                        <link>
+                            <successor id="2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                    <lane id="1" type="stop" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="1.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="white" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.4821070928817747e+01" id="10014" junction="800014">
+        <link>
+            <predecessor elementType="road" elementId="10073" contactPoint="end" />
+            <successor elementType="road" elementId="10013" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.2703589107506559e+01" y="-1.3871324612283729e+02" hdg="4.7116492547231363e+00" length="4.4821070928817747e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5327838800083953e+00" b="7.3143901582500175e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="-4.4621869994500738e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.0349302375132709e+01" id="10015" junction="800014">
+        <link>
+            <predecessor elementType="road" elementId="10041" contactPoint="end" />
+            <successor elementType="road" elementId="10073" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.1650716170308918e+01" y="-1.8906318340467811e+02" hdg="1.5718464538867534e+00" length="5.0349302375132709e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5569005930458957e+00" b="4.7898802763574213e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="stop" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="1.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.2999999999999998e+00" b="3.9722496750775093e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="6.2202557088711302e+01" id="10022" junction="800013">
+        <link>
+            <predecessor elementType="road" elementId="10011" contactPoint="start" />
+            <successor elementType="road" elementId="10012" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.2388804437246272e+01" y="2.9776548387509894e+02" hdg="1.5727464092585857e+00" length="6.2202557088711302e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5021156069396673e+00" b="-8.9003402671587837e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="stop" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="1.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="2" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="-3.2153019001255295e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="6.2089480535512301e+01" id="10023" junction="800013">
+        <link>
+            <predecessor elementType="road" elementId="10083" contactPoint="end" />
+            <successor elementType="road" elementId="10011" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.3406958700743417e+01" y="3.5985115936129984e+02" hdg="4.7126814855356818e+00" length="6.2089480535512301e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5270515458998117e+00" b="4.0161294224199952e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.2999999999999998e+00" b="3.2211575660648258e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.6000000000000000e+01" id="10034" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800015" contactPoint="start" />
+            <successor elementType="road" elementId="10113" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.2682512850820785e+01" y="-6.5237422846289746e+01" hdg="4.7124779566362855e+00" length="1.0000000000000000e+01">
+                <arc curvature="-1.0229823849540102e-05" />
+            </geometry>
+            <geometry s="1.0000000000000000e+01" x="-6.2682134579503327e+01" y="-7.5237422834775018e+01" hdg="4.7123756583977903e+00" length="1.6000000000000000e+01">
+                <arc curvature="-1.0229823849540102e-05" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5260365779353373e+00" b="5.7314166154921352e-06" c="-1.0710670356866402e-06" d="-3.4941962244029351e-09" />
+            <elevation s="1.0000000000000000e+01" a="-6.5260898646689753e+00" b="-1.6738182965561550e-05" c="-1.1758929224187282e-06" d="-3.4941962244029351e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="2" type="driving" level="false">
+                        <link>
+                            <successor id="2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                    <lane id="1" type="stop" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="1.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="white" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                    <lane id="-2" type="driving" level="false">
+                        <link>
+                            <successor id="-2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="white" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.0000000000000000e+00" id="10042" junction="800015">
+        <link>
+            <predecessor elementType="road" elementId="10034" contactPoint="start" />
+            <successor elementType="road" elementId="10045" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.1682512854779169e+01" y="-6.5237333870038270e+01" hdg="1.2876609232321585e+00" length="5.0000000000000000e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5260365779353373e+00" b="-1.2249318406988353e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="2" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="-1.2190594966129603e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.8762485087576897e+00" id="10030" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800011" contactPoint="start" />
+            <successor elementType="road" elementId="10028" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.9912209246868350e+01" y="7.8255196782831646e+01" hdg="7.6696778748601121e-03" length="4.8762485087576897e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8259999999999996e+00" b="-1.5029967944439646e-02" c="6.1139886381543366e-03" d="-8.8915854868154825e-04" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.6443648491944845e+01" id="10025" junction="800011">
+        <link>
+            <predecessor elementType="road" elementId="10104" contactPoint="end" />
+            <successor elementType="road" elementId="10030" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.7335504468754614e+01" y="6.6659845971303213e+01" hdg="1.5728310456682986e+00" length="5.5719740836759248e+00">
+                <line />
+            </geometry>
+            <geometry s="5.5719740836759248e+00" x="-5.7346841861761824e+01" y="7.2231808520771395e+01" hdg="1.5728310456682986e+00" length="9.3909682067606308e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.4962942290436555e+01" x="-5.1392871898089894e+01" y="7.8243840354576861e+01" hdg="7.6696778748601121e-03" length="1.4807062015082921e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7220000140657366e+00" b="-6.3246295969662048e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.5000000000000000e+00" b="3.0406877174790747e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.5146516189320467e+00" id="10035" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10032" contactPoint="end" />
+            <successor elementType="road" elementId="10026" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.5194293339244552e+01" y="1.0898330675393356e+02" hdg="3.1259367317381943e+00" length="4.5146516189320467e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9528546578528667e+00" b="8.4989551278735406e-03" c="1.5889994000994187e-03" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7036010661545081e+01" id="10026" junction="800010">
+        <link>
+            <predecessor elementType="road" elementId="10035" contactPoint="end" />
+            <successor elementType="road" elementId="10040" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.9708391681113788e+01" y="1.0905398489948901e+02" hdg="3.1259367317381943e+00" length="1.7811842222882335e+00">
+                <line />
+            </geometry>
+            <geometry s="1.7811842222882335e+00" x="-5.1489357616708382e+01" y="1.0908186984130735e+02" hdg="3.1259367317381943e+00" length="9.3186659901968660e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.1099850212485100e+01" x="-5.7395413567472794e+01" y="1.1506895810155480e+02" hdg="1.5728257333720501e+00" length="5.9361604490599813e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8820977246399258e+00" b="9.8085008256723373e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                        <roadMark sOffset="5.0000000000000000e+00" type="none" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="-2.9349594217420647e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.0982778221427731e+01" id="10032" junction="800009">
+        <link>
+            <predecessor elementType="junction" elementId="800008" contactPoint="start" />
+            <successor elementType="road" elementId="10035" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.6566356574839496e+01" y="1.1423909022215736e+02" hdg="4.1552853627832782e+00" length="2.8968271787230098e+00">
+                <line />
+            </geometry>
+            <geometry s="2.8968271787230098e+00" x="-3.8097996004683452e+01" y="1.1178029206851896e+02" hdg="4.1552853627832782e+00" length="6.1760917862705034e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="9.0729189649935122e+00" x="-4.3284668138814865e+01" y="1.0895340736813142e+02" hdg="3.1259367317381943e+00" length="1.9098592564342192e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0702910707502564e+00" b="1.0692778323454418e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="5.9800000000000004e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.0000000000000000e+00" b="-9.1051642839238056e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.2000000000000000e+02" id="10043" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10016" contactPoint="end" />
+            <successor elementType="road" elementId="10056" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.2293238626193155e+00" y="2.0862078746619783e+00" hdg="4.7009935598744939e+00" length="1.4799461643285099e+01">
+                <line />
+            </geometry>
+            <geometry s="1.4799461643285099e+01" x="3.0606814237859497e+00" y="-1.2712292882471875e+01" hdg="4.7123889803846897e+00" length="0.0000000000000000e+00">
+                <line />
+            </geometry>
+            <geometry s="1.4799461643285099e+01" x="3.0606814237859497e+00" y="-1.2712292882471875e+01" hdg="4.7230547758403558e+00" length="2.2383786345018968e+00">
+                <line />
+            </geometry>
+            <geometry s="1.7037840277786994e+01" x="3.0845550598069456e+00" y="-1.4950544200107522e+01" hdg="4.7158441398816251e+00" length="5.4144398255122560e+01">
+                <line />
+            </geometry>
+            <geometry s="7.1182238532909551e+01" x="3.2716322194183047e+00" y="-6.9094619264196211e+01" hdg="4.7123889803846897e+00" length="0.0000000000000000e+00">
+                <line />
+            </geometry>
+            <geometry s="7.1182238532909551e+01" x="3.2716322194183047e+00" y="-6.9094619264196211e+01" hdg="4.6951523894229705e+00" length="2.2653922389618577e+00">
+                <line />
+            </geometry>
+            <geometry s="7.3447630771871403e+01" x="3.2325865135081289e+00" y="-7.1359674987395664e+01" hdg="4.7173434561020686e+00" length="4.6552369228128597e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0843415012651132e+00" b="1.3267297301346444e-03" c="-6.3022016341560296e-06" d="7.6510229408601026e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.6959256894884334e+00" b="2.3759826792620469e-05" c="-1.1782544252449519e-07" d="1.8067657676066428e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.0742201990002314e+01" id="10046" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10056" contactPoint="end" />
+            <successor elementType="road" elementId="10044" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.7816255359317372e+00" y="-1.3618683848748037e+02" hdg="3.1066993632461606e+00" length="1.0001052940673000e+01">
+                <arc curvature="3.5316427749270888e-03" />
+            </geometry>
+            <geometry s="1.0001052940672992e+01" x="-1.7887175754812265e+01" y="-1.3597417945001644e+02" hdg="3.1232496817746127e+00" length="7.4114904932931436e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0011656667680482e+00" b="-2.4245532016794344e-05" c="-2.9510535860593050e-06" d="7.6510229408601026e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.6974453471461981e+00" b="9.0870330615883584e-07" c="-3.8689101903324228e-08" d="1.8067657676066428e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.7191523390815487e+01" id="10056" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10043" contactPoint="end" />
+            <successor elementType="road" elementId="10046" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="3.4632281528458022e+00" y="-1.1791147286015476e+02" hdg="4.7173434561020686e+00" length="1.2427373307621579e+01">
+                <line />
+            </geometry>
+            <geometry s="1.2427373307621579e+01" x="3.5247990202335604e+00" y="-1.3033869364178065e+02" hdg="4.7173434561020686e+00" length="9.6638645571354473e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.2091237864757026e+01" x="-2.6844446000397717e+00" y="-1.3636476811992230e+02" hdg="3.1066993632461606e+00" length="5.1002855260584594e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0026646695389969e+00" b="5.5127575950931854e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.6973923914558378e+00" b="1.9475073021555148e-06" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.4521066769914679e+00" id="10016" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10018" contactPoint="end" />
+            <successor elementType="road" elementId="10043" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.4962641505067191e+00" y="1.1509845393778686e+01" hdg="4.7900221051246108e+00" length="9.4521066769914679e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0617245073127268e+00" b="-2.3927992695470910e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.6965694868723249e+00" b="-6.8111523271174816e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.0742201990002314e+01" id="10019" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10044" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.2772494899566485e+01" y="-1.3566354533595137e+02" hdg="3.1066993632461606e+00" length="1.0001052940673000e+01">
+                <arc curvature="3.5316427749270888e-03" />
+            </geometry>
+            <geometry s="1.0001052940672992e+01" x="-3.2878045118447012e+01" y="-1.3545088629848743e+02" hdg="3.1232496817746127e+00" length="7.4114904932931436e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0011656667680482e+00" b="-2.4245532016794344e-05" c="-2.9510535860593050e-06" d="7.6510229408601026e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.6974453471461981e+00" b="9.0870330615883584e-07" c="-3.8689101903324228e-08" d="1.8067657676066428e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.1549262281821626e+00" id="10044" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10046" contactPoint="end" />
+            <successor elementType="road" elementId="10019" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.8628200122422779e+01" y="-1.3596058533624671e+02" hdg="3.0700405742686869e+00" length="4.1549262281821626e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0017571695418317e+00" b="1.4236179929536170e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.6974508680613245e+00" b="-1.3287636947565394e-06" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.3535822471209801e+02" id="10057" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10000" contactPoint="end" />
+            <successor elementType="road" elementId="10001" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-8.3063618160150323e+00" y="-1.3461873175726257e+02" hdg="3.4208910765264780e-03" length="4.1173097982303588e+00">
+                <line />
+            </geometry>
+            <geometry s="4.1173097982303588e+00" x="-4.1890761091614017e+00" y="-1.3460464691638583e+02" hdg="1.7282948120910871e-01" length="8.2487337779924108e-01">
+                <line />
+            </geometry>
+            <geometry s="4.9421831760295998e+00" x="-3.3764915926641947e+00" y="-1.3446279314325685e+02" hdg="6.1902312470437924e+00" length="7.1883796925288683e+00">
+                <arc curvature="2.2073985908974117e-01" />
+            </geometry>
+            <geometry s="1.2130562868558467e+01" x="1.5608047935570579e+00" y="-1.3030056140782412e+02" hdg="1.4199355226074766e+00" length="2.2640075476928403e+00">
+                <line />
+            </geometry>
+            <geometry s="1.4394570416251309e+01" x="1.9010607113040114e+00" y="-1.2806226828884968e+02" hdg="1.5528679499571352e+00" length="6.0531043758623895e+01">
+                <arc curvature="5.3056914068110971e-04" />
+            </geometry>
+            <geometry s="7.4925614174875207e+01" x="2.0142745512190015e+00" y="-6.7533931776210920e+01" hdg="1.5157654891970440e+00" length="2.2476352053962048e+00">
+                <line />
+            </geometry>
+            <geometry s="7.7173249380271415e+01" x="2.1379013786949073e+00" y="-6.5289699073467133e+01" hdg="1.5777263602994931e+00" length="5.7019268315820050e+01">
+                <arc curvature="-2.3450756310700838e-04" />
+            </geometry>
+            <geometry s="1.3419251769609147e+02" x="2.0434571155435872e+00" y="-8.1593191204596884e+00" hdg="1.5711049658485818e+00" length="1.1657070160065337e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0221108841476152e+00" b="6.1585345871820272e-04" c="-6.3184142872295622e-06" d="1.2805673660038153e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.6971220470126362e+00" b="2.3286540526050521e-05" c="-2.2365768387176776e-07" d="5.0048169264979740e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.5000000000000000e+00" id="10061" junction="800012">
+        <link>
+            <predecessor elementType="road" elementId="10029" contactPoint="end" />
+            <successor elementType="road" elementId="10054" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.1547895998705208e+01" y="1.0505808670138465e+02" hdg="6.2701889346761810e+00" length="3.5000000000000000e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0730114148364498e+00" b="-5.0276722234281809e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="2.5000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.4524747683055489e+01" id="10065" junction="800004">
+        <link>
+            <predecessor elementType="road" elementId="10060" contactPoint="end" />
+            <successor elementType="road" elementId="10007" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.5430535914795918e+01" y="9.6856911455213691e+01" hdg="1.5738375390478752e+00" length="1.4524747683055489e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9559999999999977e+00" b="-1.3609123878825995e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2999999999999998e+00" b="4.8193608266022911e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.0140633552730900e+01" id="10066" junction="800004">
+        <link>
+            <predecessor elementType="road" elementId="10060" contactPoint="end" />
+            <successor elementType="road" elementId="10017" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.5430535914795918e+01" y="9.6856911455213691e+01" hdg="1.5711007134289545e+00" length="8.4477818775522113e+00">
+                <line />
+            </geometry>
+            <geometry s="8.4477818775522113e+00" x="-2.5433107306647173e+01" y="1.0530469294141724e+02" hdg="1.5711007134289545e+00" length="9.5158479257073392e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.7963629803259550e+01" x="-1.9343867230053991e+01" y="1.1130585557107970e+02" hdg="6.2683113663239842e+00" length="2.1770037494713499e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9559999999999977e+00" b="4.0306575737606889e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                        <roadMark sOffset="5.0000000000000000e+00" type="none" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2999999999999998e+00" b="4.7925765231902990e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.4925219574005148e+01" id="10028" junction="800016">
+        <link>
+            <predecessor elementType="road" elementId="10030" contactPoint="end" />
+            <successor elementType="road" elementId="10060" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.5036104157528072e+01" y="7.8292595671470622e+01" hdg="7.6696778748601121e-03" length="1.3655779806283057e+01">
+                <line />
+            </geometry>
+            <geometry s="1.3655779806283057e+01" x="-3.1380725992789863e+01" y="7.8397330076892388e+01" hdg="7.6696778748601121e-03" length="9.3805862133245661e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="2.3036366019607623e+01" x="-2.5426743886833204e+01" y="8.4398979925657486e+01" hdg="1.5711007134289545e+00" length="1.8888535543975227e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8570074482818102e+00" b="-3.2093017869184045e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="1.2036002295156265e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.0139859629395648e+01" id="10053" junction="800016">
+        <link>
+            <predecessor elementType="road" elementId="10070" contactPoint="end" />
+            <successor elementType="road" elementId="10060" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.5609751221577724e+01" y="6.6148800041526329e+01" hdg="1.5617379276172747e+00" length="2.0139859629395648e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8364828134711200e+00" b="-4.9909576520665569e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9989923412483845e+00" b="1.4945866768220760e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.9882774488200628e+01" id="10062" junction="800015">
+        <link>
+            <predecessor elementType="road" elementId="10059" contactPoint="end" />
+            <successor elementType="road" elementId="10030" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.2815861160066561e+01" y="8.7762503426293136e+01" hdg="4.7140431196852655e+00" length="3.5699644781052307e+00">
+                <line />
+            </geometry>
+            <geometry s="3.5699644781052307e+00" x="-6.2809955944214614e+01" y="8.4192543832213829e+01" hdg="4.7140431196852655e+00" length="9.4608711922150857e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.3030835670320316e+01" x="-5.6763946536653542e+01" y="7.8202645134502319e+01" hdg="7.6696778748601121e-03" length="6.8519388178803116e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5394713600850878e+00" b="-1.4410898241840010e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="1.3000000000000000e+01" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="-7.5442187451764869e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.0569078552280001e+01" id="10063" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10064" contactPoint="end" />
+            <successor elementType="road" elementId="10112" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.6430535868470308e+01" y="9.6856607068584339e+01" hdg="4.7126933670187476e+00" length="1.0569078552280001e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9559999999999977e+00" b="1.7976969237209742e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2999999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.0569078552280001e+01" id="10060" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800016" contactPoint="start" />
+            <successor elementType="junction" elementId="800004" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.5427318828599976e+01" y="8.6287833392552713e+01" hdg="1.5711007134289543e+00" length="1.0569078552280001e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9369999999999985e+00" b="-1.7976969237209889e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="3.2999999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.1169925928718296e+01" id="10064" junction="800012">
+        <link>
+            <predecessor elementType="road" elementId="10029" contactPoint="end" />
+            <successor elementType="road" elementId="10063" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.1547895998705208e+01" y="1.0505808670138465e+02" hdg="6.2701889346761810e+00" length="1.8138135113543508e-01">
+                <line />
+            </geometry>
+            <geometry s="1.8138135113543508e-01" x="-3.1366529965526045e+01" y="1.0505572946813979e+02" hdg="6.2701889346761810e+00" length="7.7874778382871668e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="7.9688591894226022e+00" x="-2.6431510230385431e+01" y="1.0005767365958866e+02" hdg="4.7126933670187476e+00" length="3.2010667392956931e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0730114148364498e+00" b="1.0475576613772464e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="6.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.0000000000000000e+00" b="-6.2668275910431420e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.0139859629395648e+01" id="10068" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10071" contactPoint="end" />
+            <successor elementType="road" elementId="10070" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.5845266379314886e+01" y="4.0149866743975906e+01" hdg="1.5617379276172747e+00" length="2.0139859629395648e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8364828134711200e+00" b="-4.9909576520665569e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9989923412483845e+00" b="1.4945866768220760e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.3978838262509292e+00" id="10071" junction="800017">
+        <link>
+            <predecessor elementType="junction" elementId="800017" contactPoint="start" />
+            <successor elementType="road" elementId="10068" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.1157784135528019e+01" y="3.3906979483055643e+01" hdg="3.0442389825832201e-04" length="3.0257670161461225e-01">
+                <line />
+            </geometry>
+            <geometry s="3.0257670161461225e-01" x="-3.0855207447933889e+01" y="3.3907071594633251e+01" hdg="3.0442389825832201e-04" length="7.8071675185950813e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="8.1097442202096932e+00" x="-2.5856934702488129e+01" y="3.8861779986460562e+01" hdg="1.5617379276172747e+00" length="1.2881396060412353e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9469615536789409e+00" b="1.1755703970208989e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="-1.0722187784454038e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.8601403706043529e+00" id="10070" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10068" contactPoint="end" />
+            <successor elementType="road" elementId="10053" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.5662833986337137e+01" y="6.0288900095002290e+01" hdg="1.5617379276172751e+00" length="5.8601403706043529e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9369999999999985e+00" b="1.7152692627141329e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2999999999999998e+00" b="-5.1365264262530373e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7971206220218968e+02" id="40000" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="40002" contactPoint="end" />
+            <successor elementType="road" elementId="10058" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.5609054724907203e+01" y="1.1924738768806094e+01" hdg="3.0935284845171771e+00" length="7.7765168975009411e+00">
+                <line />
+            </geometry>
+            <geometry s="7.7765168975009411e+00" x="-3.3376590835485743e+01" y="1.2298366695995796e+01" hdg="3.0545085488979100e+00" length="2.3108430525918005e+00">
+                <line />
+            </geometry>
+            <geometry s="1.0087359950092742e+01" x="-3.5678677121796945e+01" y="1.2499350138322995e+01" hdg="3.0535901947486481e+00" length="5.7380298287725324e+00">
+                <line />
+            </geometry>
+            <geometry s="1.5825389778865274e+01" x="-4.1394502393164053e+01" y="1.3003659352084213e+01" hdg="3.1731250241323026e+00" length="8.1546805386875265e-01">
+                <line />
+            </geometry>
+            <geometry s="1.6640857832734028e+01" x="-4.2209565074597151e+01" y="1.2977949972169881e+01" hdg="3.0424477796831577e+00" length="8.5884885362324734e+00">
+                <arc curvature="2.0013622076108173e-01" />
+            </geometry>
+            <geometry s="2.5229346368966503e+01" x="-4.7694758422775976e+01" y="7.7615224459379277e+00" hdg="4.5843090940650306e+00" length="2.4101586419164294e+00">
+                <line />
+            </geometry>
+            <geometry s="2.7639505010882932e+01" x="-4.8002607969869992e+01" y="5.3711054665055826e+00" hdg="4.6791687349458195e+00" length="1.6810915832101749e+01">
+                <arc curvature="3.3066013849550025e-03" />
+            </geometry>
+            <geometry s="4.4450420842984684e+01" x="-4.8093824358470904e+01" y="-1.1437398599083039e+01" hdg="4.7115814100937783e+00" length="2.4007727983958409e+00">
+                <line />
+            </geometry>
+            <geometry s="4.6851193641380526e+01" x="-4.8095763151047379e+01" y="-1.3838170614623195e+01" hdg="4.6907210425082599e+00" length="3.4892172334333779e+01">
+                <arc curvature="1.2982080944977917e-03" />
+            </geometry>
+            <geometry s="8.1743365975714312e+01" x="-4.8061546895798124e+01" y="-4.8727343191285485e+01" hdg="4.6540191007222456e+00" length="2.4049717864489444e+00">
+                <line />
+            </geometry>
+            <geometry s="8.4148337762163251e+01" x="-4.8201845110881500e+01" y="-5.1128219219834193e+01" hdg="4.7145806506200554e+00" length="2.4211695219044714e+01">
+                <arc curvature="-2.2873571847546650e-03" />
+            </geometry>
+            <geometry s="1.0836003298120797e+02" x="-4.8819066742048314e+01" y="-7.5328950862453524e+01" hdg="4.7030182903141062e+00" length="2.2890306304684027e+00">
+                <line />
+            </geometry>
+            <geometry s="1.1064906361167637e+02" x="-4.8840516224732710e+01" y="-7.7617880993959318e+01" hdg="4.6998082251662261e+00" length="3.7813158462342543e+01">
+                <arc curvature="7.3693066062670244e-04" />
+            </geometry>
+            <geometry s="1.4846222207401891e+02" x="-4.8789391376879593e+01" y="-1.1542978149890300e+02" hdg="4.6638926877676852e+00" length="2.3141831077331450e+00">
+                <line />
+            </geometry>
+            <geometry s="1.5077640518175207e+02" x="-4.8901576691378501e+01" y="-1.1774124378743988e+02" hdg="4.7439086072389189e+00" length="6.9934543576118271e+00">
+                <arc curvature="-8.0800203272157721e-03" />
+            </geometry>
+            <geometry s="1.5776985953936389e+02" x="-4.8878739147552473e+01" y="-1.2473373044731514e+02" hdg="4.7400315847171637e+00" length="2.4119325791490063e+00">
+                <line />
+            </geometry>
+            <geometry s="1.6018179211851290e+02" x="-4.8812075540108573e+01" y="-1.2714474158992792e+02" hdg="4.6713308643338571e+00" length="4.3988987825033137e+00">
+                <arc curvature="8.2342213925257313e-02" />
+            </geometry>
+            <geometry s="1.6458069090101623e+02" x="-4.8201375560040923e+01" y="-1.3147679838846793e+02" hdg="5.3027569233075287e+00" length="2.2668295469772661e+00">
+                <line />
+            </geometry>
+            <geometry s="1.6684752044799350e+02" x="-4.6939506982287185e+01" y="-1.3335993510350667e+02" hdg="5.7611979818298051e+00" length="5.8830384835484919e+00">
+                <arc curvature="1.2992214369401367e-01" />
+            </geometry>
+            <geometry s="1.7273055893154199e+02" x="-4.1254655716858267e+01" y="-1.3416000482214176e+02" hdg="6.2747223105490653e+00" length="2.3019172283025502e+00">
+                <line />
+            </geometry>
+            <geometry s="1.7503247615984455e+02" x="-3.8952820922380631e+01" y="-1.3417948570734234e+02" hdg="4.4876764906902622e-02" length="3.9441512821637486e+00">
+                <arc curvature="-1.3235532776948092e-02" />
+            </geometry>
+            <geometry s="1.7897662744200829e+02" x="-3.4892175352386360e+01" y="-1.3408635570713051e+02" hdg="1.5743895267895405e-02" length="7.3543476018140497e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.1012291413374848e+00" b="-1.3600575014283128e-04" c="4.6689738115078108e-07" d="-5.0351956773422345e-10" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9976737385769523e+00" b="1.6907086431856629e-05" c="-6.8483651196457894e-08" d="7.8674009189405147e-11" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                        <speed sOffset="0.0000000000000000e+00" max="2.2222000000000000e+00" />
+                        <speed sOffset="6.0000000000000000e+01" max="4.1666999999999996e+00" />
+                        <speed sOffset="1.2000000000000000e+02" max="2.2222000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.3455758890919814e+01" id="40001" junction="800003">
+        <link>
+            <predecessor elementType="road" elementId="10002" contactPoint="end" />
+            <successor elementType="road" elementId="40002" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.4329771202267785e+00" y="2.9509734136540359e+01" hdg="4.7169548407478530e+00" length="9.4144606985787718e+00">
+                <line />
+            </geometry>
+            <geometry s="9.4144606985787718e+00" x="2.4759620838187777e+00" y="2.0095371569802808e+01" hdg="4.6248162013235632e+00" length="1.0514386397527329e+00">
+                <line />
+            </geometry>
+            <geometry s="1.0465899338331505e+01" x="2.3840023251431313e+00" y="1.9047962091160670e+01" hdg="4.7779465089970161e+00" length="6.3080072792756496e+00">
+                <arc curvature="-1.6404283002052103e-01" />
+            </geometry>
+            <geometry s="1.6773906617607153e+01" x="-2.4893150810802944e-01" y="1.3622803233485200e+01" hdg="3.5411803482765922e+00" length="2.3106801724942829e+00">
+                <line />
+            </geometry>
+            <geometry s="1.9084586790101437e+01" x="-2.3775797047780554e+00" y="1.2723859567635301e+01" hdg="3.3607346426019715e+00" length="3.5716344365897919e+00">
+                <arc curvature="-5.8323345434007440e-02" />
+            </geometry>
+            <geometry s="2.2656221226691230e+01" x="-6.0269605343213666e+00" y="1.2303697702603571e+01" hdg="3.1741139883430454e+00" length="7.9953766422858452e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0184876725036895e+00" b="3.3998922190735933e-03" c="-9.6652625199068767e-05" d="6.1480840129642999e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="1.6000000000000000e+01" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.6978002322665358e+00" b="-2.5673168393174336e-05" c="3.3653520318819636e-07" d="-2.8208852672988349e-10" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                        <speed sOffset="0.0000000000000000e+00" max="2.2222000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.8786295355254445e+01" id="40002" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="40001" contactPoint="end" />
+            <successor elementType="road" elementId="40000" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.8260754254197433e+00" y="1.2277700253787771e+01" hdg="3.1603820022822195e+00" length="1.8786295355254445e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9839823208052501e+00" b="4.6989210101014568e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.6973795608024829e+00" b="1.5984746970907088e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                        <speed sOffset="1.5000000000000000e+01" max="2.2220000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.5861069449595158e+01" id="10058" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="40000" contactPoint="end" />
+            <successor elementType="road" elementId="10000" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.4156831736516864e+01" y="-1.3407477757761598e+02" hdg="6.2467255250111320e+00" length="1.5861069449595158e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.1135143551421773e+00" b="-5.7713618467156266e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9989569972691541e+00" b="-1.9046047485755665e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.0000000000000000e-01" id="10088" junction="800008">
+        <link>
+            <predecessor elementType="road" elementId="10009" contactPoint="end" />
+            <successor elementType="junction" elementId="800008" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.0957048817758835e+01" y="1.1704659012786813e+02" hdg="3.0560067989570103e+00" length="5.0000000000000000e-01">
+                <arc curvature="1.6655735815549505e-01" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.1095815223953505e+00" b="6.1892408950451824e-03" c="3.3415860078969516e-05" d="-1.0484087177712869e-05" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="none" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.0002036590768633e+00" id="10009" junction="800008">
+        <link>
+            <predecessor elementType="junction" elementId="800007" contactPoint="start" />
+            <successor elementType="junction" elementId="800008" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.6699456821121984e+01" y="1.1470970336229399e+02" hdg="2.2232200081795352e+00" length="1.7414572060291740e-03">
+                <line />
+            </geometry>
+            <geometry s="1.7414572060291740e-03" x="-2.6700514084311180e+01" y="1.1471108714975932e+02" hdg="2.2232200081795352e+00" length="4.9967207446648505e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="4.9984622018708800e+00" x="-3.0955313734694055e+01" y="1.1704644126565471e+02" hdg="3.0560067989570103e+00" length="1.7414572059832956e-03">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.1383818194713884e+00" b="5.7598248070869643e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                        <roadMark sOffset="2.0000000000000000e+00" type="none" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.3280423065523266e+01" id="10090" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800000" contactPoint="start" />
+            <successor elementType="road" elementId="10093" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.8995314178266383e+00" y="1.2247977374634822e+02" hdg="1.5724353391217241e+00" length="8.3280423065523266e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0269999999999992e+00" b="2.1142311344107931e-03" c="-2.7261271223843930e-05" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7000000000000002e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7000000000000002e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.2071062575529048e+01" id="10091" junction="800000">
+        <link>
+            <predecessor elementType="road" elementId="10038" contactPoint="end" />
+            <successor elementType="road" elementId="10090" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.2339914191064878e+00" y="9.0410455212412330e+01" hdg="1.5812252317720492e+00" length="3.2071062575529048e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0449276965891983e+00" b="5.5899914594280571e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.2000000000000002e+00" b="1.5590378361255526e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.7863528326050211e+01" id="10092" junction="800000">
+        <link>
+            <predecessor elementType="road" elementId="10090" contactPoint="start" />
+            <successor elementType="road" elementId="10039" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.8995314178266383e+00" y="1.2247977374634822e+02" hdg="4.7172846189791287e+00" length="2.7863528326050211e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0269999999999992e+00" b="3.9239472034191975e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7000000000000002e+00" b="-1.7944604651254425e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.3280423065523266e+01" id="10093" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10090" contactPoint="end" />
+            <successor elementType="road" elementId="10094" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.7630338767571583e+00" y="2.0576006188574698e+02" hdg="1.5724353391217241e+00" length="8.3280423065523266e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0269999999999992e+00" b="2.1142311344107931e-03" c="-2.7261271223843930e-05" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7000000000000002e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7000000000000002e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.8000000000000000e+01" id="10094" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10093" contactPoint="end" />
+            <successor elementType="road" elementId="10099" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.6265363356876783e+00" y="2.8904035002514576e+02" hdg="1.5724353391217241e+00" length="3.8000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0269999999999992e+00" b="2.1142311344107931e-03" c="-2.7261271223843930e-05" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7000000000000002e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7000000000000002e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.0000000000000000e+01" id="10096" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10024" contactPoint="end" />
+            <successor elementType="junction" elementId="800018" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.3102548800598015e+01" y="2.1276216615025771e+02" hdg="4.7153218476664582e+00" length="2.0000000000000000e+01">
+                <arc curvature="-1.0229823849540102e-05" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5353336183805713e+00" b="-2.0889169456300534e-04" c="1.8430926154654082e-06" d="-3.4941962244029351e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="2" type="driving" level="false">
+                        <link>
+                            <predecessor id="2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                    <lane id="1" type="stop" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="1.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                    <lane id="-2" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="white" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.6000000000000000e+01" id="10098" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10113" contactPoint="end" />
+            <successor elementType="road" elementId="10074" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.2684446983999806e+01" y="-9.5237422666199819e+01" hdg="4.7121710619207997e+00" length="1.0000000000000000e+01">
+                <arc curvature="-1.0229823849540102e-05" />
+            </geometry>
+            <geometry s="1.0000000000000000e+01" x="-6.2687137659784639e+01" y="-1.0523742229991561e+02" hdg="4.7120687636823035e+00" length="6.0000000000000000e+00">
+                <arc curvature="-1.0229823849540102e-05" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5269229390670489e+00" b="-6.7966935331594206e-05" c="-1.3855446958829043e-06" d="-3.4941962244029351e-09" />
+            <elevation s="1.0000000000000000e+01" a="-6.5277446570861786e+00" b="-9.6726088116573170e-05" c="-1.4903705826149925e-06" d="-3.4941962244029351e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="2" type="driving" level="false">
+                        <link>
+                            <predecessor id="2" />
+                            <successor id="2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                    <lane id="1" type="stop" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="1.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.0413812651491097e+00" id="10103" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10017" contactPoint="end" />
+            <successor elementType="junction" elementId="800005" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-7.1679393916731726e+00" y="1.1121443282204470e+02" hdg="1.6836350375144851e-01" length="3.0413812651491097e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.1389411280360973e+00" b="-3.6503959983422707e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3968165843531239e+00" b="-4.9808780100496712e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.1000000000000000e+01" id="10097" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10099" contactPoint="end" />
+            <successor elementType="junction" elementId="800019" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.5840964726685307e+00" y="3.3586143748011182e+02" hdg="3.1286034623329280e+00" length="1.1000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.1159999999999961e+00" b="-1.0063264301991460e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="6.0999999999999996e+00" id="10106" junction="800008">
+        <link>
+            <predecessor elementType="junction" elementId="800008" contactPoint="start" />
+            <successor elementType="junction" elementId="800009" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.1456421737210057e+01" y="1.1706854996621483e+02" hdg="3.1392854780347577e+00" length="6.0999999999999996e+00">
+                <arc curvature="1.6655735815549505e-01" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.1064798584937057e+00" b="6.2147936897408666e-03" c="1.7689729312400212e-05" d="-1.0484087177712869e-05" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="none" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link />
+                        <width sOffset="0.0000000000000000e+00" a="4.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.2802073325068001e+01" id="10099" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10094" contactPoint="end" />
+            <successor elementType="road" elementId="10097" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.5642538951537683e+00" y="3.2704029898429042e+02" hdg="1.5724353391217241e+00" length="3.8140809848710888e+00">
+                <line />
+            </geometry>
+            <geometry s="3.8140809848710888e+00" x="1.5580025722029325e+00" y="3.3085437484616267e+02" hdg="1.5724353391217241e+00" length="7.7808406160560200e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.1594921600927108e+01" x="-3.3770465818657547e+00" y="3.3584575799640430e+02" hdg="3.1286034623329280e+00" length="1.2071517241408918e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9860244925396193e+00" b="-1.0152692002307867e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7000000000000002e+00" b="-5.4678643234242055e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7000000000000002e+00" b="-5.4678643234242055e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.1499338797750305e+01" id="10101" junction="800019">
+        <link>
+            <predecessor elementType="road" elementId="10097" contactPoint="end" />
+            <successor elementType="road" elementId="10081" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-1.5583168530723142e+01" y="3.3600431456617628e+02" hdg="3.1286034623329280e+00" length="1.0531770885725056e+00">
+                <line />
+            </geometry>
+            <geometry s="1.0531770885725056e+00" x="-1.6636256775005066e+01" y="3.3601799410013308e+02" hdg="3.1286034623329280e+00" length="7.9307508681620114e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="8.9839279567345169e+00" x="-2.1701186926050838e+01" y="3.3100659262504172e+02" hdg="4.7147536359653301e+00" length="1.2515410841015790e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.2266959073219024e+00" b="6.8355159477917254e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.0000000000000000e+00" b="6.5118281690900004e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.0544081192507308e+01" id="10005" junction="800005">
+        <link>
+            <predecessor elementType="road" elementId="10103" contactPoint="end" />
+            <successor elementType="road" elementId="10100" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.1695623047219996e+00" y="1.1172407470066752e+02" hdg="1.6836350375144851e-01" length="7.5239420193409801e-01">
+                <line />
+            </geometry>
+            <geometry s="7.5239420193409801e-01" x="-3.4278067210715846e+00" y="1.1185015280831306e+02" hdg="1.6836350375144851e-01" length="8.9312626638142092e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="9.6836568657483078e+00" x="2.4044960843319374e+00" y="1.0668547475316191e+02" hdg="4.6652962781681930e+00" length="8.6042432675900071e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.2499635880334319e+00" b="-3.5097877178787304e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2453290937155415e+00" b="-4.7890213751777808e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.1214224290794025e+01" id="10100" junction="800002">
+        <link>
+            <predecessor elementType="road" elementId="10005" contactPoint="end" />
+            <successor elementType="road" elementId="10039" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="2.3639913529829277e+00" y="1.0582600434132854e+02" hdg="4.6831317163256223e+00" length="1.1214224290794025e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6200384546912145e+00" b="-3.5314796069189754e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7403707915902662e+00" b="-4.8186194388306187e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.6000000000000000e+01" id="10109" junction="800020">
+        <link>
+            <predecessor elementType="road" elementId="40003" contactPoint="end" />
+            <successor elementType="road" elementId="10110" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.1230241009735764e+01" y="1.3184649405057891e+02" hdg="4.7147536359653301e+00" length="6.7735522735101981e+00">
+                <line />
+            </geometry>
+            <geometry s="6.7735522735101981e+00" x="-2.1214223906478320e+01" y="1.2507296071454385e+02" hdg="4.7147536359653301e+00" length="9.2264477264898019e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.1743959692380042e+00" b="3.3203016259738738e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.6345684462190877e+00" b="1.7865318978130408e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="none" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                        <roadMark sOffset="7.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.1597242683236088e+01" id="10110" junction="800008">
+        <link>
+            <predecessor elementType="road" elementId="10109" contactPoint="end" />
+            <successor elementType="junction" elementId="800009" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.7001733397094149e+01" y="1.1906253606512421e+02" hdg="3.1770123482170298e+00" length="3.5185923143779654e+00">
+                <line />
+            </geometry>
+            <geometry s="3.5185923143779654e+00" x="-3.0518118808828518e+01" y="1.1893793465686009e+02" hdg="3.1770123482170298e+00" length="5.8696380873974903e+00">
+                <arc curvature="1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="9.3882304017754556e+00" x="-3.5398385514589322e+01" y="1.1611407791866684e+02" hdg="4.1552853627832782e+00" length="2.2090122814606321e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.1212711432224225e+00" b="4.3958787329559119e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.9204135498691741e+00" b="6.8625320953116528e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.5000000000000000e+01" id="10107" junction="800021">
+        <link>
+            <predecessor elementType="junction" elementId="800021" contactPoint="start" />
+            <successor elementType="road" elementId="10069" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.9217607623927393e+01" y="5.9219890861669910e+01" hdg="4.0166184135834655e+00" length="1.1081159623875630e+01">
+                <line />
+            </geometry>
+            <geometry s="1.1081159623875630e+01" x="-3.6320377029526682e+01" y="5.0714435825007016e+01" hdg="4.0166184135834655e+00" length="3.9188403761243702e+00">
+                <arc curvature="1.4285714285714285e-01" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9424101071904394e+00" b="4.6951058245677099e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9948512433069814e+00" b="9.5542761446237336e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.1779999999999999e+01" id="10108" junction="800021">
+        <link>
+            <predecessor elementType="road" elementId="10112" contactPoint="end" />
+            <successor elementType="junction" elementId="800021" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.6305673887367327e+01" y="7.0662845796216999e+01" hdg="4.7264378056620817e+00" length="3.0531107864707185e+00">
+                <line />
+            </geometry>
+            <geometry s="3.0531107864707185e+00" x="-2.6262782678310856e+01" y="6.7610036300252744e+01" hdg="4.6704631629034861e+00" length="8.1165499536278651e-01">
+                <line />
+            </geometry>
+            <geometry s="3.8647657818335048e+00" x="-2.6296802009076430e+01" y="6.6799094553496772e+01" hdg="4.6700850378358449e+00" length="7.9152342181664945e+00">
+                <arc curvature="-8.2558090669330883e-02" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0179560885158478e+00" b="7.3697475459141588e-03" c="-8.4168842091816347e-05" d="2.5101416274440726e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9937325706099305e+00" b="9.7916601754956874e-05" c="-2.2550423636125348e-07" d="-2.1361883946554477e-09" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                        <speed sOffset="0.0000000000000000e+00" max="2.2222000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.4750569062696030e-01" id="10111" junction="800021">
+        <link>
+            <predecessor elementType="road" elementId="10108" contactPoint="end" />
+            <successor elementType="road" elementId="10107" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.9101436972516950e+01" y="5.9547403586260870e+01" hdg="4.3715281096227807e+00" length="3.4750569062696030e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9424101071904394e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9948512433069814e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.5625156731506307e+01" id="10112" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10063" contactPoint="end" />
+            <successor elementType="road" elementId="10108" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.6427318782274366e+01" y="8.6287529005923361e+01" hdg="4.7201742542115133e+00" length="1.5625156731506307e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9369999999999985e+00" b="-5.1811376939733880e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2999999999999998e+00" b="-1.9600918867745933e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.0000000000000000e+00" id="10052" junction="800017">
+        <link>
+            <predecessor elementType="road" elementId="10069" contactPoint="end" />
+            <successor elementType="junction" elementId="800017" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.7589156892832051e+01" y="3.8912013916628602e+01" hdg="4.7126925139772755e+00" length="6.9880588062743946e-03">
+                <line />
+            </geometry>
+            <geometry s="6.9880588062743946e-03" x="-3.7589154771721489e+01" y="3.8905025858144242e+01" hdg="4.7126925139772755e+00" length="7.8539860855028465e+00">
+                <arc curvature="2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="7.8609741443091208e+00" x="-3.2587632882585311e+01" y="3.3906543757768638e+01" hdg="3.0442389825832201e-04" length="1.1390258556908792e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9369999999999985e+00" b="-1.0174378315206418e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.9082295775710731e-01" id="10067" junction="800017">
+        <link>
+            <predecessor elementType="road" elementId="10052" contactPoint="end" />
+            <successor elementType="road" elementId="10071" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.1448607079673423e+01" y="3.3906890504454488e+01" hdg="3.0595453409160757e-04" length="2.9082295775710731e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9461569404836840e+00" b="-2.7666770239261024e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.2694261190820129e+00" id="10069" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10107" contactPoint="end" />
+            <successor elementType="road" elementId="10052" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.7882881159864233e+01" y="4.7176221948491801e+01" hdg="4.7479157581009481e+00" length="8.2694261190820129e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.8719835198219235e+00" b="-7.8622723320602699e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.9962843847286749e+00" b="4.4931960426506648e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7390555797032032e+01" id="10072" junction="800000">
+        <link>
+            <predecessor elementType="road" elementId="10090" contactPoint="start" />
+            <successor elementType="road" elementId="10006" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="1.8995314178266383e+00" y="1.2247977374634822e+02" hdg="4.7140279927115172e+00" length="6.6112653326508122e+00">
+                <line />
+            </geometry>
+            <geometry s="6.6112653326508122e+00" x="1.9103673583512353e+00" y="1.1586851729381944e+02" hdg="4.7140279927115172e+00" length="7.1674313637147877e+00">
+                <arc curvature="-2.2222222222222221e-01" />
+            </geometry>
+            <geometry s="1.3778696696365600e+01" x="-2.6810926358230343e+00" y="1.1136207139725715e+02" hdg="3.1212654674415643e+00" length="3.6118591006664333e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0269999999999992e+00" b="-3.0610359409111621e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.7000000000000002e+00" b="-5.7502475002591136e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.4600077301381784e+01" id="10033" junction="800000">
+        <link>
+            <predecessor elementType="road" elementId="10103" contactPoint="end" />
+            <successor elementType="road" elementId="10090" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.1695623047219996e+00" y="1.1172407470066752e+02" hdg="1.6836350375144851e-01" length="2.3663156798456333e+00">
+                <line />
+            </geometry>
+            <geometry s="2.3663156798456333e+00" x="-1.8367055872020444e+00" y="1.1212059636742146e+02" hdg="1.6836350375144851e-01" length="6.3183232591662399e+00">
+                <arc curvature="2.2222222222222221e-01" />
+            </geometry>
+            <geometry s="8.6846389390118723e+00" x="1.9092268898802254e+00" y="1.1656434332947919e+02" hdg="1.5724353391217241e+00" length="5.9154383623699127e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.2499635880334319e+00" b="-5.3221390265723242e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.2453290937155415e+00" b="-3.7351110028981158e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7364524454615108e+02" id="10081" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800019" contactPoint="start" />
+            <successor elementType="road" elementId="40003" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.1671592317541823e+01" y="3.1849121677457032e+02" hdg="4.7147536359653301e+00" length="1.7364524454615108e+02">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.2120000000000024e+00" b="3.0370243396012894e-04" c="-1.8816402484528965e-06" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.9498450349100776e+02" id="10102" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="40014" contactPoint="end" />
+            <successor elementType="road" elementId="10079" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.3645944552153651e+01" y="3.2461918238686945e+02" hdg="4.7148144570840111e+00" length="1.9498450349100776e+02">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.1249999999999991e+00" b="-5.9262491775700595e-04" c="1.2776856988601469e-05" d="-4.7781496303476045e-08" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.3000000000000000e+01" id="40003" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10081" contactPoint="end" />
+            <successor elementType="junction" elementId="800020" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.1260981503636000e+01" y="1.4484645770522175e+02" hdg="4.7147536359653301e+00" length="1.3000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.2159999958501828e+00" b="2.9717161865841974e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="1.6754889015649126e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.3069254162637492e+02" id="40005" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="40007" contactPoint="end" />
+            <successor elementType="road" elementId="40013" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.8736922748140287e+01" y="1.8976937387942823e+02" hdg="1.5739277428782623e+00" length="1.3069254162637492e+02">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9118089432774799e+00" b="-1.9207015222732053e-04" c="-1.1175824479450720e-06" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.0000000000000001e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.0000000000000027e+00" id="40006" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="40011" contactPoint="end" />
+            <successor elementType="road" elementId="40007" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.5408563858435237e+01" y="1.7045093858087557e+02" hdg="2.0182883822211397e+00" length="4.0000000000000027e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9770508485072451e+00" b="8.3585576961438916e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.6044624940792644e+01" id="40007" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="40006" contactPoint="end" />
+            <successor elementType="road" elementId="40005" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.7139387446974943e+01" y="1.7405707913628305e+02" hdg="2.0182883822211397e+00" length="2.9240273332251596e+00">
+                <line />
+            </geometry>
+            <geometry s="2.9240273332251596e+00" x="-4.8404631317445180e+01" y="1.7669319252414886e+02" hdg="2.0182883822211397e+00" length="1.3330819180286322e+00">
+                <arc curvature="-3.3333333333333331e-01" />
+            </geometry>
+            <geometry s="4.2571092512537918e+00" x="-4.8700011192251559e+01" y="1.7798191598265649e+02" hdg="1.5739277428782623e+00" length="1.1787515689538852e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9352580600265252e+00" b="1.4614936052152385e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.1000000000000000e+01" id="40008" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="800008" contactPoint="start" />
+            <successor elementType="road" elementId="40011" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.2324277892749258e+01" y="1.3016516908874695e+02" hdg="1.5988142018223830e+00" length="3.1000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0210174299115335e+00" b="5.0111290093546714e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.7536291232589711e+00" id="40011" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="40008" contactPoint="end" />
+            <successor elementType="road" elementId="40006" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.3192718387038774e+01" y="1.6115300236420973e+02" hdg="1.5988142018223830e+00" length="4.3348991988284604e+00">
+                <line />
+            </geometry>
+            <geometry s="4.3348991988284604e+00" x="-4.3314157161326705e+01" y="1.6548620022353984e+02" hdg="1.5988142018223830e+00" length="1.2584225411962702e+00">
+                <arc curvature="3.3333333333333331e-01" />
+            </geometry>
+            <geometry s="5.5933217400247308e+00" x="-4.3608374319815880e+01" y="1.6670027528646500e+02" hdg="2.0182883822211397e+00" length="4.1603073832342412e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0039795912797276e+00" b="2.7608946815772298e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.0000000000000018e+00" id="40012" junction="800022">
+        <link>
+            <predecessor elementType="road" elementId="40013" contactPoint="end" />
+            <successor elementType="junction" elementId="800019" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.9605859805912814e+01" y="3.3782352334346831e+02" hdg="8.1888778663930873e-04" length="4.0000000000000018e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0119999999999978e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.4791531171749529e+01" id="40013" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="40005" contactPoint="end" />
+            <successor elementType="junction" elementId="800022" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-4.9146174806125927e+01" y="3.2046127473604128e+02" hdg="1.5739277428782623e+00" length="1.2342900711911566e+01">
+                <line />
+            </geometry>
+            <geometry s="1.2342900711911566e+01" x="-4.9184825500763907e+01" y="3.3280411493219998e+02" hdg="1.5739277428782623e+00" length="7.8655442754581149e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="2.0208444987369681e+01" x="-4.4188944453636182e+01" y="3.3781977031058562e+02" hdg="8.1888778663930873e-04" length="4.5830861843798489e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.9559999918361743e+00" b="-2.2588362040194044e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.6999114347914414e+01" id="40014" junction="800022">
+        <link>
+            <predecessor elementType="road" elementId="40013" contactPoint="end" />
+            <successor elementType="road" elementId="10102" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.9605859805912814e+01" y="3.3782352334346768e+02" hdg="8.1888778663930873e-04" length="9.3590508189881128e-01">
+                <line />
+            </geometry>
+            <geometry s="9.3590508189881128e-01" x="-3.8669955037812294e+01" y="3.3782428974462306e+02" hdg="8.1888778663930873e-04" length="7.8459486894110730e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="8.7818537713098834e+00" x="-3.3665875306672540e+01" y="3.3283641879267179e+02" hdg="4.7148144570840111e+00" length="8.2172605766045308e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0119999999999978e+00" b="-6.6474051346013243e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.3449716213428733e+00" id="40015" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="40016" contactPoint="end" />
+            <successor elementType="road" elementId="40017" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.6713222296418074e+01" y="3.3753768908660913e+02" hdg="6.2798496536519188e+00" length="7.3449716213428733e+00">
+                <arc curvature="-2.1106736119733752e-01" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0691935114380007e+00" b="-6.4314405022805323e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.8973372538612256e+00" id="40016" junction="800019">
+        <link>
+            <predecessor elementType="road" elementId="40012" contactPoint="end" />
+            <successor elementType="road" elementId="40015" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.5605861147067152e+01" y="3.3782679889424878e+02" hdg="6.2506856165345122e+00" length="8.8973372538612256e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0119999999999978e+00" b="-6.4281604491481211e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.4393616257263634e+01" id="40017" junction="800019">
+        <link>
+            <predecessor elementType="road" elementId="40015" contactPoint="end" />
+            <successor elementType="road" elementId="10081" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.1991900971463473e+01" y="3.3288126859266976e+02" hdg="4.7346443393755875e+00" length="1.4393616257263634e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.1260604126701717e+00" b="-5.9706737899492051e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.8981136646422669e+00" id="10075" junction="800008">
+        <link>
+            <predecessor elementType="junction" elementId="800020" contactPoint="start" />
+            <successor elementType="road" elementId="40008" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.8183655094189547e+01" y="1.2464112759996735e+02" hdg="3.1042562785674566e+00" length="2.4600217158606830e-01">
+                <line />
+            </geometry>
+            <geometry s="2.4600217158606830e-01" x="-3.8429485821576897e+01" y="1.2465031029550121e+02" hdg="3.1042562785674566e+00" length="6.0217683069802943e+00">
+                <arc curvature="-2.5000000000000000e-01" />
+            </geometry>
+            <geometry s="6.2677704785663622e+00" x="-4.2278605117188697e+01" y="1.2853546577158866e+02" hdg="1.5988142018223830e+00" length="1.6303431860759050e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0901360846695223e+00" b="8.7512864074639450e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                        <roadMark sOffset="3.0000000000000000e+00" type="none" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.4183731382338003e+00" b="-2.3262691591856835e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                        <roadMark sOffset="3.0000000000000000e+00" type="none" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="8.3261295844946517e+00" id="10079" junction="800020">
+        <link>
+            <predecessor elementType="road" elementId="10102" contactPoint="end" />
+            <successor elementType="road" elementId="10075" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.3173014645910627e+01" y="1.2963525243637687e+02" hdg="4.7148144570840111e+00" length="1.0194803069483631e+00">
+                <line />
+            </geometry>
+            <geometry s="1.0194803069483631e+00" x="-3.3170541922605182e+01" y="1.2861577512819636e+02" hdg="4.7148144570840111e+00" length="6.4422327140662183e+00">
+                <arc curvature="-2.5000000000000000e-01" />
+            </geometry>
+            <geometry s="7.4617130210145817e+00" x="-3.7319840961184426e+01" y="1.2460886091685140e+02" hdg="3.1042562785674566e+00" length="8.6441656348007034e-01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.1089992666842470e+00" b="2.2655402877529906e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="2.2066841558670653e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.1606001016223985e+01" id="10078" junction="800008">
+        <link>
+            <predecessor elementType="junction" elementId="800008" contactPoint="start" />
+            <successor elementType="road" elementId="40008" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.0957048817758835e+01" y="1.1704659012786813e+02" hdg="3.0560067989570103e+00" length="6.6046319870229286e+00">
+                <line />
+            </geometry>
+            <geometry s="6.6046319870229286e+00" x="-3.7537506304977832e+01" y="1.1761116336750129e+02" hdg="3.0560067989570103e+00" length="7.2859629856731365e+00">
+                <arc curvature="-2.0000000000000001e-01" />
+            </geometry>
+            <geometry s="1.3890594972696064e+01" x="-4.2108136891520694e+01" y="1.2245279114909079e+02" hdg="1.5988142018223830e+00" length="7.7154060435279206e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.1095815223953505e+00" b="4.0990506488134465e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="8.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.0000000000000000e+00" b="-2.7770062565000298e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.1957920153005038e+01" id="10080" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10012" contactPoint="end" />
+            <successor elementType="road" elementId="10021" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-8.8713551054238877e+00" y="5.0033401787752462e+02" hdg="7.0750926697624450e-01" length="3.1957920153005038e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5524291509286821e+00" b="4.6803822924737981e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="none" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                        <roadMark sOffset="1.0000000000000000e+01" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                        <roadMark sOffset="2.0000000000000000e+01" type="none" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.2999999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="3.3787662325735674e+01" id="10037" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10085" contactPoint="end" />
+            <successor elementType="road" elementId="10041" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.2808260322087435e+01" y="-2.1789369236418699e+02" hdg="4.7120498237642368e+00" length="3.3787662325735674e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5181070046265290e+00" b="2.5748773357275591e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="none" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                        <roadMark sOffset="1.0000000000000000e+01" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                        <roadMark sOffset="2.0000000000000000e+01" type="none" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.2999999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.6615324643086564e+02" id="10083" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10021" contactPoint="end" />
+            <successor elementType="road" elementId="10023" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.3710433636719245e+01" y="5.2600412864707334e+02" hdg="4.7142154575148565e+00" length="1.6615324643086564e+02">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.6130316156872357e+00" b="5.1747451003432106e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.2999999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.5000000000000000e+01" id="10084" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10011" contactPoint="end" />
+            <successor elementType="road" elementId="10024" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.3305924174055690e+01" y="2.7528742124234287e+02" hdg="4.7156416605364999e+00" length="4.5000000000000000e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5142129425562647e+00" b="-3.3779252984546498e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="2" type="driving" level="false">
+                        <link>
+                            <predecessor id="2" />
+                            <successor id="2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                    <lane id="1" type="stop" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="1.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.5299998438296447e+02" id="10055" junction="800015">
+        <link>
+            <predecessor elementType="road" elementId="10059" contactPoint="end" />
+            <successor elementType="road" elementId="10034" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.2815861160066561e+01" y="8.7762503426293136e+01" hdg="4.7132605381607622e+00" length="1.5299998438296447e+02">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5394713600850878e+00" b="8.7809042621355595e-05" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="2" type="driving" level="false">
+                        <link>
+                            <predecessor id="2" />
+                            <successor id="2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                    <lane id="1" type="stop" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="1.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                    <lane id="-2" type="driving" level="false">
+                        <link>
+                            <predecessor id="-2" />
+                            <successor id="-2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="9.9999995639643984e+01" id="10059" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10036" contactPoint="end" />
+            <successor elementType="junction" elementId="800015" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.3032424030650873e+01" y="1.8776226456826737e+02" hdg="4.7145546108777463e+00" length="9.9999995639643984e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5394585746759866e+00" b="-1.2785409658701888e-07" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="2" type="driving" level="false">
+                        <link>
+                            <predecessor id="2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                    <lane id="1" type="stop" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="1.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                    <lane id="-2" type="driving" level="false">
+                        <link>
+                            <predecessor id="-2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.7525585849897084e+01" id="10024" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10084" contactPoint="end" />
+            <successor elementType="road" elementId="10096" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.3159553825322519e+01" y="2.3028765929051681e+02" hdg="4.7156416605364999e+00" length="1.7525585849897084e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5294136063993102e+00" b="-3.3779252984546498e-04" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="2" type="driving" level="false">
+                        <link>
+                            <predecessor id="2" />
+                            <successor id="2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                    <lane id="1" type="stop" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="1.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.0105463653809796e+01" id="10082" junction="800019">
+        <link>
+            <predecessor elementType="road" elementId="40012" contactPoint="end" />
+            <successor elementType="road" elementId="10097" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-3.5605861147067152e+01" y="3.3782679889424878e+02" hdg="6.1924144875744203e+00" length="2.0105463653809796e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.0119999999999978e+00" b="-1.0678485759825874e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.3999999999999999e+00" b="-6.9632813453407383e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.8896836927282170e+01" id="10085" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10013" contactPoint="end" />
+            <successor elementType="road" elementId="10037" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.2748114330446917e+01" y="-1.8899691803102607e+02" hdg="4.7103075748931547e+00" length="2.8896836927282170e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.4975992075404552e+00" b="2.5679167805575583e-04" c="-3.3445934279537933e-05" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="none" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.2999999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="none" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.3475828029070726e+01" id="10073" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10074" contactPoint="end" />
+            <successor elementType="junction" elementId="800014" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.2690851317922352e+01" y="-1.1523742160599247e+02" hdg="4.7119664654438083e+00" length="2.3475828029070726e+01">
+                <arc curvature="-1.0229823849540102e-05" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5288644492218308e+00" b="-1.2758175863619389e-04" c="-1.5951964693470804e-06" d="-3.4941962244029351e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="2" type="driving" level="false">
+                        <link>
+                            <predecessor id="2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                    <lane id="1" type="stop" level="false">
+                        <link>
+                            <predecessor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="1.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="white" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.1114455123841505e+02" id="10104" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10045" contactPoint="end" />
+            <successor elementType="junction" elementId="800011" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.7109356708719105e+01" y="-4.4484475193474694e+01" hdg="1.5728310456682986e+00" length="1.1114455123841505e+02">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7208040277713952e+00" b="1.0897339069081899e-03" c="-2.9031514794522888e-05" d="1.7211859361704880e-07" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="none" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.6382709390520041e+01" id="10045" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10042" contactPoint="end" />
+            <successor elementType="road" elementId="10104" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.0285674945374531e+01" y="-6.0436412723544599e+01" hdg="1.2876609232321585e+00" length="9.6833790357884197e+00">
+                <line />
+            </geometry>
+            <geometry s="9.6833790357884197e+00" x="-5.7580452759709857e+01" y="-5.1138584887058578e+01" hdg="1.2876609232321585e+00" length="3.4220414692336805e+00">
+                <arc curvature="8.3333333333333329e-02" />
+            </geometry>
+            <geometry s="1.3105420505022099e+01" x="-5.7102688351771455e+01" y="-4.7761757294854426e+01" hdg="1.5728310456682986e+00" length="3.2772888854979412e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5872831699702790e+00" b="-8.1501084233587713e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.8904702516935199e+00" b="-8.4874254834681029e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="1.2537690941273357e+01" id="10105" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10040" contactPoint="end" />
+            <successor elementType="road" elementId="10095" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-5.7512989511837191e+01" y="1.7300499924587643e+02" hdg="1.5728257333720501e+00" length="1.2350923120356971e+00">
+                <line />
+            </geometry>
+            <geometry s="1.2350923120356971e+00" x="-5.7515496014578126e+01" y="1.7424008901455468e+02" hdg="1.5728257333720501e+00" length="2.4505346147428604e+00">
+                <arc curvature="1.4285714285714285e-01" />
+            </geometry>
+            <geometry s="3.6856269267785575e+00" x="-5.7944941657019129e+01" y="1.7664000928505368e+02" hdg="1.9229021069067445e+00" length="8.8520640144948004e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.7223924588517896e+00" b="1.1253942998521621e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="2.5000000000000000e+00" b="1.2295993302516171e-01" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="5.0000000000000000e+00" id="10036" junction="800018">
+        <link>
+            <predecessor elementType="road" elementId="10096" contactPoint="end" />
+            <successor elementType="road" elementId="10059" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.3045937495422550e+01" y="1.9276224630631003e+02" hdg="4.7151172511894677e+00" length="5.0000000000000000e+00">
+                <arc curvature="-1.0229823849540102e-05" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5388021687954403e+00" b="-1.3936102541367253e-04" c="1.6334408420012320e-06" d="-3.4941962244029351e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="2" type="driving" level="false">
+                        <link>
+                            <predecessor id="2" />
+                            <successor id="2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                    </lane>
+                    <lane id="1" type="stop" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="1.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="white" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                    <lane id="-2" type="driving" level="false">
+                        <link>
+                            <predecessor id="-2" />
+                            <successor id="-2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="white" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="7.9748540773366745e+00" id="10095" junction="800018">
+        <link>
+            <predecessor elementType="road" elementId="10105" contactPoint="end" />
+            <successor elementType="road" elementId="10096" contactPoint="end" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.0997798633640564e+01" y="1.8494898645417669e+02" hdg="1.9229021069067445e+00" length="1.7642229909081415e+00">
+                <line />
+            </geometry>
+            <geometry s="1.7642229909081415e+00" x="-6.1606235316575827e+01" y="1.8660497182986924e+02" hdg="1.9229021069067445e+00" length="2.4456425651494893e+00">
+                <arc curvature="-1.4285714285714285e-01" />
+            </geometry>
+            <geometry s="4.2098655560576308e+00" x="-6.2035669321631197e+01" y="1.8900000006471615e+02" hdg="1.5735245975996746e+00" length="3.7649885212790442e+00">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5812939996656183e+00" b="5.3282267560146816e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.0416336384291487e+00" b="5.7476457515813234e-02" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="false" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.0000000000000000e+00" id="10113" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10034" contactPoint="end" />
+            <successor elementType="road" elementId="10098" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.2683657148736529e+01" y="-9.1237422744446221e+01" hdg="4.7122119812161980e+00" length="4.0000000000000000e+00">
+                <arc curvature="-1.0229823849540102e-05" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5266730164122988e+00" b="-5.7050299183302309e-05" c="-1.3436143411900691e-06" d="-3.4941962244029351e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="2" type="driving" level="false">
+                        <link>
+                            <predecessor id="2" />
+                            <successor id="2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                    <lane id="1" type="stop" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="1.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="white" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                    <lane id="-2" type="driving" level="false">
+                        <link>
+                            <predecessor id="-2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="white" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="4.0000000000000000e+00" id="10074" junction="-1">
+        <link>
+            <predecessor elementType="road" elementId="10098" contactPoint="end" />
+            <successor elementType="road" elementId="10073" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-6.2689243096800055e+01" y="-1.1123742192955584e+02" hdg="4.7120073847392066e+00" length="4.0000000000000000e+00">
+                <arc curvature="-1.0229823849540102e-05" />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-6.5283794217022368e+00" b="-1.1498790830018860e-04" c="-1.5532661146542454e-06" d="-3.4941962244029351e-09" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <left>
+                    <lane id="2" type="driving" level="false">
+                        <link>
+                            <predecessor id="2" />
+                            <successor id="2" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                    <lane id="1" type="stop" level="false">
+                        <link>
+                            <predecessor id="1" />
+                            <successor id="1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="1.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </left>
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="yellow" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="4.5000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <road name="" length="2.2000000000000000e+01" id="10087" junction="800020">
+        <link>
+            <predecessor elementType="road" elementId="40003" contactPoint="end" />
+            <successor elementType="road" elementId="10075" contactPoint="start" />
+        </link>
+        <planView>
+            <geometry s="0.0000000000000000e+00" x="-2.1230241009735764e+01" y="1.3184649405057891e+02" hdg="4.7147536359653301e+00" length="1.5962910860877095e+00">
+                <line />
+            </geometry>
+            <geometry s="1.5962910860877095e+00" x="-2.1226466334628466e+01" y="1.3025020742739656e+02" hdg="4.7147536359653301e+00" length="9.6629841443872415e+00">
+                <arc curvature="-1.6666666666666666e-01" />
+            </geometry>
+            <geometry s="1.1259275230474952e+01" x="-2.7450415766520109e+01" y="1.2424020103604450e+02" hdg="3.1042562785674566e+00" length="1.0740724769525047e+01">
+                <line />
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0.0000000000000000e+00" a="-7.1773676854245885e+00" b="3.9650727615939182e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+        </elevationProfile>
+        <lateralProfile />
+        <lanes>
+            <laneSection s="0.0000000000000000e+00">
+                <center>
+                    <lane id="0" type="none" level="false">
+                        <link />
+                        <roadMark sOffset="0.0000000000000000e+00" type="none" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                        <roadMark sOffset="9.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="false">
+                        <link>
+                            <predecessor id="-1" />
+                            <successor id="-1" />
+                        </link>
+                        <width sOffset="0.0000000000000000e+00" a="3.6178135572034384e+00" b="-9.0654735895290064e-03" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                        <roadMark sOffset="1.5000000000000000e+01" type="none" weight="standard" color="standard" width="1.4999999999999999e-01" laneChange="both" />
+                    </lane>
+                </right>
+            </laneSection>
+        </lanes>
+        <objects />
+        <signals />
+    </road>
+    <junction name="" id="800000">
+        <connection id="0" incomingRoad="10006" connectingRoad="10047" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10006" connectingRoad="10072" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10090" connectingRoad="10092" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10090" connectingRoad="10072" contactPoint="start">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10090" connectingRoad="10091" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10090" connectingRoad="10033" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800001">
+        <connection id="0" incomingRoad="10038" connectingRoad="10004" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10038" connectingRoad="10091" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800002">
+        <connection id="0" incomingRoad="10039" connectingRoad="10092" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10039" connectingRoad="10100" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800003">
+        <connection id="0" incomingRoad="10002" connectingRoad="10018" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10002" connectingRoad="40001" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800004">
+        <connection id="0" incomingRoad="10017" connectingRoad="10048" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10017" connectingRoad="10066" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10054" connectingRoad="10031" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10054" connectingRoad="10048" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10060" connectingRoad="10065" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10060" connectingRoad="10066" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800005">
+        <connection id="0" incomingRoad="10103" connectingRoad="10005" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10103" connectingRoad="10033" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800006">
+        <connection id="0" incomingRoad="10007" connectingRoad="10031" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10007" connectingRoad="10065" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800007">
+        <connection id="0" incomingRoad="10009" connectingRoad="10007" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10009" connectingRoad="10010" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800008">
+        <connection id="0" incomingRoad="10009" connectingRoad="10088" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10009" connectingRoad="10106" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10009" connectingRoad="10078" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10027" connectingRoad="10106" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="10027" connectingRoad="10110" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="10106" connectingRoad="10088" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="6" incomingRoad="10106" connectingRoad="10009" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="7" incomingRoad="10032" connectingRoad="10106" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="8" incomingRoad="10032" connectingRoad="10110" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="9" incomingRoad="10088" connectingRoad="10106" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="10" incomingRoad="10088" connectingRoad="10078" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="11" incomingRoad="10078" connectingRoad="10088" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="12" incomingRoad="10078" connectingRoad="10009" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="13" incomingRoad="40008" connectingRoad="10075" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="14" incomingRoad="40008" connectingRoad="10078" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800009">
+        <connection id="0" incomingRoad="10106" connectingRoad="10027" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10106" connectingRoad="10032" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10110" connectingRoad="10027" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10110" connectingRoad="10032" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800010">
+        <connection id="0" incomingRoad="10040" connectingRoad="10050" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10040" connectingRoad="10026" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800011">
+        <connection id="0" incomingRoad="10104" connectingRoad="10051" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10104" connectingRoad="10025" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10030" connectingRoad="10025" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10030" connectingRoad="10062" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800012">
+        <connection id="0" incomingRoad="10029" connectingRoad="10061" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10029" connectingRoad="10064" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800013">
+        <connection id="0" incomingRoad="10011" connectingRoad="10022" contactPoint="start">
+            <laneLink from="2" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10011" connectingRoad="10023" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800014">
+        <connection id="0" incomingRoad="10073" connectingRoad="10014" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10073" connectingRoad="10015" contactPoint="end">
+            <laneLink from="2" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800015">
+        <connection id="0" incomingRoad="10034" connectingRoad="10042" contactPoint="start">
+            <laneLink from="2" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10034" connectingRoad="10055" contactPoint="end">
+            <laneLink from="2" to="2" />
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+            <laneLink from="-2" to="-2" />
+        </connection>
+        <connection id="2" incomingRoad="10059" connectingRoad="10062" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10059" connectingRoad="10055" contactPoint="start">
+            <laneLink from="2" to="2" />
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+            <laneLink from="-2" to="-2" />
+        </connection>
+    </junction>
+    <junction name="" id="800016">
+        <connection id="0" incomingRoad="10060" connectingRoad="10028" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10060" connectingRoad="10053" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800017">
+        <connection id="0" incomingRoad="10071" connectingRoad="10052" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10071" connectingRoad="10067" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10052" connectingRoad="10071" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10052" connectingRoad="10067" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800018">
+        <connection id="0" incomingRoad="10096" connectingRoad="10036" contactPoint="start">
+            <laneLink from="2" to="2" />
+            <laneLink from="1" to="1" />
+            <laneLink from="-1" to="-1" />
+            <laneLink from="-2" to="-2" />
+        </connection>
+        <connection id="1" incomingRoad="10096" connectingRoad="10095" contactPoint="end">
+            <laneLink from="2" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800019">
+        <connection id="0" incomingRoad="10097" connectingRoad="10082" contactPoint="end">
+            <laneLink from="1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10097" connectingRoad="10101" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10081" connectingRoad="10101" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10081" connectingRoad="40017" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="4" incomingRoad="40012" connectingRoad="40016" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="5" incomingRoad="40012" connectingRoad="10082" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800020">
+        <connection id="0" incomingRoad="40003" connectingRoad="10109" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="40003" connectingRoad="10087" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10075" connectingRoad="10079" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10075" connectingRoad="10087" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800021">
+        <connection id="0" incomingRoad="10107" connectingRoad="10108" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="10107" connectingRoad="10111" contactPoint="end">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="2" incomingRoad="10108" connectingRoad="10107" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="3" incomingRoad="10108" connectingRoad="10111" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+    <junction name="" id="800022">
+        <connection id="0" incomingRoad="40013" connectingRoad="40012" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+        <connection id="1" incomingRoad="40013" connectingRoad="40014" contactPoint="start">
+            <laneLink from="-1" to="-1" />
+        </connection>
+    </junction>
+</OpenDRIVE>

sh/osg_viewer.md

@@ -0,0 +1 @@
+请将BMWZ4_10.hdr.ive文件拷贝到~/map/models/路径下。

src/common/common/xodr/xodrfunc/xodrdijkstra.cpp

@@ -120,22 +120,44 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
 
         if(px->GetLaneSectionCount()<1)
         {
-            qDebug("no lanesection");
+            qDebug("road %s no lanesection",px->GetRoadId().data());
             continue;
         }
 
+
+
 //        qDebug("lane count is %d left %d right %d" ,px->GetLaneSection(0)->GetLaneCount(),px->GetLaneSection(0)->GetLeftLaneCount(),
 //               px->GetLaneSection(0)->GetRightLaneCount());
 
         int j;
+
         for(j=0;j<px->GetLaneSectionCount();j++)
         {
             if(px->GetLaneSection(j)->GetLaneCount()<2)
             {
-                givlog->info("no lane");
+                givlog->info("road %s lanesection %d: no lane",px->GetRoadId().data(),j);
                 continue;
             }
 
+            bool bHaveLeftDrving = false;
+            bool bHaveRightDriving = false;
+
+            unsigned int k;
+            for(k=0;k<px->GetLaneSection(j)->GetLaneCount();k++)
+            {
+                if(px->GetLaneSection(j)->GetLane(k)->GetType() == "driving")
+                {
+                    if(px->GetLaneSection(j)->GetLane(k)->GetId()>0)
+                    {
+                        bHaveLeftDrving = true;
+                    }
+                    if(px->GetLaneSection(j)->GetLane(k)->GetId()<0)
+                    {
+                        bHaveRightDriving = true;
+                    }
+                }
+            }
+
             if(px->GetLaneSection(j)->GetLeftLaneCount()>0)
             {
 
@@ -154,9 +176,9 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                 roadedge xroad(atoi(px->GetRoadId().data()),atoi(px->GetRoadJunction().data()),fseclen,1,j,px);
 //                roadedge xroad(atoi(px->GetRoadId().data()),atoi(px->GetRoadJunction().data()),px->GetRoadLength(),1,j,px);
 
-
                 //           xroad.mpx = px;
-                mroadedge.push_back(xroad);
+                if(bHaveLeftDrving)
+                    mroadedge.push_back(xroad);
             }
             if(px->GetLaneSection(j)->GetRightLaneCount()>0)
             {
@@ -171,16 +193,17 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                 {
                     fseclen = px->GetRoadLength() - px->GetLaneSection(j)->GetS();
                 }
-                if((px->GetRoadId() == "10098")||(px->GetRoadId() == "10113")||(px->GetRoadId() == "10074"))
-                {
-                    int axy = 1;
-                }
+//                if((px->GetRoadId() == "10098")||(px->GetRoadId() == "10113")||(px->GetRoadId() == "10074"))
+//                {
+//                    int axy = 1;
+//                }
                 roadedge xroad(atoi(px->GetRoadId().data()),atoi(px->GetRoadJunction().data()),fseclen,2,j,px);
 
 //                roadedge xroad(atoi(px->GetRoadId().data()),atoi(px->GetRoadJunction().data()),px->GetRoadLength(),2,j,px);
 
                 //           xroad.mpx = px;
-                mroadedge.push_back(xroad);
+                if(bHaveRightDriving)
+                    mroadedge.push_back(xroad);
             }
         }
 //        qDebug("id = %s  juncton = %s ",px->GetRoadId().data(),px->GetRoadJunction().data());
@@ -204,6 +227,7 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
         mroadedge[i].mbvertex = true;
         mroadedge[i].mvertexstart = 2*i;
         mroadedge[i].mvertexend = 2*i + 1;
+        qDebug("road:%d vertex %d %d ",mroadedge[i].mroadid,mroadedge[i].mvertexstart,mroadedge[i].mvertexend);
 //        std::cout<<"road id "<<mroadedge[i].mroadid<<" lenght "<<mroadedge[i].mfedgelen<<std::endl;
     }
 
@@ -216,12 +240,13 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
     Junction * pj;
     for(i=0;i<pxodr->GetJunctionCount();i++)
     {
+
         pj = pxodr->GetJunction(i);
         int j;
-//        if(atoi(pj->GetId().data()) == 810009)
-//        {
-//            int ggg = 11;
-//        }
+        if(atoi(pj->GetId().data()) == 800012)
+        {
+            int aaa = 11;
+        }
         for(j=0;j<pj->GetJunctionConnectionCount();j++)
         {
             JunctionConnection * pjc = pj->GetJunctionConnection(j);
@@ -229,6 +254,7 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
             int road_from = atoi(pjc->GetIncomingRoad().data());
             int road_to = atoi(pjc->GetConnectingRoad().data());
 
+
             Road * pRoad_From = GetRoadByID(road_from);
             Road * pRoad_To = GetRoadByID(road_to);
             int k;
@@ -266,36 +292,65 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
 
                 if(strncmp(pjc->GetContactPoint().data(),"end",255) == 0)
                 {
-//                    if(road_from == 30011)
-//                    {
-//                        int xx = 1;
-//                    }
-//                    if(lr_from == 2)
+
                     if(lr_to == 1)
                     {
-                        fromedge = getroadedge(road_from,lr_from,pRoad_From->GetLaneSectionCount() -1);
-                        toedge = getroadedge(road_to,lr_to);
-                        a = mroadedge[fromedge].mvertexend;
-                        b = mroadedge[toedge].mvertexstart;
-                        lnu.mpFromRoad = GetRoadByID(road_from);
-                        lnu.mpToRoad = GetRoadByID(road_to);
-                        lnu.mnFromSection = lnu.mpFromRoad->GetLaneSectionCount() - 1;
-                        lnu.mnToSection = 0;
-                        lnu.mnFromLane = lane_from;
-                        lnu.mnToLane = lane_to;
+                        if(lr_from == 2 )
+                        {
+                            fromedge = getroadedge(road_from,lr_from,pRoad_From->GetLaneSectionCount() -1);
+                            toedge = getroadedge(road_to,lr_to,pRoad_To->GetLaneSectionCount() -1);
+                            a = mroadedge[fromedge].mvertexend;
+                            b = mroadedge[toedge].mvertexstart;
+                            lnu.mpFromRoad = GetRoadByID(road_from);
+                            lnu.mpToRoad = GetRoadByID(road_to);
+                            lnu.mnFromSection = lnu.mpFromRoad->GetLaneSectionCount() - 1;
+                            lnu.mnToSection = pRoad_To->GetLaneSectionCount() -1;
+                            lnu.mnFromLane = lane_from;
+                            lnu.mnToLane = lane_to;
+                        }
+                        else
+                        {
+                            fromedge = getroadedge(road_from,lr_from);
+                            toedge = getroadedge(road_to,lr_to,pRoad_To->GetLaneSectionCount() -1);
+                            a = mroadedge[fromedge].mvertexend;
+                            b = mroadedge[toedge].mvertexstart;
+                            lnu.mpFromRoad = GetRoadByID(road_from);
+                            lnu.mpToRoad = GetRoadByID(road_to);
+                            lnu.mnFromSection = 0;
+                            lnu.mnToSection = pRoad_To->GetLaneSectionCount() -1;
+                            lnu.mnFromLane = lane_from;
+                            lnu.mnToLane = lane_to;
+
+                        }
                     }
                     else
                     {
-                        fromedge = getroadedge(road_from,lr_from);
-                        toedge = getroadedge(road_to,lr_to,pRoad_To->GetLaneSectionCount() -1);
-                        a = mroadedge[fromedge].mvertexstart;
-                        b = mroadedge[toedge].mvertexend;
-                        lnu.mpFromRoad = GetRoadByID(road_to);
-                        lnu.mpToRoad = GetRoadByID(road_from);
-                        lnu.mnFromSection = 0;
-                        lnu.mnToSection = lnu.mpToRoad->GetLaneSectionCount()-1;
-                        lnu.mnFromLane = lane_to;
-                        lnu.mnToLane = lane_from;
+                        if(lr_from == 2 )
+                        {
+                            fromedge = getroadedge(road_from,lr_from);
+                            toedge = getroadedge(road_to,lr_to,pRoad_To->GetLaneSectionCount() -1);
+                            a = mroadedge[fromedge].mvertexstart;
+                            b = mroadedge[toedge].mvertexend;
+                            lnu.mpFromRoad = GetRoadByID(road_to);
+                            lnu.mpToRoad = GetRoadByID(road_from);
+                            lnu.mnFromSection = 0;
+                            lnu.mnToSection = pRoad_To->GetLaneSectionCount() -1;
+                            lnu.mnFromLane = lane_to;
+                            lnu.mnToLane = lane_from;
+                        }
+                        else
+                        {
+                            fromedge = getroadedge(road_from,lr_from,pRoad_From->GetLaneSectionCount() -1);
+                            toedge = getroadedge(road_to,lr_to,pRoad_To->GetLaneSectionCount() -1);
+                            a = mroadedge[fromedge].mvertexstart;
+                            b = mroadedge[toedge].mvertexend;
+                            lnu.mpFromRoad = GetRoadByID(road_to);
+                            lnu.mpToRoad = GetRoadByID(road_from);
+                            lnu.mnFromSection = lnu.mpFromRoad->GetLaneSectionCount() - 1;
+                            lnu.mnToSection = pRoad_To->GetLaneSectionCount() -1;
+                            lnu.mnFromLane = lane_to;
+                            lnu.mnToLane = lane_from;
+                        }
                     }
 
                 }
@@ -305,37 +360,72 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
  //                   if(lr_from == 1)
                     if(lr_to == 2)
                     {
-                        fromedge = getroadedge(road_from,lr_from,pRoad_From->GetLaneSectionCount() -1);
-                        toedge = getroadedge(road_to,lr_to);
-                        a = mroadedge[fromedge].mvertexend;
-                        b = mroadedge[toedge].mvertexstart;
-                        lnu.mpFromRoad = GetRoadByID(road_from);
-                        lnu.mpToRoad = GetRoadByID(road_to);
-                        lnu.mnFromSection = lnu.mpFromRoad->GetLaneSectionCount() - 1;
-                        lnu.mnToSection = 0;
-                        lnu.mnFromLane = lane_from;
-                        lnu.mnToLane = lane_to;
+                        if(lr_from ==2 )
+                        {
+                            fromedge = getroadedge(road_from,lr_from,pRoad_From->GetLaneSectionCount() -1);
+                            toedge = getroadedge(road_to,lr_to);
+                            a = mroadedge[fromedge].mvertexend;
+                            b = mroadedge[toedge].mvertexstart;
+                            lnu.mpFromRoad = GetRoadByID(road_from);
+                            lnu.mpToRoad = GetRoadByID(road_to);
+                            lnu.mnFromSection = lnu.mpFromRoad->GetLaneSectionCount() - 1;
+                            lnu.mnToSection = 0;
+                            lnu.mnFromLane = lane_from;
+                            lnu.mnToLane = lane_to;
+                        }
+                        else
+                        {
+                            fromedge = getroadedge(road_from,lr_from);
+                            toedge = getroadedge(road_to,lr_to);
+                            a = mroadedge[fromedge].mvertexend;
+                            b = mroadedge[toedge].mvertexstart;
+                            lnu.mpFromRoad = GetRoadByID(road_from);
+                            lnu.mpToRoad = GetRoadByID(road_to);
+                            lnu.mnFromSection = 0;
+                            lnu.mnToSection = 0;
+                            lnu.mnFromLane = lane_from;
+                            lnu.mnToLane = lane_to;
+                        }
                     }
                     else
                     {
-                        fromedge = getroadedge(road_from,lr_from);
-                        toedge = getroadedge(road_to,lr_to,pRoad_To->GetLaneSectionCount() -1);
-                        a = mroadedge[fromedge].mvertexstart;
-                        b = mroadedge[toedge].mvertexend;
-                        lnu.mpFromRoad = GetRoadByID(road_to);
-                        lnu.mpToRoad = GetRoadByID(road_from);
-                        lnu.mnFromSection = 0;
-                        lnu.mnToSection = lnu.mpToRoad->GetLaneSectionCount()-1;
-                        lnu.mnFromLane = lane_to;
-                        lnu.mnToLane = lane_from;
+                        if(lr_from ==2 )
+                        {
+                            fromedge = getroadedge(road_from,lr_from);
+                            toedge = getroadedge(road_to,lr_to);
+                            a = mroadedge[fromedge].mvertexstart;
+                            b = mroadedge[toedge].mvertexend;
+                            lnu.mpFromRoad = GetRoadByID(road_to);
+                            lnu.mpToRoad = GetRoadByID(road_from);
+                            lnu.mnFromSection = 0;
+                            lnu.mnToSection = 0;
+                            lnu.mnFromLane = lane_to;
+                            lnu.mnToLane = lane_from;
+                        }
+                        else
+                        {
+                            fromedge = getroadedge(road_from,lr_from,pRoad_From->GetLaneSectionCount() -1);
+                            toedge = getroadedge(road_to,lr_to);
+                            a = mroadedge[fromedge].mvertexstart;
+                            b = mroadedge[toedge].mvertexend;
+                            lnu.mpFromRoad = GetRoadByID(road_to);
+                            lnu.mpToRoad = GetRoadByID(road_from);
+                            lnu.mnFromSection = pRoad_From->GetLaneSectionCount() -1;
+                            lnu.mnToSection = 0;
+                            lnu.mnFromLane = lane_to;
+                            lnu.mnToLane = lane_from;
+                        }
                     }
 
 
-                    mlanenet.push_back(lnu);
+
+                }
+
+
+                mlanenet.push_back(lnu);
                 iv::vertexsame vx(a,b);
-                xvertexsame.push_back(vx);
 
-            }
+                xvertexsame.push_back(vx);
             }
 
 
@@ -345,10 +435,17 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
 
     givlog->debug("After Junction vertex same is %d ",xvertexsame.size());
 
+
+
     for(i=0;i<nroadsize;i++)
     {
         Road * px = mpxodr->GetRoad(i);
 
+        if(px->GetRoadId() == "10034")
+        {
+            int ccc = 1;
+        }
+
         if(px->GetLaneSectionCount() == 1)
         {
             if(px->GetPredecessor() != 0)
@@ -380,6 +477,7 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                                 if(npre < 0)
                                 {
                                     int nedgepre = getroadedge(nroadpre,2,GetRoadByID(nroadpre)->GetLaneSectionCount()-1);
+                                    if(nedgepre <0)continue;
                                     lnu.mnFromSection = GetRoadByID(nroadpre)->GetLaneSectionCount()-1;
                                     a = mroadedge[nedgepre].mvertexend;
                                     lnu.mpFromRoad = GetRoadByID(nroadpre);
@@ -390,6 +488,7 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                                 else
                                 {
                                     int nedgepre = getroadedge(nroadpre,1,GetRoadByID(nroadpre)->GetLaneSectionCount()-1);
+                                    if(nedgepre <0)continue;
                                     lnu.mnToSection = GetRoadByID(nroadpre)->GetLaneSectionCount()-1;
                                     a = mroadedge[nedgepre].mvertexstart;
                                     lnu.mpFromRoad = GetRoadByID(nroadcur);
@@ -404,6 +503,7 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                                 if(npre < 0)
                                 {
                                     int nedgepre = getroadedge(nroadpre,2);
+                                    if(nedgepre <0)continue;
                                     a = mroadedge[nedgepre].mvertexstart;
                                     lnu.mpFromRoad = GetRoadByID(nroadcur);
                                     lnu.mpToRoad = GetRoadByID(nroadpre);
@@ -413,6 +513,7 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                                 else
                                 {
                                     int nedgepre = getroadedge(nroadpre,1);
+                                    if(nedgepre <0)continue;
                                     a = mroadedge[nedgepre].mvertexend;
                                     lnu.mpFromRoad = GetRoadByID(nroadpre);
                                     lnu.mpToRoad = GetRoadByID(nroadcur);
@@ -423,13 +524,22 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                             if(nid < 0)
                             {
                                 int nedgecur = getroadedge(nroadcur,2);
+                                if(nedgecur< 0)
+                                {
+                                    continue;
+                                }
                                 b = mroadedge[nedgecur].mvertexstart;
                             }
                             else
                             {
                                 int nedgecur = getroadedge(nroadcur,1);
+                                if(nedgecur< 0)
+                                {
+                                    continue;
+                                }
                                 b = mroadedge[nedgecur].mvertexend;
                             }
+
                             mlanenet.push_back(lnu);
                             iv::vertexsame vx(a,b);
                             xvertexsame.push_back(vx);
@@ -476,6 +586,10 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                                 if(nnext < 0)
                                 {
                                     int nedgenext = getroadedge(nroadnext,2,GetRoadByID(nroadnext)->GetLaneSectionCount()-1);
+                                    if(nedgenext < 0)
+                                    {
+                                        continue;
+                                    }
                                     b = mroadedge[nedgenext].mvertexend;
                                     lnu.mnFromSection = GetRoadByID(nroadnext)->GetLaneSectionCount()-1;
                                     lnu.mpFromRoad = GetRoadByID(nroadnext);
@@ -487,6 +601,10 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                                 else
                                 {
                                     int nedgenext = getroadedge(nroadnext,1,GetRoadByID(nroadnext)->GetLaneSectionCount()-1);
+                                    if(nedgenext < 0)
+                                    {
+                                        continue;
+                                    }
                                     b = mroadedge[nedgenext].mvertexstart;
                                     lnu.mpFromRoad = GetRoadByID(nroadcur);
                                     lnu.mnToSection = GetRoadByID(nroadnext)->GetLaneSectionCount()-1;
@@ -501,6 +619,10 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                                 if(nnext < 0)
                                 {
                                     int nedgenext = getroadedge(nroadnext,2);
+                                    if(nedgenext < 0)
+                                    {
+                                        continue;
+                                    }
                                     b = mroadedge[nedgenext].mvertexstart;
 
                                     lnu.mpFromRoad = GetRoadByID(nroadcur);
@@ -511,6 +633,10 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                                 else
                                 {
                                     int nedgenext = getroadedge(nroadnext,1);
+                                    if(nedgenext < 0)
+                                    {
+                                        continue;
+                                    }
                                     b = mroadedge[nedgenext].mvertexend;
 
                                     lnu.mpFromRoad = GetRoadByID(nroadnext);
@@ -521,12 +647,20 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                             }
                             if(nid < 0)
                             {
-                                int nedgecur = getroadedge(nroadcur,2);
+                                int nedgecur = getroadedge(nroadcur,2,px->GetLaneSectionCount()-1);
+                                if(nedgecur < 0)
+                                {
+                                    continue;
+                                }
                                 a = mroadedge[nedgecur].mvertexend;
                             }
                             else
                             {
-                                int nedgecur = getroadedge(nroadcur,1);
+                                int nedgecur = getroadedge(nroadcur,1,px->GetLaneSectionCount() -1);
+                                if(nedgecur < 0)
+                                {
+                                    continue;
+                                }
                                 a = mroadedge[nedgecur].mvertexstart;
                             }
                             iv::vertexsame vx(a,b);
@@ -583,6 +717,11 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                                 if(npre < 0)
                                 {
                                     int nedgepre = getroadedge(nroadpre,2,pRoad_Pre->GetLaneSectionCount()-1);
+                                    if(nedgepre < 0)
+                                    {
+                                            continue;
+
+                                    }
                                     a = mroadedge[nedgepre].mvertexend;
                                     lnu.mpFromRoad = GetRoadByID(nroadpre);
                                     lnu.mpToRoad = GetRoadByID(nroadcur);
@@ -594,6 +733,11 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                                 else
                                 {
                                     int nedgepre = getroadedge(nroadpre,1,pRoad_Pre->GetLaneSectionCount()-1);
+                                    if(nedgepre < 0)
+                                    {
+                                            continue;
+
+                                    }
                                     a = mroadedge[nedgepre].mvertexstart;
                                     lnu.mpFromRoad = GetRoadByID(nroadcur);
                                     lnu.mpToRoad = GetRoadByID(nroadpre);
@@ -609,6 +753,11 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                                 if(npre < 0)
                                 {
                                     int nedgepre = getroadedge(nroadpre,2);
+                                    if(nedgepre < 0)
+                                    {
+                                            continue;
+
+                                    }
                                     a = mroadedge[nedgepre].mvertexstart;
                                     lnu.mpFromRoad = GetRoadByID(nroadcur);
                                     lnu.mpToRoad = GetRoadByID(nroadpre);
@@ -620,6 +769,11 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                                 else
                                 {
                                     int nedgepre = getroadedge(nroadpre,1);
+                                    if(nedgepre < 0)
+                                    {
+                                            continue;
+
+                                    }
                                     a = mroadedge[nedgepre].mvertexend;
                                     lnu.mpFromRoad = GetRoadByID(nroadpre);
                                     lnu.mpToRoad = GetRoadByID(nroadcur);
@@ -632,17 +786,26 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                             if(nid < 0)
                             {
                                 int nedgecur = getroadedge(nroadcur,2);
+                                if(nedgecur < 0)
+                                {
+                                    continue;
+                                }
                                 b = mroadedge[nedgecur].mvertexstart;
                             }
                             else
                             {
                                 int nedgecur = getroadedge(nroadcur,1);
+                                if(nedgecur < 0)
+                                {
+                                    continue;
+                                }
                                 b = mroadedge[nedgecur].mvertexend;
                             }
                             iv::vertexsame vx(a,b);
                             xvertexsame.push_back(vx);
                             mlanenet.push_back(lnu);
 
+
                         }
                         if(plane->IsSuccessorSet())
                         {
@@ -725,14 +888,10 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                     int nroadnext = atoi(px->GetSuccessor()->GetElementId().data());
                     int nroadcur = atoi(px->GetRoadId().data());
 
-                    if(nroadcur == 116)
-                    {
-                        int xxxxx = 1;
-                    }
-
                     for(k=0;k<px->GetLaneSection(px->GetLaneSectionCount()-1)->GetLaneCount();k++)
                     {
                         Lane * plane = px->GetLaneSection(px->GetLaneSectionCount()-1)->GetLane(k);
+   //                     if(plane->GetType() != "driving")continue;
                         if(plane->GetId() == 0)continue;
                         if(plane->IsSuccessorSet())
                         {
@@ -745,6 +904,10 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                                 if(nnext < 0)
                                 {
                                     int nedgenext = getroadedge(nroadnext,2,GetRoadByID(nroadnext)->GetLaneSectionCount()-1);
+                                    if(nedgenext < 0)
+                                    {
+                                        continue;
+                                    }
                                     b = mroadedge[nedgenext].mvertexend;
 
                                     lnu.mpFromRoad = GetRoadByID(nroadnext);
@@ -757,6 +920,10 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                                 else
                                 {
                                     int nedgenext = getroadedge(nroadnext,1,GetRoadByID(nroadnext)->GetLaneSectionCount()-1);
+                                    if(nedgenext < 0)
+                                    {
+                                        continue;
+                                    }
                                     b = mroadedge[nedgenext].mvertexstart;
 
                                     lnu.mpFromRoad = GetRoadByID(nroadcur);
@@ -773,6 +940,10 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                                 if(nnext < 0)
                                 {
                                     int nedgenext = getroadedge(nroadnext,2);
+                                    if(nedgenext < 0)
+                                    {
+                                        continue;
+                                    }
                                     b = mroadedge[nedgenext].mvertexstart;
 
                                     lnu.mpFromRoad = GetRoadByID(nroadcur);
@@ -785,6 +956,10 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                                 else
                                 {
                                     int nedgenext = getroadedge(nroadnext,1);
+                                    if(nedgenext < 0)
+                                    {
+                                        continue;
+                                    }
                                     b = mroadedge[nedgenext].mvertexend;
 
                                     lnu.mpFromRoad = GetRoadByID(nroadnext);
@@ -798,14 +973,24 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
                             if(nid < 0)
                             {
                                 int nedgecur = getroadedge(nroadcur,2,px->GetLaneSectionCount()-1);
+                                if(nedgecur < 0)
+                                {
+                                    continue;
+                                }
                                 a = mroadedge[nedgecur].mvertexend;
                             }
                             else
                             {
                                 int nedgecur = getroadedge(nroadcur,1,px->GetLaneSectionCount()-1);
+                                if(nedgecur <0)
+                                {
+                                    continue;
+                                }
+
                                 a = mroadedge[nedgecur].mvertexstart;
                             }
                             iv::vertexsame vx(a,b);
+
                             xvertexsame.push_back(vx);
                             mlanenet.push_back(lnu);
 
@@ -818,6 +1003,15 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
 
         }
 
+        int k;
+        for(k=0;k<xvertexsame.size();k++)
+        {
+            if((xvertexsame[k].ma == 0) &&(xvertexsame[k].mb == 127))
+            {
+                int bbb =1;
+            }
+        }
+
 
 
     }
@@ -826,6 +1020,7 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
 
     for(i=0;i<xvertexsame.size();i++)
     {
+        qDebug("%d: %d %d",i,xvertexsame[i].ma,xvertexsame[i].mb);
         givlog->debug("%d: %d %d",i,xvertexsame[i].ma,xvertexsame[i].mb);
     }
 
@@ -882,10 +1077,42 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
         }
     }
 
+    for(i=0;i<(xvertexsamearray.size()-1);i++)
+    {
+        int j;
+        for(j=(i+1);j<(xvertexsamearray.size());j++)
+        {
+            int k;
+            bool bsame = false;
+            for(k=0;k<xvertexsamearray[j].mvertexarray.size();k++)
+            {
+                if(xvertexsamearray[i].isinarray(xvertexsamearray[j].mvertexarray[k]))
+                {
+                    bsame = true;
+                    break;
+                }
+            }
+            if(bsame)
+            {
+                for(k=0;k<xvertexsamearray[j].mvertexarray.size();k++)
+                {
+                    if(!xvertexsamearray[i].isinarray(xvertexsamearray[j].mvertexarray[k]))
+                    {
+                        xvertexsamearray[i].mvertexarray.push_back(xvertexsamearray[j].mvertexarray[k]);
+                    }
+                }
+                xvertexsamearray.erase(xvertexsamearray.begin() +j);
+                j = j-1;
+
+            }
+        }
+    }
+
     for(i=0;i<xvertexsamearray.size();i++)
     {
         xvertexsamearray[i].sort();
- //       xvertexsamearray[i].print();
+
+        xvertexsamearray[i].print();
     }
 
     for(i=0;i<mroadedge.size();i++)
@@ -906,6 +1133,8 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
 
     for(i=0;i<mroadedge.size();i++)
     {
+        qDebug("%d %d %d: %d %d",mroadedge[i].mroadid,mroadedge[i].mnleftright,mroadedge[i].mnsectionid, mroadedge[i].mvertexstart,mroadedge[i].mvertexend);
+
         givlog->debug("%d %d %d: %d %d",mroadedge[i].mroadid,mroadedge[i].mnleftright,mroadedge[i].mnsectionid,  mroadedge[i].mvertexstart,mroadedge[i].mvertexend);
     }
 
@@ -987,6 +1216,7 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
 
     for(i=0;i<mroadedge.size();i++)
     {
+        qDebug("%d %d %d: %d %d",mroadedge[i].mroadid,mroadedge[i].mnleftright,mroadedge[i].mnsectionid, mroadedge[i].mvertexstart,mroadedge[i].mvertexend);
         givlog->debug("%d %d %d: %d %d",mroadedge[i].mroadid,mroadedge[i].mnleftright,mroadedge[i].mnsectionid, mroadedge[i].mvertexstart,mroadedge[i].mvertexend);
     }
 
@@ -1024,6 +1254,7 @@ xodrdijkstra::xodrdijkstra(OpenDrive  * pxodr)
 
 
 
+
 }
 
 
@@ -1061,7 +1292,7 @@ inline double xodrdijkstra::getedgedis(int vs, int vd)
     int i;
 
     std::vector<roadedge > * proadedge = &mroadedge;
-    double dis = std::numeric_limits<double>::max();
+    double dis = 1000000;//std::numeric_limits<double>::max();
 
     for(i=0;i<mvectorvertexedge[vs].mvectorroadedge.size();i++)
     {
@@ -1198,6 +1429,7 @@ std::vector<int> xodrdijkstra::getpath(int srcroadid, int nsrclr, int dstroadid,
 
         if(k == -1)
         {
+            qDebug("i = %d not found k",i);
             givlog->debug("i = %d not found k",i);
             break;
         }
@@ -1210,7 +1442,8 @@ std::vector<int> xodrdijkstra::getpath(int srcroadid, int nsrclr, int dstroadid,
         {
             double tmp;
             tmp = getedgedis(k,j);
-            if(tmp == std::numeric_limits<double>::max())
+ //           if(tmp == std::numeric_limits<double>::max())
+            if(tmp>500000)
             {
 
             }
@@ -1231,7 +1464,10 @@ std::vector<int> xodrdijkstra::getpath(int srcroadid, int nsrclr, int dstroadid,
 //        qDebug("  shortest(%d, %d)=%f\n", vs, i, dist[i]);
 
     for (i = 0; i < nvertexnum; i++)
-        givlog->debug("  %d =%d\n", i, prev[i]);
+    {
+  //      qDebug("  %d =%d\n", i, prev[i]);
+ //       givlog->debug("  %d =%d\n", i, prev[i]);
+    }
 
 
     if(flag[dstvertex] == 1)
@@ -1243,6 +1479,7 @@ std::vector<int> xodrdijkstra::getpath(int srcroadid, int nsrclr, int dstroadid,
         while(nend != vs)
         {
             nstart = prev[nend];
+            qDebug("vertex:%d",nstart);
             int nedge = getroadedgefromvertex(nstart,nend);
             if(nedge<0)
             {
@@ -1597,6 +1834,10 @@ std::vector<pathsection> xodrdijkstra::getgpspoint(int srcroadid, int nsrclr, in
                         xpathsection[i-1].mnEndLaneSel = ngoodlane;
                         bNeedChangeLane = false;
                     }
+                    else
+                    {
+                        bNeedChangeLane = true;
+                    }
                 }
                 else
                 {
@@ -1687,10 +1928,25 @@ std::vector<pathsection> xodrdijkstra::getgpspoint(int srcroadid, int nsrclr, in
             if(pRoad == pRoad2)
             {
                 std::cout<<" Lane Change in road inter. "<<std::endl;
+
+                if(nlr == 2)
+                {
+                    if(pLane2->IsSuccessorSet())
+                    {
+                        xpathsection[i].secondsel = pLane2->GetSuccessor();
+                    }
+                }
+                else
+                {
+                    if(pLane2->IsPredecessorSet())
+                    {
+                        xpathsection[i].secondsel = pLane2->GetPredecessor();
+                    }
+                }
             }
             else
             {
-                if(nlr == 2)
+                if(nlr2 == 2)
                 {
                     if(pLane2->IsSuccessorSet())
                     {
@@ -1715,10 +1971,14 @@ std::vector<pathsection> xodrdijkstra::getgpspoint(int srcroadid, int nsrclr, in
                 }
                 else
                 {
-                    if(pLane2->IsPredecessorSet())
+                    if(pLane2->IsSuccessorSet())
                     {
-                        xpathsection[i].secondsel = pLane2->GetPredecessor();
+                        xpathsection[i].secondsel = pLane2->GetSuccessor();
                     }
+//                    if(pLane2->IsPredecessorSet())
+//                    {
+//                        xpathsection[i].secondsel = pLane2->GetPredecessor();
+//                    }
                     else
                     {
                         int k;
@@ -1740,14 +2000,14 @@ std::vector<pathsection> xodrdijkstra::getgpspoint(int srcroadid, int nsrclr, in
 
             }
 
-            int k;
-            for(k=(nsize-1);k>i;k--)
-            {
-                if(xpathsection[k].mpRoad == xpathsection[i].mpRoad)
-                {
-                    xpathsection[k].secondsel = xpathsection[i].secondsel;
-                }
-            }
+//            int k;
+//            for(k=(nsize-1);k>i;k--)
+//            {
+//                if(xpathsection[k].mpRoad == xpathsection[i].mpRoad)
+//                {
+//                    xpathsection[k].secondsel = xpathsection[i].secondsel;
+//                }
+//            }
 
         }
         else

src/common/common/xodr/xodrfunc/xodrfunc.cpp

@@ -1348,6 +1348,7 @@ int xodrfunc::GetDrivingLane(Road *pRoad, const int nLS, const int nsuggestlane)
 
     nrtn = 1000;
     int ndiff;
+
     for(i=0;i<nLaneCount;i++)
     {
         Lane * pLane = pLS->GetLane(i);
@@ -1361,6 +1362,28 @@ int xodrfunc::GetDrivingLane(Road *pRoad, const int nLS, const int nsuggestlane)
             }
         }
     }
+
+    if(nrtn == 1000)
+    {
+        std::cout<<"Waring. Maybe no driving road in this side."<<std::endl;
+        for(i=0;i<nLaneCount;i++)
+        {
+            Lane * pLane = pLS->GetLane(i);
+            if((pLane->GetId()*nsuggestlane>0))
+            {
+                ndiff = pLane->GetId() - nrtn;
+                int xdiff = pLane->GetId() - nsuggestlane;
+                if(abs(xdiff)<abs(ndiff))
+                {
+                    nrtn = pLane->GetId();
+                }
+            }
+        }
+    }
+
+
+
+
     return nrtn;
 }
 

src/common/makeprotointerface/.gitignore

@@ -0,0 +1,73 @@
+# This file is used to ignore files which are generated
+# ----------------------------------------------------------------------------
+
+*~
+*.autosave
+*.a
+*.core
+*.moc
+*.o
+*.obj
+*.orig
+*.rej
+*.so
+*.so.*
+*_pch.h.cpp
+*_resource.rc
+*.qm
+.#*
+*.*#
+core
+!core/
+tags
+.DS_Store
+.directory
+*.debug
+Makefile*
+*.prl
+*.app
+moc_*.cpp
+ui_*.h
+qrc_*.cpp
+Thumbs.db
+*.res
+*.rc
+/.qmake.cache
+/.qmake.stash
+
+# qtcreator generated files
+*.pro.user*
+
+# xemacs temporary files
+*.flc
+
+# Vim temporary files
+.*.swp
+
+# Visual Studio generated files
+*.ib_pdb_index
+*.idb
+*.ilk
+*.pdb
+*.sln
+*.suo
+*.vcproj
+*vcproj.*.*.user
+*.ncb
+*.sdf
+*.opensdf
+*.vcxproj
+*vcxproj.*
+
+# MinGW generated files
+*.Debug
+*.Release
+
+# Python byte code
+*.pyc
+
+# Binaries
+# --------
+*.dll
+*.exe
+

src/common/makeprotointerface/main.cpp

@@ -0,0 +1,34 @@
+#include <QCoreApplication>
+
+#include <iostream>
+
+#include "protointerface.h"
+
+protointerface * ppif;
+
+int main(int argc, char *argv[])
+{
+    QCoreApplication a(argc, argv);
+
+    if(argc < 4)
+    {
+        std::cout<<"makeprotointerface need 3 args."<<std::endl;
+        return -1;
+    }
+
+    std::string strprotopath = argv[1];
+    std::string strmsgtypepath = argv[2];
+    std::string strprofolder = argv[3];
+
+//    std::string strprotopath = "/home/yuchuli/qt/modularization/src/include/proto";
+//    std::string strmsgtypepath = "/home/yuchuli/qt/modularization/src/include/msgtype";
+//    std::string strprofolder = "/home/yuchuli/qt/modularization/src/common";
+
+    ppif = new protointerface(strprotopath,strmsgtypepath,strprofolder);
+
+    ppif->Proc();
+
+    return 0;
+
+//    return a.exec();
+}

src/common/makeprotointerface/makeprotointerface.pro

@@ -0,0 +1,27 @@
+QT -= gui
+
+CONFIG += c++11 console
+CONFIG -= app_bundle
+
+# The following define makes your compiler emit warnings if you use
+# any Qt feature that has been marked deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+# You can also make your code fail to compile if it uses deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += \
+        main.cpp \
+        protointerface.cpp
+
+# Default rules for deployment.
+qnx: target.path = /tmp/$${TARGET}/bin
+else: unix:!android: target.path = /opt/$${TARGET}/bin
+!isEmpty(target.path): INSTALLS += target
+
+HEADERS += \
+    protointerface.h

src/common/makeprotointerface/protointerface.cpp

@@ -0,0 +1,439 @@
+#include "protointerface.h"
+
+#include <QDir>
+#include <QFile>
+
+protointerface::protointerface(std::string strprotopath,std::string strmsgtypepath,std::string strprofolder)
+{
+    mstrprotopath = strprotopath;
+    mstrmsgtypepath = strmsgtypepath;
+    mstrprofolder = strprofolder;
+}
+
+
+std::vector<std::string> protointerface::GetMessageName(std::string strfilepath,std::vector<std::string> & xvectormsgname)
+{
+    std::vector<std::string> xvector;
+
+    QFile xFile;
+
+    xFile.setFileName(strfilepath.data());
+    if(!xFile.open(QIODevice::ReadOnly))
+    {
+        return xvector;
+    }
+
+
+    QByteArray ba = xFile.readAll();
+
+    xFile.close();
+
+    QList<QByteArray> baline =ba.split('\n');//x.split(QRegExp("\n ")) ;//ba.split('\n');
+    int nline = baline.size();
+    int i;
+    bool bFindPackName = false;
+    std::string strclasspre = "";
+    std::string strnamepre = "";
+    for(i=0;i<nline;i++)
+    {
+        QString x(baline[i]);
+        x.trimmed();
+//         QList<QByteArray> badata = baline[i].split('\t');
+
+        QStringList badata = x.split(QRegExp("[\t ,;{]+"));
+        if(bFindPackName == false)
+        {
+        if(badata[0] == "package")
+        {
+//            qDebug("package name is %s",QString(badata[1]).toLatin1().data());
+            bFindPackName = true;
+            QString xpac(badata[1]);
+            xpac.trimmed();
+            QStringList bapack = xpac.split(QRegExp("[.]"));
+            unsigned int j;
+            for(j=0;j<bapack.size();j++)
+            {
+                strclasspre = strclasspre + QString(bapack[j]).toStdString() + "::";
+                strnamepre = strnamepre + QString(bapack[j]).toStdString() + "_";
+            }
+        }
+        }
+        else
+        {
+            if(badata[0] == "message")
+            {
+ //               qDebug("message name is %s",QString(badata[1]).toLatin1().data());
+                std::string strclassname = strclasspre + QString(badata[1]).toStdString();
+                std::string strxname = strnamepre +  QString(badata[1]).toStdString();
+//                qDebug("class name is %s",strclassname.data());
+                xvector.push_back(strclassname);
+                xvectormsgname.push_back(strxname);
+            }
+        }
+
+    }
+
+
+
+    return xvector;
+}
+
+std::vector<std::string> protointerface::GetFileNameVector(std::string strpath,std::string strsuff)
+{
+    std::vector<std::string> xvector;
+    QDir dir(strpath.data());
+
+    QStringList nameFilters;
+    nameFilters<<strsuff.data();
+
+    QStringList files = dir.entryList(nameFilters,QDir::Files,QDir::Name);
+
+    unsigned int i;
+    for(i=0;i<files.size();i++)
+    {
+        xvector.push_back(QString(files.at(i)).toStdString());
+    }
+
+    return xvector;
+
+}
+
+bool protointerface::ccodeisexist(std::string strhname)
+{
+    std::string strpath = mstrmsgtypepath;
+    strpath = strpath + "/" + strhname;
+    QFile xFile;
+    xFile.setFileName(strpath.data());
+
+    if(xFile.exists())
+    {
+        return true;
+    }
+    return false;
+}
+
+void protointerface::WriteCodeLine(std::string strline,QFile * pFile)
+{
+    char str[1000];
+    snprintf(str,1000,"%s\n",strline.data());
+    pFile->write(str);
+}
+
+void protointerface::Proc()
+{
+
+    QFile xFileout;
+    QString strprofolder = mstrprofolder.data();
+    strprofolder = strprofolder + "/ivprotoif";
+    QDir xDir;
+    xDir.mkpath(strprofolder);
+    xFileout.setFileName(strprofolder + "/ivprotoif.cpp");
+    if(!xFileout.open(QIODevice::ReadWrite|QIODevice::Truncate))
+    {
+        return;
+    }
+    QFile xFileHeader;
+    xFileHeader.setFileName(strprofolder + "/ivprotoif.h");
+    if(!xFileHeader.open(QIODevice::ReadWrite|QIODevice::Truncate))
+    {
+        return;
+    }
+
+    QFile xFilePro;
+    xFilePro.setFileName(strprofolder + "/ivprotoif.pro");
+    if(!xFilePro.open(QIODevice::ReadWrite|QIODevice::Truncate))
+    {
+        return;
+    }
+
+
+
+
+    std::vector<std::string> xvectorproto = GetFileNameVector(mstrprotopath,"*.proto");
+
+    std::vector<std::string> xvectorclassname;
+    std::vector<std::string > xvectorname;
+    std::vector<std::string> xvectorprotoname;
+
+    unsigned int i;
+    for(i=0;i<xvectorproto.size();i++)
+    {
+        std::vector<std::string> xven;
+        QString strtemp(xvectorproto[i].data());
+        strtemp = strtemp.left(strtemp.size() - 6);
+
+        std::string strheadarfilename = strtemp.toStdString() + ".pb.h";
+        if(!ccodeisexist(strheadarfilename))
+        {
+            qDebug("proto %s is not generate c++ code.",xvectorproto[i].data());
+            continue;
+        }
+        xvectorprotoname.push_back(strtemp.toStdString());
+//        qDebug("header file is %s",strheadarfilename.data());
+        char strline[1000];
+        snprintf(strline,1000,"#include \"%s\"\n",strheadarfilename.data());
+        xFileout.write(strline);
+//        qDebug("%d:%s",i,xvectorproto[i].data());
+        std::vector<std::string> xvectorcla = GetMessageName(mstrprotopath+"/" + xvectorproto[i],xven);
+        unsigned int j;
+        for(j=0;j<xvectorcla.size();j++)
+        {
+            xvectorclassname.push_back(xvectorcla[j]);
+            xvectorname.push_back(xven[j]);
+        }
+    }
+
+    WriteCodeLine("",&xFileout);
+    WriteCodeLine("#include \"google/protobuf/io/zero_copy_stream_impl.h\"",&xFileout);
+    WriteCodeLine("#include \"google/protobuf/text_format.h\"",&xFileout);
+    WriteCodeLine("#include <iostream>",&xFileout);
+    WriteCodeLine("#include <QString>",&xFileout);
+    WriteCodeLine("#include <QStringList>",&xFileout);
+    WriteCodeLine("#include <QMutex>",&xFileout);
+    WriteCodeLine("",&xFileout);
+
+    char strline[1000];
+    WriteCodeLine("namespace iv",&xFileout);
+    WriteCodeLine("{",&xFileout);
+    WriteCodeLine("\tstruct protomsgtype",&xFileout);
+    WriteCodeLine("\t{",&xFileout);
+    WriteCodeLine("\t\tstd::string mstrtypename;",&xFileout);
+    WriteCodeLine("\t\tstd::shared_ptr<::google::protobuf::Message> mpmsg;",&xFileout);
+    WriteCodeLine("\t};",&xFileout);
+    WriteCodeLine("}",&xFileout);
+    WriteCodeLine("",&xFileout);
+
+
+    snprintf(strline,1000,"#define MSGCOUNT %u\n",(unsigned int)xvectorclassname.size());xFileout.write(strline);
+    snprintf(strline,1000,"static const int typecount = %u;\n",(unsigned int)xvectorclassname.size());xFileout.write(strline);
+    snprintf(strline,1000,"static iv::protomsgtype gmsgtype[MSGCOUNT];\n");xFileout.write(strline);
+    WriteCodeLine("static bool gbUpdateMsgType = false;",&xFileout);
+    WriteCodeLine("static QMutex mMutexUpdateMstType;",&xFileout);
+
+
+    WriteCodeLine("",&xFileout);
+    WriteCodeLine("static bool CheckAParseLine(QString strline)",&xFileout);
+    WriteCodeLine("{",&xFileout);
+    WriteCodeLine("\tif(strline.size()<3)return true;",&xFileout);
+    WriteCodeLine("\tQString str = strline.mid(0,2);",&xFileout);
+    WriteCodeLine("\tint i;",&xFileout);
+    WriteCodeLine("\tfor(i=0;i<9;i++)",&xFileout);
+    WriteCodeLine("\t{",&xFileout);
+    WriteCodeLine("\t\tQString strmark = QString::number(i)+\":\";",&xFileout);
+    WriteCodeLine("\t\tif(str == strmark)",&xFileout);
+    WriteCodeLine("\t\t{",&xFileout);
+    WriteCodeLine("\t\t\treturn false;",&xFileout);
+    WriteCodeLine("\t}",&xFileout);
+    WriteCodeLine("\t}",&xFileout);
+    WriteCodeLine("\tstr = strline.mid(0,3);",&xFileout);
+    WriteCodeLine("\tfor(i=10;i<99;i++)",&xFileout);
+    WriteCodeLine("\t{",&xFileout);
+    WriteCodeLine("\t\tQString strmark = QString::number(i)+\":\";",&xFileout);
+    WriteCodeLine("\t\tif(str == strmark)",&xFileout);
+    WriteCodeLine("\t\t{",&xFileout);
+    WriteCodeLine("\t\t\treturn false;",&xFileout);
+    WriteCodeLine("\t\t}",&xFileout);
+    WriteCodeLine("\t}",&xFileout);
+    WriteCodeLine("\treturn true;",&xFileout);
+    WriteCodeLine("}",&xFileout);
+    WriteCodeLine("",&xFileout);
+    WriteCodeLine("",&xFileout);
+
+    WriteCodeLine("static bool CheckParseOK(std::string strout)",&xFileout);
+    WriteCodeLine("{",&xFileout);
+    WriteCodeLine("\tQString str(strout.data());",&xFileout);
+    WriteCodeLine("\tQStringList strline = str.split('\\n');",&xFileout);
+    WriteCodeLine("\tint i;",&xFileout);
+    WriteCodeLine("\tfor(i=0;i<strline.size();i++)",&xFileout);
+    WriteCodeLine("\t{",&xFileout);
+    WriteCodeLine("\t\tif(CheckAParseLine(strline[i]) == false)",&xFileout);
+    WriteCodeLine("\t\t{",&xFileout);
+    WriteCodeLine("\t\t\treturn false;",&xFileout);
+    WriteCodeLine("\t\t}",&xFileout);
+    WriteCodeLine("\t}",&xFileout);
+    WriteCodeLine("\treturn true;",&xFileout);
+    WriteCodeLine("\t}",&xFileout);
+    WriteCodeLine("",&xFileout);
+    WriteCodeLine("",&xFileout);
+
+//    snprintf(strline,1000,"{\n");xFileout.write(strline);
+    snprintf(strline,1000,"void InitMsgType()\n");xFileout.write(strline);
+    snprintf(strline,1000,"{\n");xFileout.write(strline);
+    WriteCodeLine("\tmMutexUpdateMstType.lock();",&xFileout);
+    WriteCodeLine("\tif(gbUpdateMsgType)",&xFileout);
+    WriteCodeLine("\t{",&xFileout);
+    WriteCodeLine("\t\tmMutexUpdateMstType.unlock();",&xFileout);
+    WriteCodeLine("\t\treturn;",&xFileout);
+    WriteCodeLine("\t}",&xFileout);
+    for(i=0;i<xvectorclassname.size();i++)
+    {
+
+        snprintf(strline,1000,"\tgmsgtype[%d].mstrtypename = \"%s\";\n",
+                 i,xvectorclassname[i].data());
+        xFileout.write(strline);
+        snprintf(strline,1000,"\tgmsgtype[%d].mpmsg  = std::shared_ptr<::google::protobuf::Message>(new %s);\n",
+                 i,xvectorclassname[i].data());
+        xFileout.write(strline);
+    }
+    WriteCodeLine("\tgbUpdateMsgType = true;",&xFileout);
+    WriteCodeLine("\tmMutexUpdateMstType.unlock();",&xFileout);
+    snprintf(strline,1000,"}\n");xFileout.write(strline);
+
+    snprintf(strline,1000,"\n");xFileout.write(strline);
+    snprintf(strline,1000,"std::shared_ptr<::google::protobuf::Message > GetProtoMessage(char * strdata,int nsize,unsigned int protoindex)\n");
+    xFileout.write(strline);
+    snprintf(strline,1000,"{\n");xFileout.write(strline);
+    snprintf(strline,1000,"\tstd::shared_ptr<::google::protobuf::Message > msg_ptr = NULL;\n");xFileout.write(strline);
+    snprintf(strline,1000,"\tif(protoindex >= MSGCOUNT)\n");xFileout.write(strline);
+    snprintf(strline,1000,"\t{\n");xFileout.write(strline);
+    snprintf(strline,1000,"\t\treturn msg_ptr;\n");xFileout.write(strline);
+    snprintf(strline,1000,"\t}\n");xFileout.write(strline);
+    WriteCodeLine("",&xFileout);
+
+    WriteCodeLine("\tmsg_ptr =std::shared_ptr<::google::protobuf::Message>(gmsgtype[protoindex].mpmsg->New(NULL));",&xFileout);
+    WriteCodeLine("",&xFileout);
+    WriteCodeLine("\tif(msg_ptr->ParseFromArray(strdata,nsize))",&xFileout);
+    WriteCodeLine("\t{",&xFileout);
+    WriteCodeLine("\treturn msg_ptr;",&xFileout);
+    WriteCodeLine("\t}",&xFileout);
+    WriteCodeLine("",&xFileout);
+    WriteCodeLine("\treturn NULL;",&xFileout);
+    WriteCodeLine("}",&xFileout);
+    WriteCodeLine("",&xFileout);
+
+
+    WriteCodeLine("std::vector<unsigned int> GetProbProtoIndex(char * strdata,int nsize,std::vector<std::string > & xvectorprobname)",&xFileout);
+    WriteCodeLine("{",&xFileout);
+    WriteCodeLine("\tstd::vector<unsigned int> xvectorrtn;",&xFileout);
+    WriteCodeLine("\txvectorrtn.clear();",&xFileout);
+    WriteCodeLine("\txvectorprobname.clear();",&xFileout);
+    WriteCodeLine("\tunsigned int i;",&xFileout);
+    WriteCodeLine("\tfor(i=0;i<MSGCOUNT;i++)",&xFileout);
+    WriteCodeLine("\t{",&xFileout);
+    WriteCodeLine("\t\tif(gmsgtype[i].mpmsg->ParseFromArray(strdata,nsize))",&xFileout);
+    WriteCodeLine("\t\t{",&xFileout);
+    WriteCodeLine("\t\t\tusing google::protobuf::TextFormat;",&xFileout);
+    WriteCodeLine("\t\t\tusing google::protobuf::io::FileOutputStream;",&xFileout);
+    WriteCodeLine("\t\t\tusing google::protobuf::io::ZeroCopyOutputStream;",&xFileout);
+    WriteCodeLine("\t\t\tstd::string strout;",&xFileout);
+    WriteCodeLine("\t\t\tZeroCopyOutputStream *output = new google::protobuf::io::StringOutputStream(&strout);",&xFileout);
+    WriteCodeLine("\t\t\tbool success = TextFormat::Print(*(gmsgtype[i].mpmsg), output);",&xFileout);
+    WriteCodeLine("\t\t\tif(success)",&xFileout);
+    WriteCodeLine("\t\t\t{",&xFileout);
+    WriteCodeLine("\t\t\t\tif(CheckParseOK(strout))",&xFileout);
+    WriteCodeLine("\t\t\t\t{",&xFileout);
+    WriteCodeLine("\t\t\t\t\txvectorrtn.push_back(i);",&xFileout);
+    WriteCodeLine("\t\t\t\t\txvectorprobname.push_back(gmsgtype[i].mstrtypename);",&xFileout);
+    WriteCodeLine("\t\t\t\t}",&xFileout);
+    WriteCodeLine("\t\t\t}",&xFileout);
+    WriteCodeLine("\t\t\tdelete output;",&xFileout);
+    WriteCodeLine("\t\t}",&xFileout);
+    WriteCodeLine("\t}",&xFileout);
+    WriteCodeLine("\treturn xvectorrtn;",&xFileout);
+    WriteCodeLine("}",&xFileout);
+    WriteCodeLine("",&xFileout);
+
+
+
+
+//    for(i=0;i<xvectorclassname.size();i++)
+//    {
+
+//        snprintf(strline,1000,"\t%s\t%s;\n",xvectorclassname[i].data(),xvectorname[i].data());
+// //       qDebug("%s %s",xvectorclassname[i].data(),xvectorname[i].data());
+//        xFileout.write(strline);
+//    }
+
+    xFileout.close();
+
+
+
+
+    WriteCodeLine("#ifndef IVPROTOIF_H",&xFileHeader);
+    WriteCodeLine("#define IVPROTOIF_H",&xFileHeader);
+    WriteCodeLine("",&xFileHeader);
+    WriteCodeLine("#include <QtCore/qglobal.h>",&xFileHeader);
+    WriteCodeLine("#include <google/protobuf/stubs/common.h>",&xFileHeader);
+    WriteCodeLine("#include <google/protobuf/stubs/port.h>",&xFileHeader);
+    WriteCodeLine("#include <google/protobuf/stubs/once.h>",&xFileHeader);
+    WriteCodeLine("#include <google/protobuf/io/coded_stream.h>",&xFileHeader);
+    WriteCodeLine("#include <google/protobuf/wire_format_lite_inl.h>",&xFileHeader);
+    WriteCodeLine("#include <google/protobuf/descriptor.h>",&xFileHeader);
+    WriteCodeLine("#include <google/protobuf/generated_message_reflection.h>",&xFileHeader);
+    WriteCodeLine("#include <google/protobuf/reflection_ops.h>",&xFileHeader);
+    WriteCodeLine("#include <google/protobuf/wire_format.h>",&xFileHeader);
+    WriteCodeLine("",&xFileHeader);
+    WriteCodeLine("#if defined(PROTOINTERFACE_LIBRARY)",&xFileHeader);
+    WriteCodeLine("#  define PROTOINTERFACESHARED_EXPORT Q_DECL_EXPORT",&xFileHeader);
+    WriteCodeLine("#else",&xFileHeader);
+    WriteCodeLine("#  define PROTOINTERFACESHARED_EXPORT Q_DECL_IMPORT",&xFileHeader);
+    WriteCodeLine("#endif",&xFileHeader);
+    WriteCodeLine("",&xFileHeader);
+    WriteCodeLine("",&xFileHeader);
+    WriteCodeLine("void PROTOINTERFACESHARED_EXPORT InitMsgType();",&xFileHeader);
+    WriteCodeLine("std::shared_ptr<::google::protobuf::Message > PROTOINTERFACESHARED_EXPORT GetProtoMessage(char * strdata,int nsize,unsigned int protoindex);",&xFileHeader);
+    WriteCodeLine("std::vector<unsigned int> PROTOINTERFACESHARED_EXPORT GetProbProtoIndex(char * strdata,int nsize,std::vector<std::string > & xvectorprobname);",&xFileHeader);
+
+    WriteCodeLine("#endif",&xFileHeader);
+    WriteCodeLine("",&xFileHeader);
+    xFileHeader.close();
+
+    WriteCodeLine("QT -= gui", &xFilePro);
+    WriteCodeLine("", &xFilePro);
+    WriteCodeLine("TEMPLATE = lib", &xFilePro);
+    WriteCodeLine("DEFINES += PROTOINTERFACE_LIBRARY", &xFilePro);
+    WriteCodeLine("", &xFilePro);
+    WriteCodeLine("CONFIG += c++11", &xFilePro);
+    WriteCodeLine("", &xFilePro);
+    WriteCodeLine("SOURCES += ivprotoif.cpp \\", &xFilePro);
+    for(i=0;i<xvectorprotoname.size();i++)
+    {
+        char strtemp[1000];
+        if(i<(xvectorprotoname.size()-1))
+        {
+            snprintf(strtemp,1000,"\t%s/%s.pb.cc \\",mstrmsgtypepath.data(),
+                 xvectorprotoname[i].data());
+        }
+        else
+        {
+            snprintf(strtemp,1000,"\t%s/%s.pb.cc",mstrmsgtypepath.data(),
+                 xvectorprotoname[i].data());
+        }
+        WriteCodeLine(strtemp,&xFilePro);
+    }
+    WriteCodeLine("", &xFilePro);
+    WriteCodeLine("", &xFilePro);
+    WriteCodeLine("HEADERS += ivprotoif.h \\", &xFilePro);
+    for(i=0;i<xvectorprotoname.size();i++)
+    {
+        char strtemp[1000];
+        if(i<(xvectorprotoname.size()-1))
+        {
+        snprintf(strtemp,1000,"\t%s/%s.pb.h \\",mstrmsgtypepath.data(),
+                 xvectorprotoname[i].data());
+        }
+        else
+        {
+            snprintf(strtemp,1000,"\t%s/%s.pb.h ",mstrmsgtypepath.data(),
+                     xvectorprotoname[i].data());
+        }
+        WriteCodeLine(strtemp,&xFilePro);
+    }
+    WriteCodeLine("", &xFilePro);
+    WriteCodeLine("", &xFilePro);
+    WriteCodeLine("DEFINES += QT_DEPRECATED_WARNINGS", &xFilePro);
+    WriteCodeLine("", &xFilePro);
+    WriteCodeLine("CONFIG += plugin", &xFilePro);
+    WriteCodeLine("", &xFilePro);
+    snprintf(strline,1000,"INCLUDEPATH += %s",mstrmsgtypepath.data());
+    WriteCodeLine(strline,&xFilePro);
+    WriteCodeLine("LIBS+= -lprotobuf", &xFilePro);
+    WriteCodeLine("", &xFilePro);
+    WriteCodeLine("", &xFilePro);
+    WriteCodeLine("", &xFilePro);
+
+    xFilePro.close();
+
+
+
+}

src/common/makeprotointerface/protointerface.h

@@ -0,0 +1,33 @@
+#ifndef PROTOINTERFACE_H
+#define PROTOINTERFACE_H
+
+#include <string>
+#include <vector>
+#include <QFile>
+
+class protointerface
+{
+public:
+    protointerface(std::string strprotopath,std::string strmsgtypepath,std::string strprofolder);
+
+private:
+    std::string mstrprotopath;
+    std::string mstrmsgtypepath;
+    std::string mstrprofolder;
+
+    std::vector<std::string> mvectorproto;
+
+private:
+    std::vector<std::string> GetFileNameVector(std::string strpath,std::string strsuff);
+
+    std::vector<std::string> GetMessageName(std::string strfilepath,std::vector<std::string> & xvectormsgname);
+
+    bool ccodeisexist(std::string strhname);
+
+    inline void WriteCodeLine(std::string strline,QFile * pFile);
+
+public:
+    void Proc();
+};
+
+#endif // PROTOINTERFACE_H

src/common/modulecomm/fastrtps/TopicsPublisher.cxx

@@ -187,7 +187,7 @@ void TopicsPublisher::senddata(const char *str, int nsize)
 
 
     static int ncount = 1;
-    std::cout<<"send data."<<std::endl;
+ //   std::cout<<"send data."<<std::endl;
 //    while(m_listener.n_matched == 0)
     TopicSample::SomeBytes x;
     x.resize(nsize);
@@ -204,7 +204,7 @@ void TopicsPublisher::senddata(const char *str, int nsize)
 
     int ndatasize = TopicSample::Message::getCdrSerializedSize(st);
 
-    std::cout<<"size is "<<ndatasize<<std::endl;
+//    std::cout<<"size is "<<ndatasize<<std::endl;
 
 
     mp_publisher->write(&st);

src/common/modulecomm/fastrtps/TopicsSubscriber.cxx

@@ -169,7 +169,7 @@ void TopicsSubscriber::SubListener::onNewDataMessage(Subscriber* sub)
 
     static int nmaxlatancy = 0;
 
-    std::cout<<"new msg"<<std::endl;
+//    std::cout<<"new msg"<<std::endl;
 
 
 //    char * strbuf = new char[1000000];
@@ -193,7 +193,7 @@ void TopicsSubscriber::SubListener::onNewDataMessage(Subscriber* sub)
 //    return;
 
 //    sub->get_first_untaken_info(&m_info);
-    std::cout<<"count is "<<sub->getUnreadCount()<<std::endl;
+//    std::cout<<"count is "<<sub->getUnreadCount()<<std::endl;
 
     if(sub->takeNextData(&st, &m_info))
     {
@@ -202,12 +202,12 @@ void TopicsSubscriber::SubListener::onNewDataMessage(Subscriber* sub)
             // Print your structure data here.
             ++n_msg;
             ncount++;
-            std::cout << "Sample received, count=" << st.counter() <<" total: "<<ncount<<std::endl;
+//            std::cout << "Sample received, count=" << st.counter() <<" total: "<<ncount<<std::endl;
             qint64 timex = QDateTime::currentMSecsSinceEpoch();
             int nlatancy = (timex - st.sendtime());
             if(nlatancy>nmaxlatancy)nmaxlatancy = nlatancy;
-            std::cout<<"  latency is "<<nlatancy<<" max: "<<nmaxlatancy<<std::endl;
-            std::cout<<" size is "<<st.xdata().size()<<std::endl;
+//            std::cout<<"  latency is "<<nlatancy<<" max: "<<nmaxlatancy<<std::endl;
+//            std::cout<<" size is "<<st.xdata().size()<<std::endl;
             QDateTime dt = QDateTime::fromMSecsSinceEpoch(st.sendtime());
             if(mbSetFun) mFun((char *)(st.xdata().data()),st.xdata().size(),st.counter(),&dt,st.msgname().data());
 

src/common/modulecomm/fastrtps/modulecomm_fastrtps_shm.cpp

@@ -3,6 +3,8 @@
 
 #include "modulecomm_impl_shm.h"
 
+
+
 namespace  iv {
 
 
@@ -15,10 +17,14 @@ void modulecomm_fastrtps_shm::RegisterSend(const char *strcommname, const unsign
 {
     modulecomm_impl_shm * pif = new modulecomm_impl_shm(strcommname,modulecomm_impl_shm::type_send);
 
+
+
 //    procsm_if * pif = new procsm_if(strcommname,nBufSize,nMsgBufCount,procsm::ModeWrite);
     mpif = pif;
 }
 
+
+
 void modulecomm_fastrtps_shm::RegisterRecv(const char *strcommname, SMCallBack pCall)
 {
     modulecomm_impl_shm * pif = new modulecomm_impl_shm(strcommname,modulecomm_impl_shm::type_recv);

src/common/modulecomm/fastrtps/modulecomm_fastrtps_shm.h

@@ -3,12 +3,20 @@
 
 #include "modulecomm_impl_shm.h"
 
+
+#include "modulecomm_base.h"
+
+
+
+
+
 namespace iv {
 
 
 
-class modulecomm_fastrtps_shm
+class modulecomm_fastrtps_shm : public modulecomm_base
 {
+
 public:
     modulecomm_fastrtps_shm();
 
@@ -22,6 +30,11 @@ public:
 
 private:
     void * mpif;
+
+
+
+
+
 };
 
 }

src/common/modulecomm/fastrtps/modulecomm_fastrtps_tcp.h

@@ -1,11 +1,13 @@
 #ifndef MODULECOMM_FASTRTPS_TCP_H
 #define MODULECOMM_FASTRTPS_TCP_H
 
+#include "modulecomm_base.h"
+
 #include "modulecomm_impl_tcp.h"
 namespace  iv {
 
 
-class modulecomm_fastrtps_tcp
+class modulecomm_fastrtps_tcp: public modulecomm_base
 {
 public:
     modulecomm_fastrtps_tcp();

src/common/modulecomm/fastrtps/modulecomm_impl_shm.cpp

@@ -8,6 +8,10 @@
 #include <QMutex>
 #include <QFile>
 
+#ifdef Q_OS_LINUX
+#include <unistd.h>
+#endif
+
 namespace iv {
 namespace modulecomm {
 static QMutex gmodulecomm_dds_Mutex;
@@ -90,6 +94,25 @@ modulecomm_impl_shm::modulecomm_impl_shm(const char * strcommname,int ntype )
     std::cout<<"count is "<<iv::modulecomm::createcount<<std::endl;
     iv::modulecomm::gmodulecomm_dds_Mutex.unlock();
 
+    strncpy(mmodulemsg_type.mstrmsgidname,strcommname,255);
+    mmodulemsg_type.mnBufSize = 0;
+    mmodulemsg_type.mnMsgBufCount = 0;
+    strncpy(mmodulemsg_type.mstrmsgname,strcommname,255);
+#ifdef Q_OS_LINUX
+    mmodulemsg_type.mnPID = getpid();
+#endif
+
+#ifdef USEDBUS
+            mmsgres = QDBusMessage::createSignal("/catarc/adc",  "adciv.interface", "modulemsgres");
+            mmsgres<<1;
+
+            bool bconnect = QDBusConnection::sessionBus().connect(QString(),"/catarc/adc",  "adciv.interface", "modulemsgquery",this,SLOT(onQuery()));
+            if(bconnect == false)
+            {
+                std::cout<<"procsm_if_readthread::procsm_if_readthread bconect is false"<<std::endl;
+            }
+#endif
+
 }
 
 int modulecomm_impl_shm::listenmsg(ModuleFun xFun)
@@ -128,6 +151,20 @@ int modulecomm_impl_shm::listenmsg(SMCallBack pCall)
     return 0;
 }
 
+#ifdef USEDBUS
+    void modulecomm_impl_shm::onQuery()
+    {
+        QByteArray ba;
+        ba.append((char *)&mmodulemsg_type,sizeof(iv::modulemsg_type));
+
+        QList<QVariant> x;
+        x<<ba;
+        mmsgres.setArguments(x);
+        QDBusConnection::sessionBus().send(mmsgres);
+    }
+
+#endif
+
 void modulecomm_impl_shm::writemsg(const char *str, int nlen)
 {
     if(mnType == type_recv)

src/common/modulecomm/fastrtps/modulecomm_impl_shm.h

@@ -3,15 +3,24 @@
 
 #include <QDateTime>
 
+#include "ivmodulemsg_type.h"
+
 #include "TopicsPublisher.h"
 #include "TopicsSubscriber.h"
+#include <QObject>
+
+#ifdef USEDBUS
+#include <QtDBus/QDBusMessage>
+#include <QtDBus/QDBusConnection>
 
+#endif
 
 typedef void (* SMCallBack)(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
 
 
-class modulecomm_impl_shm
+class modulecomm_impl_shm : public QObject
 {
+    Q_OBJECT
 public:
     const static int type_send = 1;
     const static int type_recv = 2;
@@ -36,6 +45,19 @@ private:
 
     bool mbFunPlus = false;
 
+    iv::modulemsg_type mmodulemsg_type;
+
+#ifdef USEDBUS
+private slots:
+    void onQuery();
+
+#endif
+private:
+#ifdef USEDBUS
+    QDBusMessage mmsgres;  //Response Message Query;
+
+#endif
+
 };
 
 #endif // MODULECOMM_IMPL_H

src/common/modulecomm/inter/intercomm.cpp

@@ -18,7 +18,7 @@ struct InterListenUnit
 struct interunit
 {
     char strintername[256];
-    char * strdatabuf;
+    char * strdatabuf = NULL;
     int nbufsize = 0;
     int nPacCount;
     QMutex mMutexUnit;
@@ -73,7 +73,7 @@ intercomm::intercomm(const char * strsmname,const unsigned int nBufSize,const un
         else
         {
             p->mMutexUnit.lock();
-            delete p->strdatabuf;
+            if(p->strdatabuf != NULL) delete p->strdatabuf;
             p->strdatabuf = new char[sizeof(procinter_info)+nMaxPacCount*sizeof(procinter_head) + nBufSize];
             p->nPacCount = nMaxPacCount;
             p->nbufsize = nBufSize;

src/common/modulecomm/ivmodulemsg_type.h

@@ -4,9 +4,11 @@
 namespace iv {
 struct modulemsg_type
 {
+    char mstrmsgidname[256];
     char mstrmsgname[256];
     int mnBufSize;
     int mnMsgBufCount;
+    int mnPID;
 };
 
 }

src/common/modulecomm/shm/procsm.cpp

@@ -5,6 +5,9 @@
 #include <algorithm>
 #include "procsm.h"
 
+#ifdef Q_OS_LINUX
+#include <unistd.h>
+#endif
 
 class AttachThread : public QThread
 {
@@ -68,10 +71,14 @@ procsm::procsm(const char * strsmname,const unsigned int nBufSize,const unsigned
 
     if(nMode == ModeWrite)
     {
-
+        strncpy(mmodulemsg_type.mstrmsgidname,strsmname,255);
         mmodulemsg_type.mnBufSize = nBufSize;
         mmodulemsg_type.mnMsgBufCount = nMaxPacCount;
         strncpy(mmodulemsg_type.mstrmsgname,strasmname,255);
+#ifdef Q_OS_LINUX
+        mmodulemsg_type.mnPID = getpid();
+#endif
+
 #ifdef USEDBUS
         mmsg = QDBusMessage::createSignal("/catarc/adc",  "adc.adciv.modulecomm", strsmname);
         mmsg<<1;

src/controller/controller_midcar/controller_midcar.pro

@@ -23,6 +23,7 @@ SOURCES += $$PWD/main.cpp \
     ../../include/msgtype/brainstate.pb.cc \
     ../../include/msgtype/canmsg.pb.cc \
     ../../include/msgtype/canraw.pb.cc \
+    ../../include/msgtype/platform_feedback.pb.cc \
     ../../include/msgtype/remotectrl.pb.cc
 
 include($$PWD/control/control.pri)
@@ -50,6 +51,7 @@ HEADERS += \
     ../../include/msgtype/decition.pb.h \
     ../../include/msgtype/canmsg.pb.h \
     ../../include/msgtype/canraw.pb.h \
+    ../../include/msgtype/platform_feedback.pb.h \
     ../../include/msgtype/remotectrl.pb.h
 
 

src/controller/controller_midcar/main.cpp

@@ -16,16 +16,19 @@
 #include <thread>
 
 #include "remotectrl.pb.h"
+#include "platform_feedback.pb.h"
 
 QMutex gMutex;
 
 void * gpacansend;
 void * gpadecition;
 void * gparemote;
+void * gpaPaltformFeedback;
 
 std::string gstrmemdecition;
 std::string gstrmemcansend;
 std::string gstrmemremote; //Remote Ctrl
+std::string gstrmemPaltformFeedback;
 
 bool gbSendRun = true;
 
@@ -39,6 +42,7 @@ bool gbAutoDriving = true; //if true, Auto Driving, false, remote controll
 bool gbChassisEPS = true;
 
 iv::brain::decition gdecition_remote;
+iv::platformFeedback gPlatformFeedback;
 
 qint64 gLastRemoteTime = 0;
 
@@ -51,7 +55,6 @@ int gnIndex = 0;
 
 boost::shared_ptr<iv::control::Controller> gcontroller;	//实际车辆控制器
 
-
 void executeDecition(const iv::brain::decition decition)
 {
     std::cout<<"acc is "<<decition.torque()<<" ang is "<<decition.wheelangle()<<std::endl;
@@ -66,7 +69,27 @@ void executeDecition(const iv::brain::decition decition)
     gcontroller->control_drive_mode(decition.mode());
     gcontroller->control_elec_brake(decition.handbrake());
     gcontroller->control_brake_light(decition.brakelamp());
-    gcontroller->control_dangwei(decition.gear());
+    gcontroller->control_dangwei(decition.gear()); //0P 1D 2R 3N
+
+    switch (decition.gear()) {
+    case 0:
+        gPlatformFeedback.set_shift(3);  //0N 1D 2R 3P
+        break;
+    case 1:
+        gPlatformFeedback.set_shift(1);  //0N 1D 2R 3P
+        break;
+    case 2:
+        gPlatformFeedback.set_shift(2);  //0N 1D 2R 3P
+        break;
+    case 3:
+        gPlatformFeedback.set_shift(0);  //0N 1D 2R 3P
+        break;
+    default:
+        break;
+    }
+    gPlatformFeedback.set_throttle(decition.torque());
+    gPlatformFeedback.set_brake(decition.brake());
+    gPlatformFeedback.set_steeringwheelangle(decition.wheelangle());
 }
 
 
@@ -87,15 +110,43 @@ void ListenRemotectrl(const char * strdata,const unsigned int nSize,const unsign
     if(xrc.ntype() == iv::remotectrl_CtrlType_AUTO)
     {
         gbAutoDriving = true;
+        gPlatformFeedback.set_typefeedback(iv::platformFeedback::ctrlType::platformFeedback_ctrlType_AUTO);
+    }
+    else if(xrc.ntype() == iv::remotectrl_CtrlType_STOP)
+    {
+        gbAutoDriving = false;
+        gPlatformFeedback.set_typefeedback(iv::platformFeedback::ctrlType::platformFeedback_ctrlType_STOP);
+        xdecition.set_torque(0.0);
+        xdecition.set_brake(100.0);
+        xdecition.set_wheelangle(0.0);
+        xdecition.set_speed(5);
+        xdecition.set_gear(1); //0P 1D 2R 3N
+        xdecition.set_handbrake(0);
+        xdecition.set_grade(1);
+        xdecition.set_mode(1);
+        xdecition.set_speak(0);
+        xdecition.set_headlight(false);
+        xdecition.set_engine(0);
+        xdecition.set_taillight(false);
+        gMutex.lock();
+        gdecition_remote.CopyFrom(xdecition);
+        gMutex.unlock();
+        gLastRemoteTime = QDateTime::currentMSecsSinceEpoch();
     }
     else
     {
         gbAutoDriving = false;
+        gPlatformFeedback.set_typefeedback(iv::platformFeedback::ctrlType::platformFeedback_ctrlType_REMOTE);
         xdecition.set_torque(xrc.acc());
         xdecition.set_brake(xrc.brake());
         xdecition.set_wheelangle(xrc.wheel()*5.5f);
         xdecition.set_speed(5);
-        xdecition.set_gear(1);
+        if(xrc.shift() > 0) //D shift
+            xdecition.set_gear(1); //0P 1D 2R 3N
+        else if(xrc.shift() < 0)
+            xdecition.set_gear(2);
+        else
+            xdecition.set_gear(3);
         xdecition.set_handbrake(0);
         xdecition.set_grade(1);
         xdecition.set_mode(1);
@@ -156,6 +207,16 @@ void ExecSend()
     {
         std::cout<<"MainWindow::onTimer serialize error."<<std::endl;
     }
+
+    int ndatasize_pf = gPlatformFeedback.ByteSize();
+    char * str_pf = new char[ndatasize_pf];
+    std::shared_ptr<char> pstr;pstr.reset(str_pf);
+    if(!gPlatformFeedback.SerializeToArray(str_pf,ndatasize_pf))
+    {
+        std::cout<<"MainWindow::on_horizontalSlider_valueChanged serialize error."<<std::endl;
+        return;
+    }
+    iv::modulecomm::ModuleSendMsg(gpaPaltformFeedback,str_pf,ndatasize_pf);
 }
 
 
@@ -214,6 +275,13 @@ int main(int argc, char *argv[])
     gdecition_def.set_brake(0);
     gdecition_def.set_torque(0);
     gdecition_def.set_speed(105);
+
+    gPlatformFeedback.set_typefeedback(iv::platformFeedback::ctrlType::platformFeedback_ctrlType_AUTO);
+    gPlatformFeedback.set_shift(3);
+    gPlatformFeedback.set_throttle(0.0);
+    gPlatformFeedback.set_brake(0.0);
+    gPlatformFeedback.set_steeringwheelangle(0.0);
+
     gTime.start();
 
     gcontroller = boost::shared_ptr<iv::control::Controller>(new iv::control::Controller());
@@ -223,6 +291,7 @@ int main(int argc, char *argv[])
     gstrmemcansend = xp.GetParam("cansend","cansend0");
     gstrmemdecition = xp.GetParam("dection","deciton");
     gstrmemremote =  xp.GetParam("remotectrl","remotectrl");
+    gstrmemPaltformFeedback = xp.GetParam("paltformFeedback","platformFeedback");
 
     std::string strremote = xp.GetParam("allowremote","true");
     if(strremote == "true")
@@ -237,6 +306,7 @@ int main(int argc, char *argv[])
 
     if(gbAllowRemote)
     {
+        gpaPaltformFeedback = iv::modulecomm::RegisterSend(gstrmemPaltformFeedback.data(),10000,1);
         gparemote = iv::modulecomm::RegisterRecv(gstrmemremote.data(),ListenRemotectrl);
     }
 

src/decition/common/common/car_status.h

@@ -26,6 +26,9 @@
 
 #include "common/tracepointstation.h"
 
+#include "groupmsg.pb.h"
+#include <QMutex>
+
 #define RADAR_OBJ_NUM 64
 
 #ifdef linux
@@ -197,10 +200,14 @@ namespace iv {
         bool useLidarPerPredict = false;
         bool avoidObs = false;
         bool inRoadAvoid = false;
+
+        int mvehState=0;
+        int mavoidX=0;
+        double mObsDistance=0;
+        double mObsSpeed=0;
         //hapo station 2021/02/05
         iv::StationCmd   stationCmd;
 
-
         //对于1+x车辆V2X信息，cxw
         unsigned char rsu_traffic_type=0;//路况信息
         unsigned char rsu_warning_type=0;//碰撞预警信息

src/decition/common/main.cpp

@@ -16,13 +16,14 @@ std::string gstrmemradar;
 std::string gstrmemdecition;
 std::string gstrmembrainstate;
 std::string gstrmemchassis;
+std::string gstrmembraincarstate;
 
 iv::Ivlog * givlog;
 
 
 int main(int argc, char *argv[])
 {
-    //RegisterIVBackTrace();
+    RegisterIVBackTrace();
     showversion("decition_brain");
     QCoreApplication a(argc, argv);
 
@@ -46,6 +47,7 @@ int main(int argc, char *argv[])
     gstrmemdecition = xp.GetParam("dection","deciton");
     gstrmembrainstate = xp.GetParam("brainstate","brainstate");
     gstrmemchassis = xp.GetParam("chassismsgname","chassis");
+    gstrmembraincarstate = xp.GetParam("carstate","carstate");
 
     iv::decition::BrainDecition brain;
     brain.inialize();

src/decition/decition_brain_sf/decition/adc_tools/compute_00.cpp

@@ -235,7 +235,7 @@ int iv::decition::Compute00::getMapDelta(std::vector<GPSData> MapTrace){
 }
 
 
-int iv::decition::Compute00::getPlanSpeed(std::vector<GPSData> MapTrace)
+/*int iv::decition::Compute00::getPlanSpeed(std::vector<GPSData> MapTrace)
 {
                 int mode0to5count=0,mode0to18count=0,mode0to5countSum=0,mode0to18countSum=0,mode18count=0,mode18countSum=0,mode0to5flash=0,mode18flash=0;
                 double straightSpeed=min(ServiceCarStatus.mroadmode_vel.mfmode0,60.0);
@@ -243,25 +243,135 @@ int iv::decition::Compute00::getPlanSpeed(std::vector<GPSData> MapTrace)
                 double Curve_SmallSpeed=min(ServiceCarStatus.mroadmode_vel.mfmode18,15.0);
                 double Curve_LargeSpeed=min(ServiceCarStatus.mroadmode_vel.mfmode14,8.0);
                 getMapDelta(MapTrace);
-                /*for(int i=0;i<doubledata.size();i++)
+//                for(int i=0;i<doubledata.size();i++)
+//                {
+//                    if((doubledata[i][3]>-0.4)&&(doubledata[i][3]<0.4)){
+//                        MapTrace[i]->roadMode=0;
+//                    }else if(((doubledata[i][3]>0.4)&&(doubledata[i][3]<4))||((doubledata[i][3]>-4)&&(doubledata[i][3]<-0.4))){
+//                        MapTrace[i]->roadMode=5;
+//                    }else if(((doubledata[i][3]>4)&&(doubledata[i][3]<10))||((doubledata[i][3]>-10)&&(doubledata[i][3]<-4))){
+//                        MapTrace[i]->roadMode=18;
+//                    }else if(((doubledata[i][3]>10))||((doubledata[i][3]<-10))){
+//                        MapTrace[i]->roadMode=14;
+//                    }
+//                }
+                for(int i=0;i<doubledata.size();i++)
                 {
-                    if((doubledata[i][3]>-0.4)&&(doubledata[i][3]<0.4)){
-                        MapTrace[i]->roadMode=0;
-                    }else if(((doubledata[i][3]>0.4)&&(doubledata[i][3]<4))||((doubledata[i][3]>-4)&&(doubledata[i][3]<-0.4))){
+                    if((doubledata[i][3]>-0.26)&&(doubledata[i][3]<0.26)){
                         MapTrace[i]->roadMode=5;
-                    }else if(((doubledata[i][3]>4)&&(doubledata[i][3]<10))||((doubledata[i][3]>-10)&&(doubledata[i][3]<-4))){
+                    }else if(((doubledata[i][3]>=0.26)&&(doubledata[i][3]<=1.0))||((doubledata[i][3]>=-1.0)&&(doubledata[i][3]<=-0.26))){
                         MapTrace[i]->roadMode=18;
-                    }else if(((doubledata[i][3]>10))||((doubledata[i][3]<-10))){
+                    }else if(((doubledata[i][3]>1.0))||((doubledata[i][3]<-1.0))){
                         MapTrace[i]->roadMode=14;
                     }
-                }*/
+                }
+                for(int i=0;i<MapTrace.size();i++)
+                {
+                    if(MapTrace[i]->roadMode==0){
+                        doubledata[i][4]=straightSpeed;
+                        mode0to5count++;
+                        //mode0to18count++;
+                        mode18count=0;
+                        mode0to5flash=mode0to5count;
+                    }else if(MapTrace[i]->roadMode==5){
+                        doubledata[i][4]=straightCurveSpeed;
+                        mode0to5count++;
+                        //mode0to18count++;
+                        mode18count=0;
+                        mode0to5flash=mode0to5count;
+                    }else if(MapTrace[i]->roadMode==18){
+                        mode0to5countSum=mode0to5count;
+                        doubledata[i][4]=Curve_SmallSpeed;
+
+                        double brake_distance_double=(pow((straightCurveSpeed/3.6),2)-pow((Curve_SmallSpeed/3.6),2))*10/0.6;
+                        int brake_distance=(int)brake_distance_double;
+                        int step_count=0;
+                        if((i>brake_distance)&&(mode0to5countSum>brake_distance))
+                        {
+                            double step_speed=(straightCurveSpeed-Curve_SmallSpeed)/brake_distance;
+
+                            for(int j=i;j>i-brake_distance;j--){
+                                doubledata[j][4]=min((Curve_SmallSpeed+step_count*step_speed),straightCurveSpeed);
+                                step_count++;
+                            }
+                        }else if(mode0to5countSum>0){
+                            for(int j=i;j>=i-mode0to5countSum;j--){
+                                doubledata[j][4]=Curve_SmallSpeed;
+                                step_count++;
+                            }
+                        }else{
+                            doubledata[i][4]=Curve_SmallSpeed;
+                        }
+                        mode0to5count=0;
+                        //mode0to18count++;
+                        mode18count++;
+                        mode18flash=mode18count;
+                    }else if(MapTrace[i]->roadMode==14){
+                        mode0to18countSum=mode0to5flash+mode18flash;
+                        mode18countSum=mode18count;
+                        double brake_distanceLarge_double=(pow((Curve_SmallSpeed/3.6),2)-pow((Curve_LargeSpeed/3.6),2))*10/0.6;
+                        double brake_distance0to18_double=(pow((straightCurveSpeed/3.6),2)-pow((Curve_LargeSpeed/3.6),2))*10/0.6;
+                        int brake_distanceLarge=(int)brake_distanceLarge_double;
+                        int brake_distance0to18=(int)brake_distance0to18_double;
+                        int step_count=0;
+                        doubledata[i][4]=Curve_LargeSpeed;
+
+                        if(mode18countSum>brake_distanceLarge)
+                        {
+                                double step_speed=(Curve_SmallSpeed-Curve_LargeSpeed)/brake_distanceLarge;
+
+                                for(int j=i;j>i-brake_distanceLarge;j--){
+                                    doubledata[j][4]=min((Curve_LargeSpeed+step_count*step_speed),Curve_SmallSpeed);
+                                    step_count++;
+                                }
+
+                        }else if(mode0to18countSum>brake_distance0to18){
+
+                                double step_speed=(straightCurveSpeed-Curve_LargeSpeed)/brake_distance0to18;
+
+                                for(int j=i;j>i-brake_distance0to18;j--){
+                                    doubledata[j][4]=min((Curve_LargeSpeed+step_count*step_speed),straightCurveSpeed);
+                                    step_count++;
+                                }
+                        }else{
+                                doubledata[i][4]=Curve_LargeSpeed;
+                        }
+
+                        mode0to5count=0;
+                        mode18count=0;
+                        mode0to5flash=0;
+                        mode18flash=0;
+                    }
+                }
+
+                for(int i=0;i<MapTrace.size();i++){
+                    //将数据写入文件开始
+                    ofstream outfile;
+                    outfile.open("ctr0108003.txt", ostream::app);
+                    outfile<<"Delta"<< ","  <<doubledata[i][3]<< ","<<"roadMode"<< ","  <<MapTrace[i]->roadMode<< ","
+                           <<"plan_speed"<< ","  << doubledata[i][4]<< ","<<"num,curve"<< ","  <<i<< ","
+                           <<MapTrace[i]->mfCurvature<<endl;
+                    outfile.close();
+                    //将数据写入文件结束
+                }
+
+}*/
+
+int iv::decition::Compute00::getPlanSpeed(std::vector<GPSData> MapTrace)
+{
+                int mode0to5count=0,mode0to18count=0,mode0to5countSum=0,mode0to18countSum=0,mode18count=0,mode18countSum=0,mode0to5flash=0,mode18flash=0;
+                double straightSpeed=min(ServiceCarStatus.mroadmode_vel.mfmode0,60.0);
+                double straightCurveSpeed=min(ServiceCarStatus.mroadmode_vel.mfmode5,40.0);
+                double Curve_SmallSpeed=min(ServiceCarStatus.mroadmode_vel.mfmode18,15.0);
+                double Curve_LargeSpeed=min(ServiceCarStatus.mroadmode_vel.mfmode14,8.0);
+                getMapDelta(MapTrace);
                 for(int i=0;i<doubledata.size();i++)
                 {
-                    if((doubledata[i][3]>-0.26)&&(doubledata[i][3]<0.26)){
+                    if((MapTrace[i]->mfCurvature>-0.02)&&(MapTrace[i]->mfCurvature<0.02)){
                         MapTrace[i]->roadMode=5;
-                    }else if(((doubledata[i][3]>=0.26)&&(doubledata[i][3]<=1.0))||((doubledata[i][3]>=-1.0)&&(doubledata[i][3]<=-0.26))){
+                    }else if(((MapTrace[i]->mfCurvature>=0.02)&&(MapTrace[i]->mfCurvature<=0.16))||((MapTrace[i]->mfCurvature>=-0.16)&&(MapTrace[i]->mfCurvature<=-0.02))){
                         MapTrace[i]->roadMode=18;
-                    }else if(((doubledata[i][3]>1.0))||((doubledata[i][3]<-1.0))){
+                    }else if(((MapTrace[i]->mfCurvature>0.16))||((MapTrace[i]->mfCurvature<-0.16))){
                         MapTrace[i]->roadMode=14;
                     }
                 }
@@ -344,15 +454,16 @@ int iv::decition::Compute00::getPlanSpeed(std::vector<GPSData> MapTrace)
                     }
                 }
 
-//                for(int i=0;i<MapTrace.size();i++){
-//                    //将数据写入文件开始
-//                    ofstream outfile;
-//                    outfile.open("ctr0108003.txt", ostream::app);
-//                    outfile<<"Delta"<< ","  <<doubledata[i][3]<< ","<<"roadMode"<< ","  <<MapTrace[i]->roadMode<< ","
-//                           <<"plan_speed"<< ","  << doubledata[i][4]<< ","<<endl;
-//                    outfile.close();
-//                    //将数据写入文件结束
-//                }
+                /*for(int i=0;i<MapTrace.size();i++){
+                    //将数据写入文件开始
+                    ofstream outfile;
+                    outfile.open("ctr0108003.txt", ostream::app);
+                    outfile<<"Delta"<< ","  <<doubledata[i][3]<< ","<<"roadMode"<< ","  <<MapTrace[i]->roadMode<< ","
+                           <<"plan_speed"<< ","  << doubledata[i][4]<< ","<<"num,curve"<< ","  <<i<< ","
+                           <<MapTrace[i]->mfCurvature<<endl;
+                    outfile.close();
+                    //将数据写入文件结束
+                }*/
 
 }
 

src/decition/decition_brain_sf/decition/brain.cpp

@@ -18,6 +18,7 @@ extern std::string gstrmemdecition;
 extern std::string gstrmembrainstate;
 extern iv::Ivlog * givlog;
 extern std::string gstrmemchassis;
+extern std::string gstrmembraincarstate;
 
 #define LOG_ENABLE
 
@@ -112,6 +113,7 @@ iv::decition::BrainDecition::BrainDecition()
     mpvbox = iv::modulecomm::RegisterRecv("vbox",iv::decition::ListenVbox);
 
     mpaVechicleState = iv::modulecomm::RegisterSend(gstrmembrainstate.data(),10000,10);
+    mpaCarstate= iv::modulecomm::RegisterSend(gstrmembraincarstate.data(),10000,10);
 
     mpfusion = iv::modulecomm::RegisterRecv("li_ra_fusion",ListenFusion);
 
@@ -134,6 +136,10 @@ iv::decition::BrainDecition::BrainDecition()
     ModuleFun funchassis =std::bind(&iv::decition::BrainDecition::UpdateChassis,this,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
     void * pa = iv::modulecomm::RegisterRecvPlus(gstrmemchassis.data(),funchassis);
 
+
+    ModuleFun fungroupgrpc =std::bind(&iv::decition::BrainDecition::UpdateGRPCGroupMsg,this,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
+    mapgrpcgroup = iv::modulecomm::RegisterRecvPlus("groupmsg",fungroupgrpc);
+
     mpaPlanTrace = iv::modulecomm::RegisterSend("plantrace",100000,1);
     mpaObsTraceLeft = iv::modulecomm::RegisterSend("obstraceleft",100000,1);
     mpaObsTraceRight = iv::modulecomm::RegisterSend("obstraceright",100000,1);
@@ -381,6 +387,8 @@ void iv::decition::BrainDecition::run() {
     std::string strexternmpc = xp.GetParam("ExternMPC","false");  //If Use MPC set true
     std::string lidar_per_predict = xp.GetParam("lidarPP","false");  //If Use MPC set true
 
+    std::string groupID = xp.GetParam("groupid","1");
+    ServiceCarStatus.curID = atoi(groupID.data());
 
      adjuseGpsLidarPosition();
 
@@ -772,8 +780,7 @@ void iv::decition::BrainDecition::run() {
             mMutexMap.lock();
             decition_gps = decitionGps00->getDecideFromGPS(*gps_data_, navigation_data, templidar,*lidar_per,trafficLight);  // my dicition=============================
 //            free(templidar);
-            mMutexMap.unlock();
-
+            mMutexMap.unlock();                  
             if(mbUseExternMPC)
             {
                 fanya::GPS_INS xgpsins;
@@ -829,6 +836,15 @@ void iv::decition::BrainDecition::run() {
             //                decitionExecuter->executeDecition(decition_gps);
             ShareDecition(decition_gps);
 
+
+
+            iv::brain::carstate car_xbs;
+            car_xbs.set_mstate(ServiceCarStatus.mvehState);
+            car_xbs.set_mavoidx(ServiceCarStatus.mavoidX);
+            car_xbs.set_mobsdistance(ServiceCarStatus.mObsDistance);
+            car_xbs.set_mobsspeed(ServiceCarStatus.mObsSpeed);
+            ShareBraincarstate(car_xbs);
+
             givlog->debug("acc is %f brake is %f wheel is %f",
                           decition_gps->accelerator,decition_gps->brake,
                           decition_gps->wheel_angle);
@@ -1205,15 +1221,15 @@ void iv::decition::BrainDecition::ShareDecition(iv::decition::Decition decition)
     xdecition.set_engine(decition->engine);
     xdecition.set_brakelamp(decition->brakeLight);
     xdecition.set_ttc(ServiceCarStatus.mfttc);
-    xdecition.set_air_enable(decition->air_enable);
-    xdecition.set_air_temp(decition->air_temp);
-    xdecition.set_air_mode(decition->air_mode);
-    xdecition.set_wind_level(decition->wind_level);
+//    xdecition.set_air_enable(decition->air_enable);
+//    xdecition.set_air_temp(decition->air_temp);
+//    xdecition.set_air_mode(decition->air_mode);
+//    xdecition.set_wind_level(decition->wind_level);
     xdecition.set_roof_light(decition->roof_light);
     xdecition.set_home_light(decition->home_light);
-    xdecition.set_air_worktime(decition->air_worktime);
-    xdecition.set_air_offtime(decition->air_offtime);
-    xdecition.set_air_on(decition->air_on);
+//    xdecition.set_air_worktime(decition->air_worktime);
+//    xdecition.set_air_offtime(decition->air_offtime);
+//    xdecition.set_air_on(decition->air_on);
     xdecition.set_door(decition->door);
     xdecition.set_dippedlight(decition->nearLight);
 
@@ -1224,25 +1240,25 @@ void iv::decition::BrainDecition::ShareDecition(iv::decition::Decition decition)
         <<std::endl;
     std::cout<<"========================================="<<std::endl;
 
-    givlog->verbose("torque_st: %ld",ServiceCarStatus.torque_st);
-     givlog->verbose("decideTorque: %ld",decition->torque);
-     givlog->verbose("decideBrake: %ld", decition->brake);
-     givlog->debug("wheelAng: %f",decition->wheel_angle);
+//    givlog->verbose("torque_st: %ld",ServiceCarStatus.torque_st);
+//     givlog->verbose("decideTorque: %ld",decition->torque);
+//     givlog->verbose("decideBrake: %ld", decition->brake);
+//     givlog->debug("wheelAng: %f",decition->wheel_angle);
 
    //  xdecition.set_wheelangle(100);
     static qint64 oldtime;
 
     if((QDateTime::currentMSecsSinceEpoch() - oldtime)>100)
     {
-        givlog->warn("brain interval is more than 100ms.  value is %ld",QDateTime::currentMSecsSinceEpoch() - oldtime);
+//        givlog->warn("brain interval is more than 100ms.  value is %ld",QDateTime::currentMSecsSinceEpoch() - oldtime);
     }
 
-    givlog->verbose("decition time is %ld",QDateTime::currentMSecsSinceEpoch());
+    //givlog->verbose("decition time is %ld",QDateTime::currentMSecsSinceEpoch());
     oldtime = QDateTime::currentMSecsSinceEpoch();
 
 
-    givlog->verbose("torque %f wheel %f dangwei %d ",decition->torque,
-                    decition->wheel_angle,decition->dangWei);
+    //givlog->verbose("torque %f wheel %f dangwei %d ",decition->torque,
+                    //decition->wheel_angle,decition->dangWei);
     int nsize = xdecition.ByteSize();
     char * str = new char[nsize];
     std::shared_ptr<char> pstr;
@@ -1277,6 +1293,24 @@ void iv::decition::BrainDecition::ShareBrainstate(iv::brain::brainstate xbs)
     }
 }
 
+void iv::decition::BrainDecition::ShareBraincarstate(iv::brain::carstate xbs)
+{
+    int nsize = xbs.ByteSize();
+    char * str = new char[nsize];
+    std::shared_ptr<char> pstr;
+    pstr.reset(str);
+    if(xbs.SerializeToArray(str,nsize))
+    {
+        iv::modulecomm::ModuleSendMsg(mpaCarstate,str,nsize);
+    }
+    else
+    {
+        std::cout<<"iv::decition::BrainDecition::ShareBrainstate serialize error."<<std::endl;
+    }
+}
+
+
+
 void iv::decition::BrainDecition::UpdateHMI(const char *pdata, const int ndatasize)
 {
     if(ndatasize < sizeof(iv::hmi::HMIBasic))return;
@@ -1339,6 +1373,31 @@ void iv::decition::BrainDecition::UpdatePlatform(const char *pdata, const int nd
 
 }
 
+void iv::decition::BrainDecition::UpdateGRPCGroupMsg(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
+{
+    iv::group::groupinfo xgroupinfo;
+    if(!xgroupinfo.ParseFromArray(strdata,nSize))
+    {
+        std::cout<<"iv::decition::BrainDecition::UpdateGRPCGroupMsg parse fail."<<std::endl;
+        return;
+    }
+
+    int nvehsize = xgroupinfo.mvehinfo_size();
+
+    mMutexGroupgrpc.lock();
+    mnGroupgrpcUpdateTime = QDateTime::currentMSecsSinceEpoch();
+    mgroupgrpcInfo.CopyFrom(xgroupinfo);
+
+    mMutexGroupgrpc.unlock();
+
+    ServiceCarStatus.mMutexgroupgrpc.lock();
+    ServiceCarStatus.mgroupgrpcupdatetime = QDateTime::currentMSecsSinceEpoch();
+    ServiceCarStatus.mgroupgrpcinfo.CopyFrom(xgroupinfo);
+    ServiceCarStatus.mMutexgroupgrpc.unlock();
+
+
+}
+
 void iv::decition::BrainDecition::UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
 {
     iv::chassis xchassis;

src/decition/decition_brain_sf/decition/brain.h

@@ -45,6 +45,8 @@
 #include "ivlog.h"
 #include "formation_map.pb.h"
 #include "vbox.pb.h"
+#include "carstate.pb.h"
+#include "groupmsg.pb.h"
 
 #include "fanyaapi.h"
 
@@ -138,10 +140,12 @@ namespace iv {
             void * mpaPlanTrace;
             void * mpaObsTraceLeft;
             void * mpaObsTraceRight;
+            void * mpaCarstate;
 
 
             void ShareDecition(iv::decition::Decition decition);
             void ShareBrainstate(iv::brain::brainstate xbs);
+            void ShareBraincarstate(iv::brain::carstate xbs);
 
         private:
             void * mpaHMI;
@@ -175,6 +179,12 @@ namespace iv {
 //            Adcivstatedb * mpasd;
             void UpdateChassis(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
             void adjuseGpsLidarPosition();
+            void UpdateGRPCGroupMsg(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
+
+            iv::group::groupinfo mgroupgrpcInfo;
+            qint64 mnGroupgrpcUpdateTime = 0;
+            QMutex mMutexGroupgrpc;
+            void * mapgrpcgroup;
 
             fanyaapi mmpcapi;
 

src/decition/decition_brain_sf/decition/decide_gps_00.cpp

@@ -25,7 +25,7 @@ using namespace std;
 extern iv::Ivlog * givlog;
 
 #define PI (3.1415926535897932384626433832795)
-
+#define AVOID_NEW 1
 iv::decition::DecideGps00::DecideGps00() {
 
 }
@@ -104,7 +104,8 @@ int obsLostTimeAvoid = 0;
 
 // double avoidTime = 0;
 
-
+int avoidXNewPre=0;
+int avoidXNew=0;
 double avoidX =0;
 int    turnLampFlag=0;  //  if <0:left , if >0:right
 float roadWidth = 3.5;
@@ -166,6 +167,8 @@ double traceDevi;
 bool startingFlag = true;  //起步标志，在起步时需要进行frenet规划。
 bool useFrenet = false;    //标志是否启用frenet算法避障
 bool useOldAvoid = true;   //标志是否用老方法避障
+bool front_car_decide_avoid=true;  //前后车距大于30米，后车允许根据自己障碍物情况避障，否则只能听从前车
+bool road_permit_avoid=false;  //true: 道路允许避障，false:道路不允许避障
 
 std::vector<std::vector<double>> doubledata;//大地坐标系下x,y,phi,delta，速度规划用变量
 
@@ -192,8 +195,12 @@ std::vector<iv::Point2D> traceOriLeft,traceOriRight;
 bool qiedianCount = false;
 
 static int obstacle_avoid_flag=0;
+static int front_car_id=-1;
+
 //日常展示
 
+#include <QDateTime>
+
 iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_gps_ins,
                                                                    const std::vector<GPSData> gpsMapLine,
                                                                    iv::LidarGridPtr lidarGridPtr,
@@ -206,6 +213,62 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     Decition gps_decition(new DecitionBasic);
     //    vector<iv::Point2D> fpTraceTmp;
 
+    bool bgroupgrpc = false;
+    qint64 ngrpcvalid = 3000;
+    iv::group::groupinfo xgroupgrpcinfo;
+    if((QDateTime::currentMSecsSinceEpoch() - ServiceCarStatus.mgroupgrpcupdatetime ) < ngrpcvalid)
+    {
+        ServiceCarStatus.mMutexgroupgrpc.lock();
+        xgroupgrpcinfo.CopyFrom(ServiceCarStatus.mgroupgrpcinfo);
+        ServiceCarStatus.mMutexgroupgrpc.unlock();
+        bgroupgrpc = true;
+    }
+    if((bgroupgrpc==true)&&(ServiceCarStatus.curID>1)){
+        for(int i=0;i<xgroupgrpcinfo.mvehinfo_size();i++){
+            if((xgroupgrpcinfo.mutable_mvehinfo(i)->intragroupid()+1)==ServiceCarStatus.curID){
+                        front_car_id=xgroupgrpcinfo.mutable_mvehinfo(i)->intragroupid();
+            }
+        }
+    }else{
+                        front_car_id=-1;
+    }
+
+    if(front_car_id>0){
+       if(xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->has_mgpsimu()){
+          front_car.front_car_ins.gps_lat=xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->mgpsimu().lat();
+          front_car.front_car_ins.gps_lng=xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->mgpsimu().lon();
+          front_car.front_car_ins.ins_heading_angle=xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->mgpsimu().heading();
+          GaussProjCal(front_car.front_car_ins.gps_lng,front_car.front_car_ins.gps_lat, &front_car.front_car_ins.gps_x, &front_car.front_car_ins.gps_y);
+          front_car.front_car_dis=GetDistance(now_gps_ins,front_car.front_car_ins);
+       }else{
+          front_car.front_car_dis=500;
+       }
+       if(xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->has_mcarstate()){
+           front_car.vehState=xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->mcarstate().mstate();
+           int avoidX_record=xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->mcarstate().mavoidx();
+           if(front_car.vehState!=0&&avoidX_record!=0)
+                 front_car.avoidX=avoidX_record;
+           else
+                 front_car.avoidX=0;
+           front_car.obs_distance=xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->mcarstate().mobsdistance();
+           front_car.obs_speed=xgroupgrpcinfo.mutable_mvehinfo(front_car_id)->mcarstate().mobsspeed();
+       }
+       givlog->debug("decition_brain","front_car_id: %d,FrontState: %d,FrontAvoidX: %d,FrontDis: %f,FrontObs: %f",
+                       front_car_id,front_car.vehState,front_car.avoidX,front_car.front_car_dis,front_car.obs_distance);
+    }
+
+    if(front_car_id>0){
+        if(front_car.front_car_dis>30){
+            front_car_decide_avoid=true;
+        }else if((front_car.front_car_dis<=30)&&(front_car.avoidX==0)){
+            front_car_decide_avoid=false;
+        }else if((front_car.front_car_dis<=30)&&(front_car.avoidX!=0)){
+            front_car_decide_avoid=true;
+        }
+    }else{
+        front_car_decide_avoid=true;
+    }
+
 
 
 
@@ -278,10 +341,13 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         roadNowStart=true;
         isFirstRun = false;
         obstacle_avoid_flag=0;
+        avoidXNew=0;
 
         givlog->debug("decition_brain_bool","DoorTimeStart: %d,current: %d",
                         0,0);
     }
+    ServiceCarStatus.mvehState=vehState;
+    ServiceCarStatus.mavoidX=avoidXNew;
 
 
     if(ServiceCarStatus.msysparam.gpsOffset_y!=0 || ServiceCarStatus.msysparam.gpsOffset_x!=0){
@@ -923,6 +989,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     obsDistanceAvoid = -1;
     esrIndexAvoid = -1;
     roadPre = -1;
+    avoidXNewPre=0;
     //dSpeed = ServiceCarStatus.mroadmode_vel.mfmode0;
 
     gpsTraceOri.clear();
@@ -977,7 +1044,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
                         double nowspeed = realspeed/3.6;
                         if((distoend<10)||(distoend<(nowspeed*nowspeed)))
                         {
-                            if(distoend == 0.0)distoend = 0.1;
+                            if(distoend == 0.0)distoend = 0.09;
                             acc_end = (-1.0)*nowspeed*nowspeed/(2.0*distoend);
                             if(acc_end<(-3.0))acc_end = -3.0;
                         }
@@ -1052,6 +1119,20 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     }else{
          gpsMapLine[PathPoint]->runMode=0;
     }
+
+#ifdef AVOID_NEW
+    if(obstacle_avoid_flag==1){
+
+    }else{
+        avoidXNew=0;
+        roadNow = roadOri;
+        if(vehState==backOri){
+            vehState=normalRun;
+        }
+    }
+    givlog->debug("decition_brain","avoidXNew: %d",
+                    avoidXNew);
+#else
     if(obstacle_avoid_flag==1){
         avoidX=computeAvoidX(roadNow,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
     }else{
@@ -1061,6 +1142,8 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
             vehState=normalRun;
         }
     }
+#endif
+
     if ( gpsMapLine[PathPoint]->runMode == 0 &&(vehState == avoidObs||vehState ==stopObs||vehState == preAvoid
                                                 ||vehState == avoiding||vehState == backOri||vehState ==preBack||vehState ==waitAvoid ) )
     {
@@ -1131,6 +1214,33 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         }
     }
 
+#ifdef AVOID_NEW
+    if(gpsTraceNow.size()==0){
+        if (avoidXNew==0)
+        {
+            if(vehState == backOri)
+            {
+                gpsTraceNow.assign(gpsTraceOri.begin(), gpsTraceOri.end());
+                getGpsTraceNowLeftRight(gpsTraceNow);
+            }
+            else{
+            gpsTraceNow.assign(gpsTraceOri.begin(), gpsTraceOri.end());
+            gpsTraceNowLeft.assign(traceOriLeft.begin(),traceOriLeft.end());
+            gpsTraceNowRight.assign(traceOriRight.begin(),traceOriRight.end());
+            }
+        }else
+        {
+            if((vehState == avoiding)||(vehState == backOri))
+            {
+                gpsTraceNow.assign(gpsTraceOri.begin(), gpsTraceOri.end());
+                getGpsTraceNowLeftRight(gpsTraceNow);
+            }else{
+                gpsTraceNow = getGpsTraceOffset(gpsTraceOri, avoidXNew);
+                getGpsTraceNowLeftRight(gpsTraceNow);
+            }
+        }
+    }
+#else
     if(gpsTraceNow.size()==0){
         if (roadNow==roadOri)
         {
@@ -1161,6 +1271,10 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         }
     }
 
+#endif
+
+
+
     if(vehState==normalRun)
     {
         if(gpsTraceNow.size()>200){
@@ -1397,11 +1511,17 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         dSpeed = min(25.0,dSpeed);
 
     }
-
+#ifdef AVOID_NEW
+    if((vehState==avoiding)||(vehState==backOri)||(avoidXNew!=0)||(vehState==preAvoid))
+    {
+        dSpeed = min(8.0,dSpeed);
+    }
+#else
     if((vehState==avoiding)||(vehState==backOri)||(roadNow != roadOri)||(vehState==preAvoid))
     {
         dSpeed = min(8.0,dSpeed);
     }
+#endif
 
     if((gpsMapLine[PathPoint]->speed)>0.001)
     {
@@ -1496,6 +1616,9 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         computeObsOnRoad(lidarGridPtr, gpsTraceNow, roadNow,gpsMapLine,lidar_per);
         //  obsDistance=-1; //1227
     }
+    ServiceCarStatus.mObsDistance=obsDistance;
+    ServiceCarStatus.mObsSpeed=obs_speed_for_avoid;
+
     //old_bz--------------------------------------------------------------------------------------------------
 
     if (vehState == avoiding)
@@ -1558,9 +1681,47 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         }
     }
 
+
     std::cout<<"\n原始RoadOri:%d\n"<<roadOri<<endl;
     //   计算回归原始路线
+#ifdef AVOID_NEW
+    int avoidXPre=20;
+    if (avoidXNew!=0)
+    {
+        if(useOldAvoid){
+            int avoidLeft_value=0;
+            int avoidRight_value=0;
+            int* avoidLeft_p=&avoidLeft_value;
+            int* avoidRight_p=&avoidRight_value;
+            computeAvoidBoundary(roadOri,roadSum,gpsMapLine[PathPoint]->mfLaneWidth,ServiceCarStatus.msysparam.vehWidth,avoidLeft_p,avoidRight_p);
+            avoidXPre=computeBackDistance(lidarGridPtr,now_gps_ins, gpsMapLine,lidar_per,avoidLeft_value,avoidRight_value,avoidXNew);
+            givlog->debug("decition_brain","vehState: %d,roadOri: %d,roadSum: %d,vehWidth: %f,avoidLeft: %d,avoidRight_value: %d,avoidXNewPre: %d",
+                            vehState,roadOri,roadSum,ServiceCarStatus.msysparam.vehWidth,avoidLeft_value,avoidRight_value,avoidXPre);
+        }
+    }
+    if ((avoidXNew!=0 && avoidXPre!=20))
+    {
+
+        if((avoidXPre-avoidXNew)<0)
+            turnLampFlag<0;
+        else if((avoidXPre-avoidXNew)>0)
+            turnLampFlag>0;
+        else
+            turnLampFlag=0;
+
 
+        //double back_offset=avoidXPre-avoidXNew;
+        if(useOldAvoid){
+            gpsTraceAvoidXY.clear();
+            gpsTraceAvoidXY = getGpsTraceOffsetBackOri(gpsTraceOri, avoidXPre,now_gps_ins,gpsTraceNow);
+            startBackGpsIns = now_gps_ins;
+        }
+        vehState = backOri;
+        avoidXNew=0;
+        hasCheckedBackLidar = false;
+
+    }
+#else
     if ((roadNow!=roadOri))
     {
         if(useFrenet){
@@ -1608,6 +1769,8 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         cout<<"\n回归RoadNum:%d\n"<< roadNow<<endl;
 
     }
+#endif
+
 
     static bool avoid_speed_flag=false;
     /*if(obsDistance>0&& (obsDistance<ServiceCarStatus.aocfDis+10)&&(abs(realspeed)>0.5)&&
@@ -1618,11 +1781,21 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         avoid_speed_flag=true;
     }*/
 
+    road_permit_avoid=false;
+    if(PathPoint+600<gpsMapLine.size()){
+        int road_permit_sum=0;
+        for(int k=PathPoint;k<PathPoint+600;k++){
+                if((gpsMapLine[k]->mbnoavoid==false)&&(gpsMapLine[k]->roadSum>1))
+                                 road_permit_sum++;
+        }
+        if(road_permit_sum>=600)
+            road_permit_avoid=true;
+    }
 
     //shiyanbizhang 0929
     if(obsDistance>0&& (obsDistance<ServiceCarStatus.aocfDis)&&(obs_speed_for_avoid>-8.0)&&(obs_speed_for_avoid<3.0)&&(realspeed>1)//&& (avoid_speed_flag==true)        //
             &&(vehState==normalRun||vehState==backOri || vehState==avoiding) //&&(ObsTimeStart==-1)
-            && (gpsMapLine[PathPoint]->runMode==1)&&(gpsMapLine[PathPoint]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=3000)&&(gpsMapLine[PathPoint+100]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=23)){
+            && (gpsMapLine[PathPoint]->runMode==1)&& (road_permit_avoid==true)&&(gpsMapLine[PathPoint]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=3000)&&(gpsMapLine[PathPoint+100]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=23)){
 //        ObsTimeStart=GetTickCount();
         ObsTimeEnd+=1.0;
         //dSpeed = min(6.0,dSpeed);
@@ -1662,7 +1835,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         cout<<"\n====================preAvoid time count finish==================\n"<<endl;
     }
 
-    if(obsDistance<0 ||obsDistance>ServiceCarStatus.aocfDis){
+    if((obsDistance<0 ||obsDistance>ServiceCarStatus.aocfDis)||(road_permit_avoid==false)||(front_car_decide_avoid==false)){
         ObsTimeStart=-1;
         ObsTimeEnd=-1;
         ObsTimeSpan=-1;
@@ -1712,7 +1885,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     {
         cout<<"\n====================preAvoid==================\n"<<endl;
         /* if (obsDisVector[roadNow]>30)*/  //if (obsDisVector[roadNow]>30||obsDisVector[roadNow]<0)
-        if (obsDisVector[roadNow]>ServiceCarStatus.aocfDis)
+        if (obsDistance>ServiceCarStatus.aocfDis)
         {
             // vehState = avoidObs; 0929
             vehState=normalRun;
@@ -1721,9 +1894,26 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         {
             //roadPre = chooseAvoidRoad(lidarGridPtr, now_gps_ins,gpsMapLine);
             if(useOldAvoid){
+#ifdef AVOID_NEW
+                int avoidLeft_value=0;
+                int avoidRight_value=0;
+                int* avoidLeft_p=&avoidLeft_value;
+                int* avoidRight_p=&avoidRight_value;
+                computeAvoidBoundary(roadOri,roadSum,gpsMapLine[PathPoint]->mfLaneWidth,ServiceCarStatus.msysparam.vehWidth,avoidLeft_p,avoidRight_p);
+                //computeAvoidBoundary(0,2,4.5,2.4,avoidLeft_p,avoidRight_p);
+                //avoidLeft_value=-5;
+                //avoidRight_value=0;
+                avoidXNewPre=computeAvoidXDistance(lidarGridPtr,now_gps_ins, gpsMapLine,lidar_per,avoidLeft_value,avoidRight_value);
+                givlog->debug("decition_brain","vehState: %d,roadOri: %d,roadSum: %d,vehWidth: %f,avoidLeft: %d,avoidRight_value: %d,avoidXNewPre: %d",
+                                vehState,roadOri,roadSum,ServiceCarStatus.msysparam.vehWidth,avoidLeft_value,avoidRight_value,avoidXNewPre);
+                givlog->debug("decition_brain","avoidXNewPre1: %d",avoidXNewPre);
+
+#else
                 roadPre = chooseAvoidRoad(lidarGridPtr, now_gps_ins,gpsMapLine,lidar_per);
               //  avoidX = (roadOri - roadNow)*roadWidth;  //1012
                  avoidX=computeAvoidX(roadNow,roadOri,gpsMapLine[PathPoint],ServiceCarStatus.msysparam.vehWidth);
+
+#endif
             }
             else if(useFrenet){
                 double offsetL = -(roadSum - 1)*roadWidth;
@@ -1731,6 +1921,34 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
                 roadPre = frenetPlanner->chooseRoadByFrenet(now_gps_ins,gpsMapLine,PathPoint,offsetL,offsetR,lidarGridPtr,roadNow);
             }
 
+
+
+#ifdef AVOID_NEW
+            if (avoidXNewPre ==0 && obsDistance<1.5 && obsDistance>0)
+            {
+                vehState = avoidObs;
+            }
+            else if (avoidXNewPre != 0)
+            {
+                if(useOldAvoid){
+                    avoidXNew=avoidXNewPre;
+                     if(avoidXNew<0)
+                         turnLampFlag<0;
+                     else if(avoidXNew>0)
+                         turnLampFlag>0;
+                     else
+                         turnLampFlag=0;
+
+                    gpsTraceNow.clear();
+                    gpsTraceAvoidXY.clear();
+                    gpsTraceAvoidXY = getGpsTraceOffsetAvoid(gpsTraceOri, avoidXNew,now_gps_ins);
+                    startAvoidGpsIns = now_gps_ins;
+                }
+                vehState = avoiding;
+                obstacle_avoid_flag=1;
+                hasCheckedAvoidLidar = false;
+            }
+#else
             if (roadPre == -1 && obsDisVector[roadNow]<1.5 && obsDisVector[roadNow]>0)
             {
                 //  vehState = waitAvoid; 0929
@@ -1776,6 +1994,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
                 cout<<"\n避障到RoadNum:%d\n"<<roadNow<<endl;
 
             }
+#endif
         }
     }
 
@@ -3949,3 +4168,182 @@ double iv::decition::DecideGps00::computeDistToEnd(const std::vector<GPSData> gp
     }
     return dist_to_end;
 }
+
+void iv::decition::DecideGps00::computeAvoidBoundary(int roadOriginal,int roadSumMap,double roadWidthEvery,double vehicleWidth,int* avoidXLeft, int* avoidXRight ){
+
+    double RightBoundary=(((double)roadOriginal+0.5)*roadWidthEvery-vehicleWidth/2);
+    *avoidXRight=((int)RightBoundary);
+    double LeftBoundary=(((double)(roadSumMap-roadOriginal-1)+0.5)*roadWidthEvery-vehicleWidth/2);
+    *avoidXLeft=(-(int)LeftBoundary);
+}
+
+int iv::decition::DecideGps00::computeAvoidXDistance(iv::LidarGridPtr lidarGridPtr, GPS_INS now_gps_ins, const std::vector<GPSData> gpsMapLine,std::vector<iv::Perception::PerceptionOutput> lidar_per,int avoidLeft,int avoidRight) {
+
+    int signed_record_avoidX=0,record_avoidX=20;
+    double obs_cur_distance=500,record_obstacle_distance;
+
+    obs_property.clear();
+    for (int i =  avoidLeft; i <= avoidRight; i++)
+    {
+        obsvalue x_value;
+        obsvalue *x=&x_value;
+        x_value.avoid_distance=i;
+        gpsTraceAvoid.clear();
+        gpsTraceAvoid = getGpsTraceOffset(gpsTraceOri, i);
+        computeObsOnRoadNew(lidarGridPtr, gpsTraceAvoid, i,gpsMapLine,lidar_per,x);
+        obs_property.push_back(x_value);
+        if(i==0)
+            obs_cur_distance=x_value.obs_distance;
+        givlog->debug("decition_brain","i: %d,obs:%f",x_value.avoid_distance,x_value.obs_distance);
+    }
+
+    if (lidarGridPtr!=NULL)
+    {
+        hasCheckedAvoidLidar = true;
+    }
+
+    for(int j=0;j<obs_property.size();j++){
+        if(obs_property[j].obs_distance>100){
+                if(abs(obs_property[j].avoid_distance)<record_avoidX){
+                        record_avoidX=abs(obs_property[j].avoid_distance);
+                        signed_record_avoidX=obs_property[j].avoid_distance;
+                }
+        }
+    }
+
+   if((signed_record_avoidX<0)&&(signed_record_avoidX-1>=avoidLeft))
+   {
+          int obs_test=abs(signed_record_avoidX)-1;
+
+          if(obs_property[obs_test].obs_distance>100){
+                    signed_record_avoidX-=1;
+                    givlog->debug("decition_brain","singrecord_Y: %d",signed_record_avoidX);
+          }
+   }
+   if(front_car_id>0){
+           if((obs_cur_distance<50)&&(front_car.front_car_dis<30)&&(front_car_decide_avoid==true)){
+                    signed_record_avoidX=front_car.avoidX;
+                    return signed_record_avoidX;
+           }
+
+           if((obs_cur_distance<50)&&(front_car.front_car_dis<150)&&(front_car.avoidX!=0||front_car.vehState!=0)){
+                    signed_record_avoidX=front_car.avoidX;
+                    return signed_record_avoidX;
+           }
+   }
+
+    if((signed_record_avoidX!=0)&&(obs_cur_distance<50))
+    {
+
+                        avoidMinDistance= obs_cur_distance + 2*ServiceCarStatus.msysparam.vehLenth;
+                        startAvoidGps=now_gps_ins;
+                        return signed_record_avoidX;
+    }
+    return 0;
+}
+
+void iv::decition::DecideGps00::computeObsOnRoadNew(iv::LidarGridPtr lidarGridPtr, std::vector<Point2D> gpsTrace, int roadNum,
+                                                 const std::vector<GPSData> gpsMapLine, std::vector<iv::Perception::PerceptionOutput> lidar_per,obsvalue* obsva) {
+
+    double obs=-1,obsSd=-1;
+
+    if (lidarGridPtr == NULL)
+    {
+        lidarDistance = lastLidarDis;
+    }
+    else {
+        obsPoint = Compute00().getLidarObsPoint(gpsTrace, lidarGridPtr);
+        float lidarXiuZheng=0;
+        if(!ServiceCarStatus.useMobileEye){
+            lidarXiuZheng=0-ServiceCarStatus.msysparam.frontGpsXiuzheng;
+        }
+        lidarDistance = obsPoint.y + lidarXiuZheng;   //激光距离推到车头  gjw20191110 lidar
+        if (lidarDistance<0)
+        {
+            lidarDistance = -1;
+        }
+        lastLidarDis = lidarDistance;
+    }
+
+    if(lidarDistance<0){
+        lidarDistance=500;
+    }
+
+
+    ServiceCarStatus.mLidarObs = lidarDistance;
+    obs = lidarDistance;
+    obsSd= obsPoint.obs_speed_y;
+
+    ServiceCarStatus.mObs = obsDistance;
+    if(ServiceCarStatus.mObs>100){
+        ServiceCarStatus.mObs =-1;
+    }
+
+    if (obsDistance>0)
+    {
+        lastDistance = obsDistance;
+    }
+
+    if(obs<0){
+        obsva->obs_distance=500;
+    }else{
+        obsva->obs_distance=obs;
+    }
+}
+
+int iv::decition::DecideGps00::computeBackDistance(iv::LidarGridPtr lidarGridPtr, GPS_INS now_gps_ins, const std::vector<GPSData> gpsMapLine,std::vector<iv::Perception::PerceptionOutput> lidar_per,int avoidLeft,int avoidRight,int avoidXNow) {
+
+    obs_property.clear();
+    double record_avoidX=20,signed_record_avoidX=0,obs_cur_distance=500;
+    for (int i =  avoidLeft; i <= avoidRight; i++)
+    {
+        obsvalue x_value;
+        obsvalue *x=&x_value;
+        x_value.avoid_distance=i;
+        gpsTraceBack.clear();
+        gpsTraceBack = getGpsTraceOffset(gpsTraceOri, i);
+        computeObsOnRoadNew(lidarGridPtr, gpsTraceBack, i,gpsMapLine,lidar_per,x);
+        obs_property.push_back(x_value);
+        if(i==0)
+            obs_cur_distance=x_value.obs_distance;
+        givlog->debug("decition_brain","i: %d,obs:%f",x_value.avoid_distance,x_value.obs_distance);
+
+    }
+
+    if (lidarGridPtr!=NULL)
+    {
+        hasCheckedAvoidLidar = true;
+    }
+
+//    if((obs_cur_distance>100)&&(GetDistance(now_gps_ins, startAvoidGps)>max(avoidMinDistance,40.0)))
+//                        return 0;
+    if(front_car_id>0)
+    {
+        if((front_car.avoidX==0)&&(front_car.vehState==0)&&(front_car.front_car_dis<150)&&(vehState==normalRun)&&(obs_cur_distance>15))
+        {
+            if(PathPoint+300<gpsMapLine.size()){
+                for(int k=PathPoint;k<PathPoint+300;k++){
+                        if((gpsMapLine[k]->mfCurvature>0.02))
+                                         return 20;
+                }
+                return 0;
+            }
+        }
+    }
+    if((obs_cur_distance>100)&&(GetDistance(now_gps_ins, startAvoidGps)>max(avoidMinDistance,40.0)))
+    {
+        if(PathPoint+300<gpsMapLine.size()){
+            for(int k=PathPoint;k<PathPoint+300;k++){
+                    if((gpsMapLine[k]->mfCurvature>0.02))
+                                     return 20;
+            }
+            return 0;
+        }
+    }
+
+    return 20;
+}
+
+
+
+

src/decition/decition_brain_sf/decition/decide_gps_00.h

@@ -19,8 +19,7 @@
 #include "perception/perceptionoutput.h"
 #include "ivlog.h"
 #include <memory>
-
-#include "common/tracepointstation.h"
+#include <common/tracepointstation.h>
 
 namespace iv {
 namespace decition {
@@ -79,6 +78,9 @@ public:
     std::vector<int> v2xTrafficVector;
     iv::GPS_INS startAvoidGpsIns,startBackGpsIns;
 
+    double avoidMinDistance;
+    iv::GPS_INS startAvoidGps;
+
     ///kkcai, 2020-01-03
     //bool isFirstRun = true;
     static bool isFirstRun;
@@ -120,8 +122,27 @@ public:
     GPS_INS traffic_light_gps;
     int traffic_light_pathpoint;
 
+
     bool changingDangWei=false;
 
+    struct obsvalue{
+        int avoid_distance;
+        double obs_distance;
+    };
+    std::vector<obsvalue> obs_property;
+
+    struct front{
+        GPS_INS front_car_ins;
+        int vehState;
+        int avoidX;
+        double obs_distance;
+        double obs_speed;
+        double front_car_dis;
+        bool   front_car_avoid;
+    };
+    front front_car;
+
+
     BaseController *pid_Controller;
     BaseAdapter *ge3_Adapter;
     BaseAdapter *qingyuan_Adapter;
@@ -217,6 +238,12 @@ public:
     void transferGpsMode2( const std::vector<GPSData> gpsMapLine);
     float computeAvoidX(int roadAim,int roadOri,GPSData gps,float vehWidth);
     double computeDistToEnd(const std::vector<GPSData> gpsMapLine,int pathpoint);
+    void   computeAvoidBoundary(int roadOriginal,int roadSumMap,double roadWidthEvery,double vehicleWidth,int* avoidXLeft,int* avoidXRight );
+    int computeAvoidXDistance(iv::LidarGridPtr lidarGridPtr, GPS_INS now_gps_ins, const std::vector<GPSData> gpsMapLine,std::vector<iv::Perception::PerceptionOutput> lidar_per,int avoidLeft,int avoidRight);
+    void computeObsOnRoadNew(iv::LidarGridPtr lidarGridPtr, std::vector<Point2D> gpsTrace, int roadNum,
+                                                     const std::vector<GPSData> gpsMapLine, std::vector<iv::Perception::PerceptionOutput> lidar_per,obsvalue* obsva);
+    int computeBackDistance(iv::LidarGridPtr lidarGridPtr, GPS_INS now_gps_ins, const std::vector<GPSData> gpsMapLine,std::vector<iv::Perception::PerceptionOutput> lidar_per,int avoidLeft,int avoidRight,int avoidXNow);
+
 
     GPS_INS aim_gps_ins;
     GPS_INS chaoche_start_gps;
@@ -254,6 +281,7 @@ extern bool rapidStop;
 extern int gpsMissCount;
 extern bool changeRoad;
 extern double avoidX;
+extern int avoidXNew;
 extern bool parkBesideRoad;
 extern double steerSpeed;
 extern bool transferPieriod;

src/decition/decition_brain_sf/decition_brain_sf.pro

@@ -32,6 +32,8 @@ SOURCES += $$PWD/../common/main.cpp \
     ../../include/msgtype/formation_map.pb.cc \
     ../../include/msgtype/fusionobjectarray.pb.cc \
     ../../include/msgtype/fusionobject.pb.cc \
+    ../../include/msgtype/carstate.pb.cc \
+    ../../include/msgtype/groupmsg.pb.cc
 
 
 include($$PWD/../common/common/common.pri)
@@ -93,6 +95,8 @@ HEADERS += \
     ../common/perception_sf/sensor_gps.h \
     ../common/perception_sf/sensor_lidar.h \
     ../common/perception_sf/sensor_radar.h \
-    ../common/common/sysparam_type.h
+    ../common/common/sysparam_type.h \
+    ../../include/msgtype/carstate.pb.h \
+    ../../include/msgtype/groupmsg.pb.h
 
 

src/decition/decition_brain_sf/velacctable.txt

@@ -0,0 +1,71 @@
+ 3.000	 0.536	10.000	 0.000
+ 6.000	 0.555	10.000	 0.000
+ 9.000	 0.513	10.000	 0.000
+12.000	 0.539	10.000	 0.000
+15.000	 0.514	10.000	 0.000
+18.000	 0.525	10.000	 0.000
+18.000	-0.800	 0.000	10.000
+15.000	-0.781	 0.000	10.000
+12.000	-0.750	 0.000	10.000
+ 9.000	-0.788	 0.000	10.000
+ 6.000	-0.741	 0.000	10.000
+ 3.000	-0.699	 0.000	10.000
+ 3.000	 1.069	30.000	 0.000
+ 6.000	 1.511	30.000	 0.000
+ 9.000	 1.561	30.000	 0.000
+12.000	 1.500	30.000	 0.000
+15.000	 1.554	30.000	 0.000
+18.000	 1.543	30.000	 0.000
+18.000	-1.967	 0.000	20.000
+15.000	-1.814	 0.000	20.000
+12.000	-1.786	 0.000	20.000
+ 9.000	-1.787	 0.000	20.000
+ 6.000	-1.684	 0.000	20.000
+ 3.000	-1.737	 0.000	20.000
+ 3.000	 1.088	50.000	 0.000
+ 6.000	 1.564	50.000	 0.000
+ 9.000	 1.656	50.000	 0.000
+12.000	 1.625	50.000	 0.000
+15.000	 1.605	50.000	 0.000
+18.000	 1.585	50.000	 0.000
+18.000	-3.485	 0.000	30.000
+15.000	-2.638	 0.000	30.000
+12.000	-2.831	 0.000	30.000
+ 9.000	-2.654	 0.000	30.000
+ 6.000	-2.729	 0.000	30.000
+ 3.000	-2.641	 0.000	30.000
+3.000	 0.127	 5.000	 0.000
+ 6.000	 0.124	 5.000	 0.000
+ 9.000	 0.113	 5.000	 0.000
+12.000	 0.109	 5.000	 0.000
+15.000	 0.094	 5.000	 0.000
+18.000	 0.086	 5.000	 0.000
+18.000	-0.427	 0.000	 5.000
+15.000	-0.445	 0.000	 5.000
+12.000	-0.430	 0.000	 5.000
+ 9.000	-0.416	 0.000	 5.000
+ 6.000	-0.405	 0.000	 5.000
+ 3.000	-0.400	 0.000	 5.000
+18.000	-0.321	 0.000	 3.000
+15.000	-0.307	 0.000	 3.000
+12.000	-0.289	 0.000	 3.000
+ 9.000	-0.288	 0.000	 3.000
+ 6.000	-0.266	 0.000	 3.000
+ 3.000	-0.261	 0.000	 3.000
+18.000	-0.100	 0.000	 0.000
+15.000	-0.131	 0.000	 0.000
+12.000	-0.115	 0.000	 0.000
+ 9.000	-0.105	 0.000	 0.000
+ 6.000	-0.093	 0.000	 0.000
+ 3.000	-0.081	 0.000	 0.000
+18.0	0.0	3.2	0.0
+9.0	0.0	1.6	0.0
+3.0	0.0	1.6	0.0
+0.0	0.0	0.0	0.0
+0.0	0.5	10.0	0.0
+0.0	1.5	30.0	0.0
+0.0	-0.6	0.0	10.0
+0.0	-9.0	0.0	100.0
+18.0	-9.0	0.0	100.0
+9.0	-9.0	0.0	100.0	
+

src/detection/detection_chassis/decodechassis.cpp

@@ -186,6 +186,18 @@ int ProcMIDCARChassis(void * pa, iv::can::canmsg * pmsg)
             xchassis.set_soc(soc);
             xchassis.set_vel(vehspeed);
 
+            ShareChassis(pa,&xchassis);
+            nRtn = 1;
+        }
+        else if(praw->id() == 0xC2)
+        {
+            memcpy(data,praw->data().data(),8);
+            float soc;
+            soc = data[0];
+
+            iv::chassis xchassis;
+            xchassis.set_soc(soc);
+
             ShareChassis(pa,&xchassis);
             nRtn = 1;
         }

src/detection/detection_lidar_PointPillars_MultiHead/.gitignore

@@ -18,7 +18,9 @@ DEFINES += QT_DEPRECATED_WARNINGS
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
 SOURCES += main.cpp \
-    pointpillars.cc
+    pointpillars.cc \
+    ../../include/msgtype/object.pb.cc \
+    ../../include/msgtype/objectarray.pb.cc
 
 DISTFILES += \
     nms.cu \
@@ -32,7 +34,9 @@ HEADERS += \
     pointpillars.h \
     postprocess.h \
     preprocess.h \
-    scatter.h
+    scatter.h \
+    ../../include/msgtype/object.pb.h \
+    ../../include/msgtype/objectarray.pb.h
 
 
 CUDA_SOURCES +=  \
@@ -132,6 +136,13 @@ unix:INCLUDEPATH += /usr/include/eigen3
 unix:INCLUDEPATH += /usr/include/pcl-1.7
 unix:INCLUDEPATH += /usr/include/pcl-1.8
 
+!include(../../../include/common.pri ) {
+    error( "Couldn't find the common.pri file!" )
+}
+
+!include(../../../include/ivprotobuf.pri ) {
+    error( "Couldn't find the ivprotobuf.pri file!" )
+}
 
 LIBS += -lboost_system
 

src/detection/detection_lidar_PointPillars_MultiHead/main.cpp

@@ -1,18 +1,35 @@
 #include <QCoreApplication>
-
 #include <QDateTime>
-
 #include <iostream>
-
 #include "pointpillars.h"
-
-
 #include <iostream>
-
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <pcl/io/io.h>
 #include <pcl/io/pcd_io.h>
+#include "xmlparam.h"
+#include "modulecomm.h"
+#include "ivfault.h"
+#include "ivlog.h"
+#include "ivexit.h"
+#include "ivversion.h"
+#include <thread>
+#include "objectarray.pb.h"
+//#include "ivbacktrace.h"
+
+iv::Ivfault *gfault = nullptr;
+iv::Ivlog *givlog = nullptr;
+
+std::thread * gpthread;
+PointPillars * pPillars = nullptr ;
+void * gpa;
+void * gpdetect;
+int gnothavedatatime = 0;
+const int kNumPointFeature = 5;
+const int kOutputNumBoxFeature = 7;
+std::string gstrinput;
+std::string gstroutput;
+
 
 void PclToArray(
     const pcl::PointCloud<pcl::PointXYZI>::Ptr& in_pcl_pc_ptr,
@@ -41,103 +58,255 @@ void PclXYZITToArray(
   }
 }
 
-void Boxes2Txt( std::vector<float> boxes , string file_name , int num_feature = 7)
+void GetLidarObj(std::vector<float> out_detections,std::vector<int> out_labels,
+                 std::vector<float> out_scores,iv::lidar::objectarray & lidarobjvec)
 {
-    ofstream ofFile;
-    ofFile.open(file_name , std::ios::out );
-    if (ofFile.is_open()) {
-        for (int i = 0 ; i < boxes.size() / num_feature ; ++i) {
-            for (int j = 0 ; j < num_feature ; ++j) {
-                ofFile << boxes.at(i * num_feature + j) << " ";
-            }
-            ofFile << "\n";
-        }
+    int i;
+    int obj_size = out_detections.size()/kOutputNumBoxFeature;
+//    givlog->verbose("OBJ","object size is %d",obj_size);
+    for(i=0;i<obj_size;i++)
+    {
+        if (out_scores.at(i) < 0.10) continue;
+        iv::lidar::lidarobject lidarobj;
+        lidarobj.set_tyaw(out_detections.at(i*7+6));
+        iv::lidar::PointXYZ centroid;
+        iv::lidar::PointXYZ * _centroid;
+        centroid.set_x(out_detections.at(i*7));
+        centroid.set_y(out_detections.at(i*7+1));
+        centroid.set_z(out_detections.at(i*7+2));
+        _centroid = lidarobj.mutable_centroid();
+        _centroid->CopyFrom(centroid);
+
+        iv::lidar::PointXYZ min_point;
+        iv::lidar::PointXYZ * _min_point;
+        min_point.set_x(0);
+        min_point.set_y(0);
+        min_point.set_z(0);
+        _min_point = lidarobj.mutable_min_point();
+        _min_point->CopyFrom(min_point);
+
+        iv::lidar::PointXYZ max_point;
+        iv::lidar::PointXYZ * _max_point;
+        max_point.set_x(0);
+        max_point.set_y(0);
+        max_point.set_z(0);
+        _max_point = lidarobj.mutable_max_point();
+        _max_point->CopyFrom(max_point);
+
+        iv::lidar::PointXYZ position;
+        iv::lidar::PointXYZ * _position;
+        position.set_x(out_detections.at(i*7));
+        position.set_y(out_detections.at(i*7+1));
+        position.set_z(out_detections.at(i*7+2));
+        _position = lidarobj.mutable_position();
+        _position->CopyFrom(position);
+
+        lidarobj.set_mntype(out_labels.at(i));
+        lidarobj.set_score(out_scores.at(i));
+        lidarobj.add_type_probs(out_scores.at(i));
+
+        iv::lidar::PointXYZI point_cloud;
+        iv::lidar::PointXYZI * _point_cloud;
+        point_cloud.set_x(out_detections.at(i*7));
+        point_cloud.set_y(out_detections.at(i*7+1));
+        point_cloud.set_z(out_detections.at(i*7+2));
+        point_cloud.set_i(out_detections.at(out_labels.at(i)));
+        _point_cloud = lidarobj.add_cloud();
+        _point_cloud->CopyFrom(point_cloud);
+
+        iv::lidar::Dimension ld;
+        iv::lidar::Dimension * pld;
+        ld.set_x(out_detections.at(i*7+3));
+        ld.set_y(out_detections.at(i*7+4));
+        ld.set_z(out_detections.at(i*7+5));
+        pld = lidarobj.mutable_dimensions();
+        pld->CopyFrom(ld);
+
+        iv::lidar::lidarobject * po = lidarobjvec.add_obj();
+        po->CopyFrom(lidarobj);
     }
-    ofFile.close();
-    return ;
-};
-
+}
 
-void test(std::string pfe_file,std::string backbone_file,std::string pp_config)
+void DectectOnePCD(const pcl::PointCloud<pcl::PointXYZI>::Ptr &pc_ptr)
 {
+    float* points_array = new float[pc_ptr->size() * kNumPointFeature];
+    PclXYZITToArray(pc_ptr, points_array, 1.0);
 
-    PointPillars * pPillars;
-    pPillars = new PointPillars(
-      0.1,
-      0.2,
-      true,
-      pfe_file,
-      backbone_file,
-      pp_config
-    );
-    std::cout<<"PointPillars Init OK."<<std::endl;
+    int    in_num_points = pc_ptr->width;
 
-    pcl::PointCloud<pcl::PointXYZI>::Ptr xpc(
-        new pcl::PointCloud<pcl::PointXYZI>);
+    std::vector<float> out_detections;
+    std::vector<int> out_labels;
+    std::vector<float> out_scores;
 
+    QTime xTime;
 
-    pcl::PointCloud<pcl::PointXYZI>::Ptr xpcfile;
+    xTime.start();
 
-    xpcfile = boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI>>(new pcl::PointCloud<pcl::PointXYZI>);
+    cudaDeviceSynchronize();
+    pPillars->DoInference(points_array, in_num_points, &out_detections, &out_labels , &out_scores);
+    cudaDeviceSynchronize();
+    int BoxFeature = 7;
+    int num_objects = out_detections.size() / BoxFeature;
 
-    if(0 == pcl::io::loadPCDFile("/home/nvidia/20200604054241688.pcd",*xpc))
-    {
+//    givlog->verbose("obj size is %d", num_objects);
+//    std::cout<<"obj size is "<<num_objects<<std::endl;
 
+//    std::vector<iv::lidar::lidarobject> lidarobjvec;
+    iv::lidar::objectarray lidarobjvec;
+    GetLidarObj(out_detections,out_labels,out_scores,lidarobjvec);
+
+    double timex = pc_ptr->header.stamp;
+    timex = timex/1000.0;
+    lidarobjvec.set_timestamp(pc_ptr->header.stamp);
+
+    int ntlen;
+    std::string out = lidarobjvec.SerializeAsString();
+    iv::modulecomm::ModuleSendMsg(gpdetect,out.data(),out.length());
+//    givlog->verbose("lenth is %d",out.length());
+}
+
+void ListenPointCloud(const char *strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+{
+//    std::cout<<" is  ok  ------------  "<<std::endl;
+    if(nSize <=16)return;
+    unsigned int * pHeadSize = (unsigned int *)strdata;
+    if(*pHeadSize > nSize)
+    {
+        givlog->verbose("ListenPointCloud data is small headsize = %d, data size is %d", *pHeadSize, nSize);
+        std::cout<<"ListenPointCloud data is small headsize ="<<*pHeadSize<<"  data size is"<<nSize<<std::endl;
     }
-    else
+
+    gnothavedatatime = 0;
+    QTime xTime;
+    xTime.start();
+
+    pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud(
+                new pcl::PointCloud<pcl::PointXYZI>());
+    int nNameSize;
+    nNameSize = *pHeadSize - 4-4-8;
+    char * strName = new char[nNameSize+1];strName[nNameSize] = 0;
+    memcpy(strName,(char *)((char *)strdata +4),nNameSize);
+    point_cloud->header.frame_id = strName;
+    memcpy(&point_cloud->header.seq,(char *)strdata+4+nNameSize,4);
+    memcpy(&point_cloud->header.stamp,(char *)strdata+4+nNameSize+4,8);
+    int nPCount = (nSize - *pHeadSize)/sizeof(pcl::PointXYZI);
+    int i;
+    pcl::PointXYZI * p;
+    p = (pcl::PointXYZI *)((char *)strdata + *pHeadSize);
+    for(i=0;i<nPCount;i++)
     {
-        std::cout<<"load pcd fail"<<std::endl;
-        return;
+        pcl::PointXYZI xp;
+        memcpy(&xp,p,sizeof(pcl::PointXYZI));
+        xp.z = xp.z;
+        point_cloud->push_back(xp);
+        p++;
     }
 
-    const int kNumPointFeature = 5;
-    const int kOutputNumBoxFeature = 7;
+    DectectOnePCD(point_cloud);
+    std::cout<<"time is "<<(QDateTime::currentMSecsSinceEpoch() % 1000)<<" "<<xTime.elapsed()<<std::endl;
+    gfault->SetFaultState(0, 0, "ok");
 
+}
 
-//    for (size_t i = 0; i < xpcfile->size(); ++i) {
-//      pcl::PointXYZI point;
-//      point.x = xpcfile->at(i).x;
-//      point.y = xpcfile->at(i).y;qt
-//      point.z = xpcfile->at(i).z;
-//      point.intensity = 0;
-//      xpc->push_back(point);
-//    }
+bool gbstate = true;
+void statethread()
+{
+    int nstate = 0;
+    int nlaststate = 0;
+    while (gbstate)
+    {
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        if(gnothavedatatime < 100000) gnothavedatatime++;
 
-    std::cout<<"point size is "<<xpc->width<<std::endl;
+        if (gnothavedatatime  < 100){
+            nstate = 0;
+        }
+        if (gnothavedatatime > 1000)
+        {
+            nstate = 1;
+        }
+        if (gnothavedatatime > 6000)
+        {
+            nstate = 2;
+        }
+        if (nstate != nlaststate) {
+            switch (nstate) {
+            case 0:
+                givlog->info("detection_lidar_pointpillar is ok");
+                gfault->SetFaultState(0,0,"data is ok.");
+                break;
+            case 1:
+                givlog->info(" more than 10 seconds not have lidar pointcloud.");
+                gfault->SetFaultState(1,1,"more than 10 seconds not have lidar pointcloud.");
+                break;
+            case 2:
+                givlog->info(" more than 60 seconds not have lidar pointcloud.");
+                gfault->SetFaultState(2,2, "more than 60 seconds not have lidar pointcloud.");
+                break;
+            default:
+                break;
+            }
+        }
+    }
+}
 
+void exitfunc()
+{
+    gbstate = false;
+    gpthread->join();
+    std::cout<<" state thread closed."<<std::endl;
+    iv::modulecomm::Unregister(gpa);
+    iv::modulecomm::Unregister(gpdetect);
+    std::cout<<"exit func complete"<<std::endl;
+}
 
-    float* points_array = new float[xpc->size() * kNumPointFeature];
-    PclXYZITToArray(xpc, points_array, 1.0);
+int main(int argc, char *argv[])
+{
+    QCoreApplication a(argc, argv);
 
-    int    in_num_points = xpc->width;
+//    RegisterIVBackTrace();
 
-    std::vector<float> out_detections;
-    std::vector<int> out_labels;
-    std::vector<float> out_scores;
+    gfault = new iv::Ivfault("lidar_pointpillar");
+    givlog = new iv::Ivlog("lidar_pointpillar");
 
-    QTime xTime;
+    gfault->SetFaultState(0,0,"pointpillar initialize. ");
 
-    xTime.start();
+    char * strhome = getenv("HOME");
+    std::string pfe_file = strhome;
+    pfe_file += "/models/lidar/cbgs_pp_multihead_pfe.onnx";
+    std::string backbone_file = strhome;
+    backbone_file += "/models/lidar/cbgs_pp_multihead_backbone.onnx";
 
-    cudaDeviceSynchronize();
-    pPillars->DoInference(points_array, in_num_points, &out_detections, &out_labels , &out_scores);
-    cudaDeviceSynchronize();
-    int BoxFeature = 7;
-    int num_objects = out_detections.size() / BoxFeature;
 
-    std::cout<<"objects num: "<<num_objects<<std::endl;
-    std::cout<<"infer time: "<<xTime.elapsed()<<std::endl;
+    QString strpath = QCoreApplication::applicationDirPath();
+    std::string pp_config = strpath.toStdString() ;
+    pp_config += "/cfgs/cbgs_pp_multihead.yaml";
+    if (argc < 2)
+        strpath = strpath + "/detection_lidar_pointpillar.xml";
+    else
+        strpath = argv[1];
 
-    std::string boxes_file_name = "/home/nvidia/pointpillarsout.txt";
-    Boxes2Txt(out_detections , boxes_file_name );
-}
+    std::cout<<pp_config<<std::endl;
 
-int main(int argc, char *argv[])
-{
-    QCoreApplication a(argc, argv);
+    iv::xmlparam::Xmlparam xparam(strpath.toStdString());
+    pfe_file = xparam.GetParam("pfe_file",pfe_file.data());
+    backbone_file = xparam.GetParam("backbone_file",backbone_file.data());
+    gstrinput = xparam.GetParam("input","lidar_pc");
+    gstroutput = xparam.GetParam("output","lidar_pointpillar");
+    pPillars = new PointPillars(
+      0.1,
+      0.2,
+      true,
+      pfe_file,
+      backbone_file,
+      pp_config
+    );
+    std::cout<<"PointPillars Init OK."<<std::endl;
+
+    gpa = iv::modulecomm::RegisterRecv(gstrinput.data(),ListenPointCloud);
+    gpdetect = iv::modulecomm::RegisterSend(gstroutput.data(), 10000000,1);
+    gpthread = new std::thread(statethread);
 
-    test("/home/nvidia/Downloads/cbgs_pp_multihead_pfe.onnx",
-         "/home/nvidia/Downloads/cbgs_pp_multihead_backbone.onnx",
-         "/home/nvidia/code/modularization/src/detection/detection_lidar_PointPillars_MultiHead/cfgs/cbgs_pp_multihead.yaml");
+    iv::ivexit::RegIVExitCall(exitfunc);
     return a.exec();
 }

src/detection/detection_lidar_PointPillars_MultiHead/nms.cu

@@ -473,23 +473,23 @@ void PointPillars::DoInference(const float* in_points_array,
     auto postprocess_end = std::chrono::high_resolution_clock::now();
 
     // release the stream and the buffers
-    std::chrono::duration<double> preprocess_cost = preprocess_end - preprocess_start;
-    std::chrono::duration<double> pfe_cost = pfe_end - pfe_start;
-    std::chrono::duration<double> scatter_cost = scatter_end - scatter_start;
-    std::chrono::duration<double> backbone_cost = backbone_end - backbone_start;
-    std::chrono::duration<double> postprocess_cost = postprocess_end - postprocess_start;
-
-    std::chrono::duration<double> pointpillars_cost = postprocess_end - preprocess_start;
-    std::cout << "------------------------------------" << std::endl;
-    std::cout << setiosflags(ios::left)  << setw(14) << "Module" << setw(12)  << "Time"  << resetiosflags(ios::left) << std::endl;
-    std::cout << "------------------------------------" << std::endl;
-    std::string Modules[] = {"Preprocess" , "Pfe" , "Scatter" , "Backbone" , "Postprocess" , "Summary"};
-    double Times[] = {preprocess_cost.count() , pfe_cost.count() , scatter_cost.count() , backbone_cost.count() , postprocess_cost.count() , pointpillars_cost.count()}; 
-
-    for (int i =0 ; i < 6 ; ++i) {
-        std::cout << setiosflags(ios::left) << setw(14) << Modules[i]  << setw(8)  << Times[i] * 1000 << " ms" << resetiosflags(ios::left) << std::endl;
-    }
-    std::cout << "------------------------------------" << std::endl;
+//    std::chrono::duration<double> preprocess_cost = preprocess_end - preprocess_start;
+//    std::chrono::duration<double> pfe_cost = pfe_end - pfe_start;
+//    std::chrono::duration<double> scatter_cost = scatter_end - scatter_start;
+//    std::chrono::duration<double> backbone_cost = backbone_end - backbone_start;
+//    std::chrono::duration<double> postprocess_cost = postprocess_end - postprocess_start;
+
+//    std::chrono::duration<double> pointpillars_cost = postprocess_end - preprocess_start;
+//    std::cout << "------------------------------------" << std::endl;
+//    std::cout << setiosflags(ios::left)  << setw(14) << "Module" << setw(12)  << "Time"  << resetiosflags(ios::left) << std::endl;
+//    std::cout << "------------------------------------" << std::endl;
+//    std::string Modules[] = {"Preprocess" , "Pfe" , "Scatter" , "Backbone" , "Postprocess" , "Summary"};
+//    double Times[] = {preprocess_cost.count() , pfe_cost.count() , scatter_cost.count() , backbone_cost.count() , postprocess_cost.count() , pointpillars_cost.count()};
+
+//    for (int i =0 ; i < 6 ; ++i) {
+//        std::cout << setiosflags(ios::left) << setw(14) << Modules[i]  << setw(8)  << Times[i] * 1000 << " ms" << resetiosflags(ios::left) << std::endl;
+//    }
+//    std::cout << "------------------------------------" << std::endl;
     cudaStreamDestroy(stream);
 
 }

src/detection/detection_lidar_PointPillars_MultiHead/pointpillars.h

@@ -129,7 +129,7 @@ int main(int argc, char *argv[])
     std::cout<<strpath.toStdString()<<std::endl;
 
     iv::xmlparam::Xmlparam xparam(strpath.toStdString());
-    gstrinput = xparam.GetParam("input","lidar_cnn_dectect");
+    gstrinput = xparam.GetParam("input","lidar_pointpillar");
     gstroutput = xparam.GetParam("output","lidar_track");
 
     gpatrack = iv::modulecomm::RegisterSend(gstroutput.data(),10000000,1);

src/detection/front_vision_ros_trt7/front_vison_ros/README.MD

@@ -0,0 +1,73 @@
+![实例](image/1.gif)
+# 概述
+本工程致力于将前方图像视觉落地化，总体思路为通过双目立体视觉获取三维数据，图像获得语义信息，将图像的语义信息和三维数据融合后获得相机坐标系下障碍物，可行驶区域以及车道线等。
+# 目标
+本工程目标希望完成一个可以输出在相机坐标系下的障碍物，可行驶区域，车道线以及双目视觉slam的完整功能。可作为一个智能相机部署到任意车端。
+# 依赖库
+- pcl  
+- ros  
+- opencv  
+- cuda  
+- yaml-cpp  
+  
+# 运行平台
+Nvidia AGX xavier
+# 硬件
+1.[LENACV/HNY-CV-003C](https://item.taobao.com/item.htm?id=577872947701&price=1580&sourceType=item&sourceType=item&suid=ff281182-d15d-4671-8d0c-d9f0c91f8002&shareUniqueId=2874781904&ut_sk=1.XDA55m0p9Z8DAJ9qj%2FX9M2Gi_21646297_1598426555405.Copy.1&un=e7683ce7f820d4c1132b0f6991806569&share_crt_v=1&spm=a2159r.13376460.0.0&sp_tk=T0UyT2MycXV3RWo=&cpp=1&shareurl=true&short_name=h.VEaqibP&bxsign=scd159842664470948493aa7e697335b263e43a8be0771c9&sm=db67cc&app=chrome)  
+
+![binocular](image/binocular.jpg)
+
+# 编译
+1. git clone http://192.168.14.18:3000/adc_pilot/front_vison_ros.git
+2. cd fonrt_vison_ros
+3. catkin_make
+   
+# 运行
+1.打开roscore  
+> roscore  
+
+2.把双目摄像头插入到xavier，启动摄像头  
+>  cd front_vision_ros  
+>  source devel/setup.bash  
+>  roslaunch front_vision bincilar.alunch  
+
+3.开启双目立体匹配节点  
+> cd front_vision_ros  
+> source devel/setup.bash  
+> roslaunch front_vision stereo_match.launch  
+
+4.开启目标检测节点
+> cd front_vision_ros  
+> source devel/setup.bash  
+> roslaunch front_vision detection.launch  
+
+5.开启深度与检测融合节点
+> cd front_vision_ros  
+> source devel/setup.bash  
+> roslaunch front_vision detection_depth_fusion.launch  
+
+
+# 可视化
+## 目标检测可视化
+修改`src/front_vision/launch/ detection_depth_fusion.launch`文件，将参数vis_detection设置成true  
+
+## 深度点云可视化
+1.开启坐标变换节点  
+> rosrun tf static_transform_pubsher 0.0 0.0 0.0 0.0 0.0 0.0 map stereo_camera
+
+2.启动rviz
+> rviz
+
+3.通过topic添加点云，可视化点云
+
+## 深度与检测融合可视化
+1.开启坐标变换节点
+> rosrun tf static_transform_pubsher 0.0 0.0 0.0 0.0 0.0 0.0 map stereo_camera  
+
+2.启动rviz
+> rviz
+
+# 目标检测与深度融合
+![融合1](image/2.gif)
+![融合2](image/3.gif)
+

src/detection/front_vision_ros_trt7/front_vison_ros/src/CMakeLists.txt

@@ -0,0 +1,69 @@
+# toplevel CMakeLists.txt for a catkin workspace
+# catkin/cmake/toplevel.cmake
+
+cmake_minimum_required(VERSION 3.0.2)
+
+project(Project)
+
+set(CATKIN_TOPLEVEL TRUE)
+
+# search for catkin within the workspace
+set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
+execute_process(COMMAND ${_cmd}
+  RESULT_VARIABLE _res
+  OUTPUT_VARIABLE _out
+  ERROR_VARIABLE _err
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+  ERROR_STRIP_TRAILING_WHITESPACE
+)
+if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
+  # searching fot catkin resulted in an error
+  string(REPLACE ";" " " _cmd_str "${_cmd}")
+  message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
+endif()
+
+# include catkin from workspace or via find_package()
+if(_res EQUAL 0)
+  set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
+  # include all.cmake without add_subdirectory to let it operate in same scope
+  include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
+  add_subdirectory("${_out}")
+
+else()
+  # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
+  # or CMAKE_PREFIX_PATH from the environment
+  if(NOT DEFINED CMAKE_PREFIX_PATH)
+    if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
+      if(NOT WIN32)
+        string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      else()
+        set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      endif()
+    endif()
+  endif()
+
+  # list of catkin workspaces
+  set(catkin_search_path "")
+  foreach(path ${CMAKE_PREFIX_PATH})
+    if(EXISTS "${path}/.catkin")
+      list(FIND catkin_search_path ${path} _index)
+      if(_index EQUAL -1)
+        list(APPEND catkin_search_path ${path})
+      endif()
+    endif()
+  endforeach()
+
+  # search for catkin in all workspaces
+  set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
+  find_package(catkin QUIET
+    NO_POLICY_SCOPE
+    PATHS ${catkin_search_path}
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+  unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
+
+  if(NOT catkin_FOUND)
+    message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
+  endif()
+endif()
+
+catkin_workspace()

src/detection/front_vision_ros_trt7/front_vison_ros/src/adc_msg/CMakeLists.txt

@@ -0,0 +1,215 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(adc_msg)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  cv_bridge
+  image_transport
+  roscpp
+  std_msgs
+  sensor_msgs
+  message_generation
+  message_runtime
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  adc_depth.msg
+  bbox2d.msg
+  bboxes2d.msg
+  lane_info.msg
+  lane_info_array.msg
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  sensor_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  # message_runtime
+#  INCLUDE_DIRS include
+#  LIBRARIES adc_msg
+#  CATKIN_DEPENDS cv_bridge image_transport roscpp roscpp roscpp std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/adc_msg.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/adc_msg_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_adc_msg.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

src/detection/front_vision_ros_trt7/front_vison_ros/src/adc_msg/msg/adc_depth.msg

@@ -0,0 +1,8 @@
+std_msgs/Header header
+
+sensor_msgs/Image depth
+
+float32 fu
+float32 fv
+float32 u0
+float32 v0

src/detection/front_vision_ros_trt7/front_vison_ros/src/adc_msg/msg/bbox2d.msg

@@ -0,0 +1,7 @@
+int32 x1
+int32 y1
+int32 x2
+int32 y2
+
+string category
+float32 score

src/detection/front_vision_ros_trt7/front_vison_ros/src/adc_msg/msg/bboxes2d.msg

@@ -0,0 +1,3 @@
+std_msgs/Header header
+
+bbox2d[] bboxes

src/detection/front_vision_ros_trt7/front_vison_ros/src/adc_msg/msg/lane_info.msg

@@ -0,0 +1,10 @@
+int32 index
+int32 type
+int32 color
+float32 a
+float32 b
+float32 c
+float32 curvature
+float32 min_y
+float32 max_y
+

src/detection/front_vision_ros_trt7/front_vison_ros/src/adc_msg/msg/lane_info_array.msg

@@ -0,0 +1,3 @@
+std_msgs/Header header
+
+lane_info[] lane_infos

src/detection/front_vision_ros_trt7/front_vison_ros/src/adc_msg/package.xml

@@ -0,0 +1,73 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>adc_msg</name>
+  <version>0.0.0</version>
+  <description>The adc_msg package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="nvidia@todo.todo">nvidia</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/adc_msg</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>cv_bridge</build_export_depend>
+  <build_export_depend>image_transport</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>message_generation</build_export_depend>
+  <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>image_transport</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/detection/front_vision_ros_trt7/front_vison_ros/src/binocular_camera/CMakeLists.txt

@@ -0,0 +1,217 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(binocular_camera)
+
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED TRUE)
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(PCL REQUIRED) 
+link_directories(${PCL_LIBRARY_DIRS}) 
+
+find_package(catkin REQUIRED COMPONENTS
+  cv_bridge
+  image_transport
+  roscpp
+  sensor_msgs
+  std_msgs
+)
+find_package(OpenCV REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   sensor_msgs#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES binocular_camera
+#  CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+  ${Opencv_INCLUDE_DIRS}
+  ${PCL_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/binocular_camera.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME}_node src/binocular_camera_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+  ${catkin_LIBRARIES}
+  ${OpenCV_LIBS}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_binocular_camera.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

src/detection/front_vision_ros_trt7/front_vison_ros/src/binocular_camera/launch/binocular.launch

@@ -0,0 +1,9 @@
+<launch>
+    <node name="binocular_node" pkg="binocular_camera" type="binocular_camera_node" output="screen">
+        <param name="left_camera_topic" value="/camera/left" />
+        <param name="right_camera_topic" value="/camera/right" />
+        <param name="pub_rate" value="60.0" />
+        <param name="vis" value="false" />
+        <param name="split_publish" value="flase" />
+     </node>
+</launch>

src/detection/front_vision_ros_trt7/front_vison_ros/src/binocular_camera/launch/binocular_calibration.launch

@@ -0,0 +1,11 @@
+<launch>
+    <node name="binocular_calibration" pkg="binocular_camera" type="binocular_camera_node" output="screen">
+        <param name="left_camera_topic" value="/camera/left" />
+        <param name="right_camera_topic" value="/camera/right" />
+        <param name="pub_rate" value="60.0" />
+        <param name="steroe_config" value="stereo.yaml" />
+        <param name="hz" value="30.0" />
+        <param name="vis" value="false" />
+        <param name="split_publish" value="true" />
+     </node>
+</launch>

src/detection/front_vision_ros_trt7/front_vison_ros/src/binocular_camera/package.xml

@@ -0,0 +1,74 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>binocular_camera</name>
+  <version>0.0.0</version>
+  <description>The binocular_camera package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="nvidia@todo.todo">nvidia</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/binocular_camera</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>cv_bridge</build_export_depend>
+  <build_export_depend>image_transport</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>image_transport</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/detection/front_vision_ros_trt7/front_vison_ros/src/binocular_camera/src/binocular_camera_node.cpp

@@ -0,0 +1,135 @@
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/videoio.hpp>
+#include <iostream>
+
+#include <ros/ros.h>
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/image_encodings.h>
+
+
+#define IMAGE_WIDTH 640
+#define IMAGE_HEIGHT 480
+
+int main(int argc, char** argv)
+{
+
+    ros::init(argc, argv, "binocular_canera");
+    ros::NodeHandle nh("~");
+    std::string left_camera_topic;
+    std::string right_camera_topic;
+    std::string binocular_camera_topic;
+    int camera_device;
+    double pub_rate;
+    bool vis;
+    bool split_publish;
+
+    nh.param("left_camera_topic", left_camera_topic, std::string("/camera/left"));
+    nh.param("right_camera_topic", right_camera_topic, std::string("/camera/right"));
+    nh.param("binocular_camera_topic", binocular_camera_topic, std::string("/camera/binocular"));
+    nh.param("pub_rate", pub_rate, 60.0);
+    nh.param("camera_device", camera_device, 0);
+    nh.param("vis", vis, false);
+    nh.param("split_publish", split_publish, false);
+
+
+
+    cv::Mat image;
+    cv::VideoCapture capture;
+    capture.open("/media/7CB400FAB400B8A2/savevideo_5.28/20210528163022.avi");
+    
+    if(capture.isOpened())
+    {
+        
+        ROS_INFO("Capture is opened!");
+        capture.set(cv::CAP_PROP_FRAME_WIDTH, IMAGE_WIDTH*2);
+        capture.set(cv::CAP_PROP_FRAME_HEIGHT, IMAGE_HEIGHT);
+        
+        image_transport::ImageTransport transport_L(nh);
+        image_transport::ImageTransport transport_R(nh);
+
+        image_transport::Publisher image_pub_L = transport_L.advertise(left_camera_topic, 1);
+        image_transport::Publisher image_pub_R = transport_R.advertise(right_camera_topic, 1);
+
+        cv_bridge::CvImage cv_img_L;
+        cv_bridge::CvImage cv_img_R;
+        sensor_msgs::Image img_msg_L;
+        sensor_msgs::Image img_msg_R;
+    
+        image_transport::ImageTransport transport_binocular(nh);
+        image_transport::Publisher image_pub_binocular = transport_binocular.advertise(binocular_camera_topic, 1);
+        cv_bridge::CvImage cv_img_binocular;
+        sensor_msgs::Image img_msg_binocular;            
+        
+        ros::Rate rate(pub_rate);
+
+        cv::Mat frame_L, frame_R;
+	//cv::nameWindow("binocular", cv::WINDOW_NORMAL);
+        while(ros::ok())
+        {
+            ros::Time time = ros::Time::now();
+            capture>>image;
+            if(image.empty())
+            {
+                break;
+            }
+            if(split_publish)
+            {
+                frame_L = image(cv::Rect(0,0, IMAGE_WIDTH, IMAGE_HEIGHT));
+                
+                frame_R = image(cv::Rect(IMAGE_WIDTH, 0, IMAGE_WIDTH, IMAGE_HEIGHT));
+                if(vis)
+                {
+                    cv::imshow("L", frame_L);
+                    cv::imshow("R", frame_R);
+                    cv::waitKey(10);
+                }
+                
+                cv_img_L.header.stamp = time;
+                cv_img_L.header.frame_id = "image_left";
+                cv_img_L.encoding = "bgr8";
+                cv_img_L.image = frame_L;
+                cv_img_L.toImageMsg(img_msg_L);
+
+                cv_img_R.header.stamp = time;
+                cv_img_R.header.frame_id = "image_right";
+                cv_img_R.encoding = "bgr8";
+                cv_img_R.image = frame_R;
+                cv_img_R.toImageMsg(img_msg_R);
+
+
+                image_pub_L.publish(img_msg_L);
+                image_pub_R.publish(img_msg_R);
+            }
+            else
+            {
+                if(vis)
+                {
+		            frame_L = image(cv::Rect(0,0, IMAGE_WIDTH, IMAGE_HEIGHT)).clone();
+                    int half_width = int(0.5*IMAGE_WIDTH);
+                    int half_height = int(0.5*IMAGE_HEIGHT);
+                    cv::line(frame_L,cv::Point(half_width,0),cv::Point(half_width,IMAGE_HEIGHT),cv::Scalar(0,0,255),5,8);
+                    for(int i=half_height;i<IMAGE_HEIGHT;i += 20)
+                        cv::line(frame_L,cv::Point(0,i),cv::Point(IMAGE_WIDTH,i),cv::Scalar(0,0,255),3,8);                
+                    cv::imshow("binocular", frame_L);
+                    cv::waitKey(10);
+                }
+                cv_img_binocular.header.stamp = time;
+                cv_img_binocular.header.frame_id = "binocular";
+                cv_img_binocular.encoding = "bgr8";
+                cv_img_binocular.image = image;
+                cv_img_binocular.toImageMsg(img_msg_binocular);
+                image_pub_binocular.publish(img_msg_binocular);
+            }
+            rate.sleep();
+        }
+        capture.release();
+    }
+    else
+    {
+        ROS_ERROR("No Capture");
+    }
+    return 0;
+}
+

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/CMakeLists.txt

@@ -0,0 +1,162 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(front_vision)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+option(BUILD_ROS "" ON)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -lglog   std=c++11 -Wall -Wextra -Ofast -pthread -lpthread  -Wno-deprecated-declarations ")
+set(CMAKE_C_FLAGS " -std=c11 -fPIE -fPIC -Wall -Wextra ")
+if (CMAKE_COMPILER_IS_GNUCXX)
+	set(CMAKE_CXX_FLAGS "-O3 -Wall")
+	set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -std=c++11")
+endif()
+set(CMAKE_BUILD_TYPE Release)
+set(GPU_ARCHS 61)  ## config your GPU_ARCHS,See [here](https://developer.nvidia.com/cuda-gpus) for finding what maximum compute capability your specific GPU supports.
+
+find_package(OpenCV REQUIRED)
+find_package(CUDA REQUIRED)
+find_package(Qt5 COMPONENTS Core REQUIRED)
+find_library(YAML_CPP_LIBRARIES yaml-cpp)
+if(NOT YAML_CPP_LIBRARIES)
+       find_package(yaml-cpp REQUIRED)
+include_directories(${YAML_CPP_INCLUDE_DIRS})
+endif(NOT YAML_CPP_LIBRARIES)
+
+include_directories(
+    ${PROJECT_SOURCE_DIR}/include
+    ${PROJECT_SOURCE_DIR}/app
+    ${Opencv_INCLUDE_DIRS}
+    ${CUDA_INCLUDE_DIRS}
+    ${Qt5Core_INCLUDE_DIRS}
+    ${Qt5Core_INCLUDE_DIRS}
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../../include
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/src/common>
+    $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/src/common>
+    $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}>
+)
+
+add_subdirectory(src/common)
+add_subdirectory(src/common/cuda)
+add_subdirectory(src/stereo_vision)
+add_subdirectory(src/cmw_app)
+add_subdirectory(src/detection_trt7)
+add_subdirectory(src/lane_detection)
+
+if (BUILD_ROS)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -lglog  -std=c++11 -Wall -Wextra -Ofast -pthread -lpthread  -Wno-deprecated-declarations -Wno-attributes")
+set(CMAKE_C_FLAGS " -std=c11 -fPIE -fPIC -Wall -Wextra -Wno-attributes ")
+  find_package(catkin REQUIRED COMPONENTS
+                cv_bridge
+                image_transport
+                roscpp
+                sensor_msgs
+                std_msgs
+                pcl_ros
+                adc_msg
+                message_filters
+                )
+    include_directories(
+                ${catkin_INCLUDE_DIRS}
+    )
+  
+
+catkin_package(
+  #  INCLUDE_DIRS include
+  #  LIBRARIES front_vision
+  #  CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs
+  #  DEPENDS system_lib
+)
+
+
+add_executable(stereo_node app/sgm_app_node.cpp)
+add_executable(detection_depth_fusion_node app/detection_depth_fusion_app_node.cpp)
+add_executable(detection_trt7_node app/detection_trt7_app_node.cpp)
+add_executable(lane_detection_node app/lane_detection_app_node.cpp)
+
+
+target_link_libraries(stereo_node
+  ${catkin_LIBRARIES}
+  sgm
+  cmw_app
+  common
+)
+target_link_libraries(detection_trt7_node
+  ${catkin_LIBRARIES}
+  cmw_app
+)
+
+
+target_link_libraries(detection_depth_fusion_node
+  ${PCL_LIBRARIES}
+  ${catkin_LIBRARIES}
+  cmw_app
+  ${CMAKE_CURRENT_SOURCE_DIR}/../../lib/libmodulecomm.so
+  Qt5::Core
+)
+
+target_link_libraries(lane_detection_node
+  ${catkin_LIBRARIES}
+  cmw_app
+  ${CMAKE_CURRENT_SOURCE_DIR}/../../lib/libmodulecomm.so
+  Qt5::Core
+)
+
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_front_vision.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+
+endif(BUILD_ROS)

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/app/detection_app_node.cpp

@@ -0,0 +1,211 @@
+/**
+* \brief 
+* \author pengcheng (pengcheng@yslrpch@126.com)
+* \date 2020-08-21
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+
+#include <ros/ros.h>
+#include <message_filters/subscriber.h>
+#include <message_filters/time_synchronizer.h>
+#include <message_filters/sync_policies/approximate_time.h> 
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/image_encodings.h>
+#include <memory>
+#include <stdlib.h>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/videoio.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include "cmw_app/detection_app.h"
+#include <yaml-cpp/yaml.h>
+#include <vector>
+
+#include "common/project_root.h"
+#include "adc_msg/bboxes2d.h"
+#include "adc_msg/bbox2d.h"
+
+
+#define IMAGE_WIDTH 640
+#define IMAGE_HEIGHT 480
+
+namespace adc
+{
+namespace ros_cmw
+{
+
+class DetectionCMW
+{
+public:
+    // typedef message_filters::sync_policies::ApproximateTime<adc_msg::adc_depth, sensor_msgs::Image> SyncPolicy;
+    typedef std::chrono::system_clock::time_point  TimeType;
+    typedef  std::shared_ptr<std::list<vector<Tn::Bbox>>> Bboxes2DType;
+    typedef  cv::Mat ImageType;
+    typedef std::vector<std::string> ClassNameType;
+
+
+public:
+    DetectionCMW(int argc, char** argv)
+    {
+        ros::init(argc, argv, "detection");
+        nh_ptr_ = std::make_shared<ros::NodeHandle>("~");
+        InitConfig();
+    }
+private:
+    void CallbackDetection(Bboxes2DType& bboxes, TimeType& tm, ImageType& img, ClassNameType& class_name)
+    {
+        std::vector<adc_msg::bbox2d> detections;
+        auto detection_res_ptr = (*bboxes).begin();
+        for(std::vector<Tn::Bbox>::iterator bbox = detection_res_ptr->begin(); bbox != detection_res_ptr->end(); ++bbox)
+        {
+            adc_msg::bbox2d bbox2d_msg;
+            bbox2d_msg.x1 = bbox->left;
+            bbox2d_msg.y1 = bbox->top;
+            bbox2d_msg.x2 = bbox->right;
+            bbox2d_msg.y2 = bbox->bot;
+            bbox2d_msg.score = bbox->score;
+            bbox2d_msg.category = class_name[bbox->classId];
+            detections.push_back(bbox2d_msg);
+        }
+        adc_msg::bboxes2d bboxes2s_msg;
+        int32_t sec = std::chrono::duration_cast<std::chrono::seconds>(tm.time_since_epoch()).count();
+        int32_t nsec = std::chrono::duration_cast<std::chrono::nanoseconds>(tm.time_since_epoch()).count() % 1000000000UL;
+        ros::Time stamp(sec, nsec);
+        std_msgs::Header header;
+        header.stamp = stamp;
+        bboxes2s_msg.header = header;
+        bboxes2s_msg.bboxes = detections;
+        bboxes_pushisher_.publish(bboxes2s_msg);
+        if(publis_origin_img_)
+        {
+            cv_bridge::CvImage cv_img_l;
+            sensor_msgs::Image img_msg_l;
+            cv_img_l.header.stamp = stamp;
+            cv_img_l.encoding = "bgr8";
+            cv_img_l.image = img;
+            cv_img_l.toImageMsg(img_msg_l);
+            left_image_publisher_.publish(img_msg_l);
+        }
+    }
+
+    void CallbackBinocular(const sensor_msgs::ImageConstPtr& binocular_image_msg)
+    {
+
+        ros::Time image_time = binocular_image_msg->header.stamp;
+        // ros::Time image_time = ros::Time::now();
+        cv::Mat binocular = cv_bridge::toCvCopy(binocular_image_msg, binocular_image_msg->encoding)->image;
+        cv::Mat left_image = binocular(left_rect_).clone();
+        uint64_t nsecs = image_time.toNSec();
+        std::chrono::nanoseconds ns(nsecs);
+        TimeType time_stamp(ns);
+        cv::remap(left_image, left_image, map_x_, map_y_, cv::INTER_LINEAR);
+        detection_ptr_->CacheImages(left_image, time_stamp);
+    }
+    void ReadCameraParams(const std::string camera_yaml)
+    {
+        try
+        {
+            YAML::Node node = YAML::LoadFile(camera_yaml);
+            int height = node["image_height"].as<int>();
+            int width = node["image_width"].as<int>();
+            cv::Size size(width, height);
+            std::vector<double> K_v= node["camera_matrix"]["data"].as<std::vector<double>>();
+            std::vector<double> P_v = node["projection_matrix"]["data"].as<std::vector<double>>();
+            std::vector<double> D_v = node["distortion_coefficients"]["data"].as<std::vector<double>>();
+            std::vector<double> R_v = node["rectification_matrix"]["data"].as<std::vector<double>>();
+
+            cv::Mat _K(K_v);
+            cv::Mat _P(P_v);
+            cv::Mat _D(D_v);
+            cv::Mat _R(R_v);
+
+            _K = _K.reshape(3,3);
+            _P = _P.reshape(4,3);
+            _D = _D.reshape(5,1);
+            _R = _R.reshape(3,3);
+            cv::initUndistortRectifyMap(_K, _D, _R, _P, size, CV_32FC1, map_x_, map_y_);
+            
+        }
+        catch (const std::exception& e)
+        {
+            std::cerr << e.what() << '\n'<<std::endl;;
+            std::cerr<<" detection Ros app read camera params file faile!"<<std::endl;
+            exit(1);
+
+        }
+    }
+    void InitConfig()
+    {
+
+        std::string detection_config;
+        std::string root_path;
+        std::string left_camera_params_filename;
+        std::string detection_bbox2d_topic;
+        std::string origin_imgage_topic;
+        float hz;
+        nh_ptr_->param("binocular_topic", binocular_topic_, std::string("/camera/binocular"));
+        nh_ptr_->param("hz", hz, 30.0f);
+        nh_ptr_->param("detection_config", detection_config, std::string("detection.yaml"));
+        nh_ptr_->param("root_path", root_path, std::string("/opt/adc"));
+        nh_ptr_->param("left_camera_params_filename", left_camera_params_filename, std::string("left.yaml"));
+        nh_ptr_->param("detection_bbox2d_topic", detection_bbox2d_topic, std::string("/detection/bbox2d"));
+        nh_ptr_->param("publis_origin_img", publis_origin_img_, true);
+        nh_ptr_->param("origin_imgage_topic", origin_imgage_topic, std::string("/detection/image"));
+        std::string param_root = "ADC_ROOT="+root_path;
+        char* path_c = const_cast<char*>(param_root.c_str());
+        putenv(path_c);
+        std::string left_camera_params_file_path = adc::RootPath::GetAbsolutePath(left_camera_params_filename);
+        ReadCameraParams(left_camera_params_file_path);
+        detection_ptr_ = std::make_shared<adc::DetectionApp>(detection_config, hz);
+        detection_ptr_->SetDetectionCallback(
+            std::bind(
+                &DetectionCMW::CallbackDetection, this, 
+                std::placeholders::_1, std::placeholders::_2,
+                std::placeholders::_3, std::placeholders::_4)
+        );
+//std::bind(&StereoMatchCMW::CallbackDepthHandler, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+
+        left_rect_ = cv::Rect(0,0,IMAGE_WIDTH, IMAGE_HEIGHT);
+        binocular_subscriber_ = nh_ptr_->subscribe<sensor_msgs::Image>(
+            binocular_topic_, 1,
+            std::bind(&DetectionCMW::CallbackBinocular,
+            this, 
+            std::placeholders::_1)
+            );
+        bboxes_pushisher_ = nh_ptr_->advertise<adc_msg::bboxes2d>(detection_bbox2d_topic,1);
+        transport_img_ptr_ = std::make_shared<image_transport::ImageTransport>(*nh_ptr_);
+        left_image_publisher_ = transport_img_ptr_->advertise(origin_imgage_topic, 1);
+        detection_ptr_->Run();
+        // depth_sub_ptr_ = std::make_shared<message_filters::Subscriber<adc_msg::adc_depth>>(*nh_ptr_, stereo_depth_topic_, 1);
+        // image_sub_ptr_ = std::make_shared<message_filters::Subscriber<sensor_msgs::Image>>(*nh_ptr_, binocular_topic_, 1);
+        // sync_ptr_ = std::make_shared<message_filters::Synchronizer<SyncPolicy>>(SyncPolicy(100), *depth_sub_ptr_, *image_sub_ptr_);
+        // sync_ptr_->registerCallback(std::bind(&DetectionCMW::CallbackImageDepth,this,std::placeholders::_1, std::placeholders::_2));
+        ros::spin();    
+
+    }
+
+private:
+    std::shared_ptr<ros::NodeHandle> nh_ptr_;
+    std::string binocular_topic_;
+    std::shared_ptr<adc::DetectionApp> detection_ptr_;
+    cv::Rect left_rect_;
+    ros::Subscriber binocular_subscriber_;
+    ros::Publisher bboxes_pushisher_;
+    std::shared_ptr<image_transport::ImageTransport> transport_img_ptr_;
+    image_transport::Publisher left_image_publisher_;
+
+    cv::Mat map_x_;
+    cv::Mat map_y_;
+    bool publis_origin_img_;
+
+};
+}
+}
+
+int main(int argc,  char** argv)
+{   
+    adc::ros_cmw::DetectionCMW app(argc, argv);
+    return 0;
+}

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/app/detection_depth_fusion_app_node.cpp

@@ -0,0 +1,832 @@
+/**
+* \brief 
+* \author pengcheng (pengcheng@yslrpch@126.com)
+* \date 2020-08-25
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+
+#include <ros/ros.h>
+#include <message_filters/subscriber.h>
+#include <message_filters/time_synchronizer.h>
+#include <message_filters/sync_policies/approximate_time.h> 
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/image_encodings.h>
+#include <memory>
+#include <queue>
+#include <mutex>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/videoio.hpp>
+#include "adc_msg/adc_depth.h"
+#include "cmw_app/detection_trt7_app.h"
+#include <sensor_msgs/PointCloud2.h> 
+#include "adc_msg/bboxes2d.h"
+#include "adc_msg/bbox2d.h"
+#include <pcl/point_cloud.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include "common/utils.h"
+#include <cuda_runtime_api.h>
+#include "cuda_runtime.h"
+#include <visualization_msgs/Marker.h>
+#include "modulecomm.h"
+#include "obstacles.pb.h"
+#include <time.h>
+
+#define IMAGE_WIDTH 640
+#define IMAGE_HEIGHT 480
+
+#define DEBUG
+
+namespace adc
+{
+namespace ros_cmw
+{
+
+class DetectionFusionCMW
+{
+public:
+    typedef message_filters::sync_policies::ApproximateTime<adc_msg::adc_depth, adc_msg::bboxes2d> SyncPolicy;
+    typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, adc_msg::bboxes2d> SyncPolicyDetection;
+    typedef std::vector<std::vector<float32_t>> ObstaclesType;
+    typedef std::vector<float> PointType;
+    
+public:
+    DetectionFusionCMW(int argc, char** argv)
+    {
+        ros::init(argc, argv, "detection");
+        nh_ptr_ = std::make_shared<ros::NodeHandle>("~");
+        InitConfig();
+        
+    }
+
+    ~DetectionFusionCMW()
+    {
+        if(nullptr != x_gpu_buf_)
+        {
+            SafeCudaFree(depth_gpu_buf_);
+            SafeCudaFree(x_gpu_buf_);
+            SafeCudaFree(y_gpu_buf_);
+            SafeCudaFree(z_gpu_buf_);
+            CUDA_CHECK(cudaFreeHost(depth_cpu_buf_));
+            CUDA_CHECK(cudaFreeHost(x_cpu_buf_));
+            CUDA_CHECK(cudaFreeHost(y_cpu_buf_));
+            CUDA_CHECK(cudaFreeHost(z_cpu_buf_));
+
+            depth_gpu_buf_ = nullptr;
+            x_gpu_buf_ = nullptr;
+            y_gpu_buf_ = nullptr;
+            z_gpu_buf_ = nullptr;
+            depth_cpu_buf_ = nullptr;
+            x_cpu_buf_ = nullptr;
+            y_cpu_buf_ = nullptr;
+            z_cpu_buf_ = nullptr;
+        }
+
+        CUDA_CHECK(cudaStreamDestroy(stream_depth_));
+        CUDA_CHECK(cudaStreamDestroy(stream_x_));
+        CUDA_CHECK(cudaStreamDestroy(stream_y_));
+        CUDA_CHECK(cudaStreamDestroy(stream_z_));
+    }
+private:
+
+    struct depth_bbox
+    {
+        adc_msg::adc_depth depth;
+        adc_msg::bboxes2d boxes;
+        ros::Time stamp;
+    };
+
+    struct Obstacle
+    {
+        std::vector<pcl::PointXYZRGB> corners;
+        pcl::PointXYZRGB center;
+
+    };
+
+    struct Obstacles
+    {
+        double time;
+        std::vector<Obstacle> obstacles;
+    };
+
+    void GenrateObstacleBox(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud, Obstacle& obtsacle)
+    {
+        float length, width, height;
+        std::vector<pcl::PointXYZRGB>& corners_ref = obtsacle.corners;
+        obb_extrator_.GetOBB(cloud, corners_ref, length, width, height);
+        (void) length;
+        (void) height;
+        (void) width;
+        pcl::PointXYZRGB& center_ref =  obtsacle.center;
+        center_ref.x = (corners_ref[0].x + corners_ref[7].x) / 2.0;
+        center_ref.y = (corners_ref[0].y + corners_ref[7].y) / 2.0;
+        center_ref.z = (corners_ref[0].z + corners_ref[7].z) / 2.0;
+    }
+
+    void GenerateBoxMarker(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud, ros::Time time, visualization_msgs::Marker& bbox_lines)
+    {
+        (void) time;
+        std::vector<pcl::PointXYZRGB> bbox;
+        float length, width, height;
+        obb_extrator_.GetOBB(cloud, bbox, length, width, height);
+
+        std::cout<<"l,w,h: "<<length<<","<<width<<","<<height<<std::endl;
+
+        geometry_msgs::Point p1, p2;
+
+        // line1
+        p1.x = bbox[0].x;
+        p1.y = bbox[0].y;
+        p1.z = bbox[0].z;
+
+        p2.x = bbox[1].x;
+        p2.y = bbox[1].y;
+        p2.z = bbox[1].z;
+
+        bbox_lines.points.push_back(p1);
+        bbox_lines.points.push_back(p2);
+        // line 2
+        p1.x = bbox[2].x;
+        p1.y = bbox[2].y;
+        p1.z = bbox[2].z;
+        bbox_lines.points.push_back(p1);
+        bbox_lines.points.push_back(p2);
+
+        // line3
+        p2.x = bbox[3].x;
+        p2.y = bbox[3].y;
+        p2.z = bbox[3].z;
+        bbox_lines.points.push_back(p1);
+        bbox_lines.points.push_back(p2);
+
+        //line 4
+        p1.x = bbox[0].x;
+        p1.y = bbox[0].y;
+        p1.z = bbox[0].z;
+        bbox_lines.points.push_back(p1);
+        bbox_lines.points.push_back(p2);
+
+        //line 5
+        p1.x = bbox[4].x;
+        p1.y = bbox[4].y;
+        p1.z = bbox[4].z;
+        p2.x = bbox[5].x;
+        p2.y = bbox[5].y;
+        p2.z = bbox[5].z;
+        bbox_lines.points.push_back(p1);
+        bbox_lines.points.push_back(p2);
+
+        // line 6
+        p1.x = bbox[6].x;
+        p1.y = bbox[6].y;
+        p1.z = bbox[6].z;
+        bbox_lines.points.push_back(p1);
+        bbox_lines.points.push_back(p2);
+
+         // line 7
+        p2.x = bbox[7].x;
+        p2.y = bbox[7].y;
+        p2.z = bbox[7].z;
+        bbox_lines.points.push_back(p1);
+        bbox_lines.points.push_back(p2);
+
+         // line 8
+        p1.x = bbox[4].x;
+        p1.y = bbox[4].y;
+        p1.z = bbox[4].z;
+        bbox_lines.points.push_back(p1);
+        bbox_lines.points.push_back(p2);
+
+        // line1
+        for(size_t i = 0 ; i < 4; i++)
+        {
+            p1.x = bbox[i].x;
+            p1.y = bbox[i].y;
+            p1.z = bbox[i].z;
+
+            p2.x = bbox[i+4].x;
+            p2.y = bbox[i+4].y;
+            p2.z = bbox[i+4].z;
+
+            bbox_lines.points.push_back(p1);
+            bbox_lines.points.push_back(p2);
+        }
+
+        // marker_publisher_.publish(bbox_lines);
+        // ROS_INFO("publis maeker");
+    }
+    
+
+     void PushsObstaclesBySharedMem(std::vector<pcl::PointCloud<pcl::PointXYZRGB>>& obs_points, 
+                                   ros::Time time, std::vector<std::string>& categorys,
+                                   std::vector<cv::Rect>& obs_bbox2d)
+    { 
+            iv::vision::ObstacleInfo obstacle_info;
+            obstacle_info.set_time(time.toSec());
+            assert(obs_points.size() == categorys.size());
+            int count = 0;
+            for(auto obstacle_points : obs_points)
+            {
+                Obstacle obs;
+                GenrateObstacleBox(obstacle_points.makeShared(), obs);
+                
+                iv::vision::Bbox3D* bbox_3d = obstacle_info.add_bbox_3d();
+
+                bbox_3d->set_category(categorys[count]);
+                bbox_3d->set_top_left_x(obs_bbox2d[count].x);
+                bbox_3d->set_top_left_y(obs_bbox2d[count].y);
+                bbox_3d->set_bottom_right_x(obs_bbox2d[count].x+obs_bbox2d[count].width);
+                bbox_3d->set_bottom_right_y(obs_bbox2d[count].y+obs_bbox2d[count].height);
+
+                iv::vision::Point3D* p = bbox_3d->mutable_p1();
+                p->set_x(obs.corners[0].x);
+                p->set_y(obs.corners[0].y);
+                p->set_z(obs.corners[0].z);
+
+                p = bbox_3d->mutable_p2();
+                p->set_x(obs.corners[1].x);
+                p->set_y(obs.corners[1].y);
+                p->set_z(obs.corners[1].z);
+         
+                p = bbox_3d->mutable_p3();
+                p->set_x(obs.corners[2].x);
+                p->set_y(obs.corners[2].y);
+                p->set_z(obs.corners[2].z);
+
+                p = bbox_3d->mutable_p4();
+                p->set_x(obs.corners[3].x);
+                p->set_y(obs.corners[3].y);
+                p->set_z(obs.corners[3].z);
+
+                p = bbox_3d->mutable_p5();
+                p->set_x(obs.corners[4].x);
+                p->set_y(obs.corners[4].y);
+                p->set_z(obs.corners[4].z);
+
+                p = bbox_3d->mutable_p6();
+                p->set_x(obs.corners[5].x);
+                p->set_y(obs.corners[5].y);
+                p->set_z(obs.corners[5].z);
+
+                p = bbox_3d->mutable_p7();
+                p->set_x(obs.corners[6].x);
+                p->set_y(obs.corners[6].y);
+                p->set_z(obs.corners[6].z);
+
+                p = bbox_3d->mutable_p8();
+                p->set_x(obs.corners[7].x);
+                p->set_y(obs.corners[7].y);
+                p->set_z(obs.corners[7].z);
+
+                p = bbox_3d->mutable_c();
+                p->set_x(obs.center.x);
+                p->set_y(obs.center.y);
+                p->set_z(obs.center.z);
+
+                count++;
+            }
+
+        std::string pub_string = obstacle_info.SerializeAsString();
+        iv::modulecomm::ModuleSendMsg(obstacles_shared_mem_handle_, pub_string.data(), pub_string.length());
+    }
+
+    void GenerateBoxMarkersAndPublish(std::vector<pcl::PointCloud<pcl::PointXYZRGB>>& obs_points, ros::Time time )
+    {
+        visualization_msgs::Marker bbox_lines;
+        bbox_lines.header.frame_id = "/obs_vis";
+        bbox_lines.header.stamp = time;
+        bbox_lines.ns = "bbox_obb_lines";
+        bbox_lines.pose.orientation.w = 1.0;
+
+        bbox_lines.id = 0;
+        bbox_lines.scale.x = 0.008;
+        bbox_lines.type = visualization_msgs::Marker::LINE_LIST;
+        bbox_lines.color.r = 1.0;
+        bbox_lines.color.a = 1.0;
+
+        for(size_t i = 0; i < obs_points.size(); i++)
+        {
+            pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = obs_points[i].makeShared();
+            GenerateBoxMarker(cloud, time, bbox_lines);
+        }
+        marker_publisher_.publish(bbox_lines);
+    }
+
+    int MaxMinCluster(std::vector<cv::Point3f> sample,float theta,int *clas)
+    {
+        //clock_t start,finish;
+        //start = clock();
+        //cout<<"Start Clustering "<<endl;
+        int n = sample.size();
+        int center[20];//保存聚类中心
+        float D[n][20];//保存点与点之间的距离
+        float min[n];  //始终保存各点到各个聚类中心最小的距离
+        int minindex[n];
+        float theshold;
+        float D12=0.0;//第一个聚类和第二个聚类中的距离
+        float tmp=0;
+        int index=0;
+        center[0]=0;//first center第一个聚类选出来了
+        int k=0,i,m;
+        //计算其他样本到第一个聚类中心（0，0）的距离
+        //D[0][j]保存第i个点到到第1个聚类中心的距离
+        for(i=0;i<n;i++)
+        {
+            tmp=pow(sample[i].x-sample[0].x,2)+pow(sample[i].y-sample[0].y,2)
+                    +pow(sample[i].z-sample[0].z,2);
+            D[i][0]=(float)sqrt(tmp);
+            if(D[i][0]>D12)
+            {
+                D12=D[i][0];
+                index=i;
+            }  //求出距离第一个聚类中心最远的点
+        }
+        center[1]=index;//second center第二个聚类中心选出来了 并保存
+        k=1;
+        index=0;
+        theshold=D12;//两个聚类中心的距离
+        //最新的两聚类中心距离大于θ*D12则继续选取聚类中心
+        while(theshold>theta*D12)
+        {
+            for(i=0;i<n;i++)
+            {
+                tmp=pow(sample[i].x-sample[center[k]].x,2)+ pow(sample[i].y-sample[center[k]].y,2)+
+                        pow(sample[i].z-sample[center[k]].z,2);
+                D[i][k]=(float)sqrt(tmp);
+            }
+            for(i=0;i<n;i++)
+            {
+                float tmp=D12;
+                for(m=0;m<=k;m++)
+                    if (D[i][m]<tmp)
+                    {
+                        tmp=D[i][m];
+                        index=m;
+                    }
+                min[i]=tmp;
+                minindex[i]=index;
+                /*D[i][num]保存的是i点到第n-1个聚类中心的距离，
+                    从其中找出最小的并保存
+                    min[]始终保存各点到各个聚类中心最小的距离
+                    */
+            }//min-operate
+            float max=0;index=0;
+            for(i=0;i<n;i++)
+            {
+                if(min[i]>max)
+                {
+                    max=min[i];      //找到最大的
+                    index=i;         //并找到相应的点的下标
+                }
+            }
+            if (max>theta*D12)
+            {
+                k++;
+                center[k]=index;
+            }// add a center
+            theshold=max;// prepare to loop next time
+        }  //求出所有中心,final array min[] is still useful
+        for(i=0;i<n;i++)
+            clas[i]=minindex[i];
+        //finish = clock();
+        //double duration = (double)(finish - start) / CLOCKS_PER_SEC;
+        //cout << "Clustering cost: "<< duration <<"s"<< endl;
+        //cout<<"Number of clusters: "<< k+1<<endl;
+        return k+1;
+    }
+
+    /* sort in descending order according to the number of samples in the class */
+    static bool SortClusterBySampleNum(std::vector<std::pair<cv::Point2i,cv::Point3f>> &cluster1, 
+                                std::vector<std::pair<cv::Point2i,cv::Point3f>> &cluster2)
+    {
+        return cluster1.size() > cluster2.size();
+    }
+
+    /* sort in ascending order according to the depth of samples in the class */
+    static bool SortPointByDepth(std::pair<cv::Point2i,cv::Point3f> &point1, 
+                          std::pair<cv::Point2i,cv::Point3f> &point2)
+    {
+        return point1.second.z > point2.second.z;
+    }
+    /* sort in ascending order according to the depth of samples in the class */
+    static bool SortPointByDepth1(cv::Point3f &point1, cv::Point3f &point2)
+    {
+        return point1.z > point2.z;
+    }
+    void DepthBboxesHandle()
+    {
+        size_t cache_size = 0;
+        int frame_count = 0;
+        while(true)
+        {   
+            depth_bbox  current_depth_bbox;
+            {
+                std::lock_guard<std::mutex> mutex_sync(mutex_sync_depth_bbox_);
+                cache_size = cache_queue_.size();
+            }
+            if(cache_size > 0)
+            {
+           
+
+                {
+                    std::lock_guard<std::mutex> mutex_sync(mutex_sync_depth_bbox_);
+                    current_depth_bbox = cache_queue_.front();
+                    cache_queue_.pop();
+                }
+
+                float32_t fu = current_depth_bbox.depth.fu;
+                float32_t fv = current_depth_bbox.depth.fv;
+                float32_t u0 = current_depth_bbox.depth.u0;
+                float32_t v0 = current_depth_bbox.depth.v0;
+                float32_t inv_fu = 1 / fu;
+                float32_t inv_fv = 1 / fv;
+
+                cv::Mat depth_mono16;
+                sensor_msgs::Image depth_mono16_msg = current_depth_bbox.depth.depth;
+                depth_mono16 = cv_bridge::toCvCopy(depth_mono16_msg, "mono16")->image;
+
+                ///////////imshow
+                cv::Mat color, depth_8u;
+                depth_8u = depth_mono16 / 1000;
+                depth_8u.convertTo(depth_8u, CV_8U, 255/80);
+                cv::applyColorMap(depth_8u, color, cv::COLORMAP_RAINBOW);
+                color.setTo(cv::Scalar(0, 0, 0), depth_mono16 <= 0);
+                //////////
+
+
+                int rows = depth_mono16.rows;
+                int cols = depth_mono16.cols;
+                size_t mem_grid_size = static_cast<size_t>(rows * cols);
+                if(nullptr == x_gpu_buf_)
+                {
+                    depth_gpu_buf_ = (short*)SafeCudaMalloc(mem_grid_size * sizeof(short));
+                    x_gpu_buf_ = (float*)SafeCudaMalloc(mem_grid_size * sizeof(float));
+                    y_gpu_buf_ = (float*)SafeCudaMalloc(mem_grid_size * sizeof(float));
+                    z_gpu_buf_ = (float*)SafeCudaMalloc(mem_grid_size * sizeof(float));
+                    
+                    depth_cpu_buf_ = (short*)SafeHostMalloc(mem_grid_size * sizeof(short));
+                    x_cpu_buf_ = (float*)SafeHostMalloc(mem_grid_size * sizeof(float));
+                    y_cpu_buf_ = (float*)SafeHostMalloc(mem_grid_size * sizeof(float));
+                    z_cpu_buf_ = (float*)SafeHostMalloc(mem_grid_size * sizeof(float));
+                    z_cpu_buf_ = new float[mem_grid_size];
+                }
+
+                void* depht_data_ptr = (void*)depth_mono16.data;
+     
+                CUDA_CHECK(cudaMemcpyAsync(depth_gpu_buf_, depht_data_ptr, mem_grid_size * sizeof(short),cudaMemcpyHostToDevice,stream_depth_));
+                memset(z_cpu_buf_, 1.0, mem_grid_size * sizeof(float));
+                
+                adc::common::ComputeXYZGPU((short *)depth_gpu_buf_, 0, 0, inv_fu, inv_fv, u0, v0, min_depth_, max_depth_, rows, cols, x_gpu_buf_, y_gpu_buf_,z_gpu_buf_, stream_depth_);
+                CUDA_CHECK(cudaStreamSynchronize(stream_depth_));;
+
+                CUDA_CHECK(cudaMemcpyAsync(x_cpu_buf_, x_gpu_buf_, mem_grid_size * sizeof(float), cudaMemcpyDeviceToHost,stream_x_));
+                CUDA_CHECK(cudaMemcpyAsync(y_cpu_buf_, y_gpu_buf_, mem_grid_size * sizeof(float), cudaMemcpyDeviceToHost,stream_y_));
+                CUDA_CHECK(cudaMemcpyAsync(z_cpu_buf_,z_gpu_buf_, mem_grid_size * sizeof(float), cudaMemcpyDeviceToHost,stream_z_));
+               
+                CUDA_CHECK(cudaStreamSynchronize(stream_x_));
+                CUDA_CHECK(cudaStreamSynchronize(stream_y_));
+                CUDA_CHECK(cudaStreamSynchronize(stream_z_));
+
+                cv::Mat x_map(rows, cols, CV_32FC1, x_cpu_buf_);
+                cv::Mat y_map(rows, cols, CV_32FC1, y_cpu_buf_);
+                cv::Mat z_map(rows, cols, CV_32FC1, z_cpu_buf_);
+
+                std::vector<adc_msg::bbox2d> bbooxes = current_depth_bbox.boxes.bboxes;
+                
+                #ifdef DEBUG 
+                int color_num = 16;
+                uchar r[] = {0,125,121,116,112,108,103,99,95,91,86,82,78,73,69,65};
+                uchar g[] = {0,0,30,0,0,250,0,0,0,150,0,0,0,0,0,0};
+                uchar b[] = {120,125,255,10,0,255,255,255,255,255,225,255,255,255,255,255,255};
+
+                pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);
+                sensor_msgs::PointCloud2 point_cloud_msg;
+                int count = 0;
+                bool save_flag = false;
+                #endif
+
+                std::vector<pcl::PointCloud<pcl::PointXYZRGB>> obstacles_points;
+                std::vector<std::string> categorys;
+                std::vector<cv::Rect> obstacles_bbox2d;
+                std::vector<cv::Point3f> box_centers;
+
+                std::vector<cv::Point3f> xyzpoints;
+                std::vector<cv::Point2i> clusterposition;
+                std::vector<std::pair<cv::Point2i,cv::Point3f>> xyzcluster;
+                std::vector<std::vector<std::pair<cv::Point2i,cv::Point3f>>> xyzclusters;
+                cv::Mat canvas = cv::Mat::zeros(rows, cols, CV_8UC3);
+                for(adc_msg::bbox2d box : bbooxes)
+                {
+                    int x1 = box.x1;
+                    int y1 = box.y1;
+                    int x2 = box.x2;
+                    int y2 = box.y2;
+                    std::cout<<"********xywh********"<<std::endl;
+                    std::cout<<x1<<" "<<y1<<" "<<x2<<" "<<y2<<std::endl;
+
+                    int width = x2 - x1;
+                    int height = y2 - y1;
+                    // x y wideh height
+                    cv::Mat roi_z = z_map(cv::Rect(x1, y1, width, height)).clone();
+                    cv::Mat roi_x = x_map(cv::Rect(x1, y1, width, height)).clone();
+                    cv::Mat roi_y = y_map(cv::Rect(x1, y1, width, height)).clone();
+                    std::vector<pcl::PointCloud<pcl::PointXYZRGB>> clusters;
+                    
+                    int roi_rows = roi_z.rows;
+                    int roi_cols = roi_z.cols;
+
+                    xyzpoints.clear();
+                    clusterposition.clear();
+
+                    int ratio_y = round(roi_rows / 50.0); //四舍五入
+                    int ratio_x = round(roi_cols / 50.0);
+                    ratio_y = ratio_y > 0 ? ratio_y : 1;
+                    ratio_x = ratio_x > 0 ? ratio_x : 1;
+
+                    for(int row = 0; row < roi_rows ; row+=ratio_y)
+                    {
+                        float* data_ptr_z = roi_z.ptr<float>(row);
+                        float* data_ptr_x = roi_x.ptr<float>(row);
+                        float* data_ptr_y = roi_y.ptr<float>(row);
+                        for(int col = 0; col < roi_cols ; col+=ratio_x)
+                        {
+                            if(data_ptr_z[col]>min_depth_ && data_ptr_z[col]<=max_depth_)
+                            {
+                                xyzpoints.push_back(cv::Point3f(data_ptr_x[col],
+                                data_ptr_y[col],data_ptr_z[col]));
+                                clusterposition.push_back(cv::Point2i(col+x1,row+y1));
+                            }
+                        }
+                    }
+                    //Cluster
+                    if(xyzpoints.size()<2) continue;
+                    float theta = 0.4;
+                    int n = xyzpoints.size();
+                    int labels[n];
+                    int m = MaxMinCluster(xyzpoints,theta,labels);
+                    xyzclusters.clear();                       
+                    //std::cout<<"m: "<<m<<std::endl;
+                    for(int i=0;i<m;i++)
+                    {
+                        xyzcluster.clear(); 
+                        for(int j=0;j<n;j++)
+                        {
+                            if(labels[j]==i)
+                            {
+                                    std::pair<cv::Point2i,cv::Point3f> value(clusterposition[j],xyzpoints[j]);
+                                    xyzcluster.push_back(value);
+                            }
+                        }
+                        xyzclusters.push_back(xyzcluster);
+                    }
+                    if (xyzclusters.size() == 0) continue;                    
+                    std::sort(xyzclusters.begin(), xyzclusters.end(), SortClusterBySampleNum);                    
+                    std::sort(xyzclusters[0].begin(), xyzclusters[0].end(), SortPointByDepth);
+                    //去掉最大值，最小值
+                    if(xyzclusters[0].size()>2)
+                    {                        
+                        xyzclusters[0].pop_back();
+                        std::vector<std::pair<cv::Point2i,cv::Point3f>>::iterator
+                        k = xyzclusters[0].begin();
+                        xyzclusters[0].erase(k);
+                    }                    
+                    //求Z的中值，并用box的中心（u,v)求对应的X，Y，结果作为box的center（X，Y，Z）
+                    int center_u = x1 + 0.5*width;
+                    int center_v = y1 + 0.5*height;
+                    int middle_idx = floor(xyzclusters[0].size()*0.5);
+                    float mid_z = xyzclusters[0][middle_idx].second.z;
+                    cv::Point3f box_center_mid;
+                    box_center_mid.x = inv_fu * (center_u - u0) * mid_z;
+                    box_center_mid.y = inv_fv * (center_v - v0) * mid_z;
+                    box_center_mid.z = mid_z;
+                    //求Z的平均值，并用box的中心（u,v)求对应的X，Y，结果作为box的center（X，Y，Z）
+                    float sum_z = 0;
+                    for(size_t i=0;i<xyzclusters[0].size();i++)
+                    {
+                        sum_z = sum_z + xyzclusters[0][i].second.z;
+                    }
+                    float avg_z = sum_z / xyzclusters[0].size();
+                    cv::Point3f box_center_avg;
+                    box_center_avg.x = inv_fu * (center_u - u0) * avg_z;
+                    box_center_avg.y = inv_fv * (center_v - v0) * avg_z;
+                    box_center_avg.z = avg_z;
+
+                    //测试不聚类的检测结果
+                    std::sort(xyzpoints.begin(),xyzpoints.end(),SortPointByDepth1);
+                    //去掉最大值，最小值
+                    if(xyzpoints.size()>2)
+                    {                        
+                        xyzpoints.pop_back();
+                        std::vector<cv::Point3f>::iterator
+                        k = xyzpoints.begin();
+                        xyzpoints.erase(k);
+                    } 
+                    int middle_idx_nc = floor(xyzpoints.size()*0.5);
+                    float mid_z_nc = xyzpoints[middle_idx_nc].z;
+
+                    cv::Point3f box_center_mid_nc;
+                    box_center_mid_nc.x = inv_fu * (center_u - u0) * mid_z_nc;
+                    box_center_mid_nc.y = inv_fv * (center_v - v0) * mid_z_nc;
+                    box_center_mid_nc.z = mid_z_nc;
+                    //将数据转为PointCloud的格式，便于调用其他函数
+                    pcl::PointCloud<pcl::PointXYZRGB> cluster_maximum;
+                    pcl::PointXYZRGB single_point;
+                    for(size_t i=0;i<xyzclusters[0].size();i++)
+                    {
+                        single_point.x = xyzclusters[0][i].second.x;
+                        single_point.y = xyzclusters[0][i].second.y;
+                        single_point.z = xyzclusters[0][i].second.z;
+
+                        #ifdef DEBUG
+                        single_point.r = r[count%color_num];
+                        single_point.g = g[count%color_num];
+                        single_point.b = b[count%color_num];
+                        #endif // DEBUG
+
+                        cluster_maximum.push_back(single_point);
+                    }
+                    categorys.emplace_back(box.category);
+                    obstacles_points.push_back(cluster_maximum);
+                    obstacles_bbox2d.push_back(cv::Rect(x1,y1,width,height));
+                    box_centers.push_back(box_center_avg);
+
+                    #ifdef DEBUG
+                    //将聚类结果可视化
+                    for(size_t i=0;i<xyzclusters.size();i++)
+                    {
+                        for(size_t j=0;j<xyzclusters[i].size();j++)
+                        {
+                            cv::circle(canvas,xyzclusters[i][j].first,2,
+                            cv::Scalar(b[i%color_num],g[i%color_num],r[i%color_num]),-1);
+                        }
+                    }
+                    cv::rectangle(canvas, cv::Point(x1, y1), cv::Point(x2, y2), cv::Scalar(0,150,200),2,8,0);
+                    std::string str1 = cv::format("%.2f", box_center_mid.x); 
+                    std::string str2 = cv::format("%.2f", box_center_mid_nc.x);
+                    std::string str3 = cv::format("%.2f", box_center_mid.z);
+                    std::string str4 = cv::format("%.2f", box_center_mid_nc.z);
+                    std::string str5 = str1 +"," + str2 + "," + str3 + "," + str4;
+                    cv::putText(canvas,str5, cv::Point(x1, y1-15), cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(0,150,200));
+                    std::cout<<str5<<std::endl;
+                    save_flag = true;
+                    (*point_cloud_ptr) += cluster_maximum;
+                    count++;
+                    #endif // DEBUG
+                }
+
+                //send message by share memory
+                //PushsObstaclesBySharedMem(obstacles_points,current_depth_bbox.stamp,categorys,obstacles_bbox2d);
+                
+                #ifdef DEBUG
+                //3D包围框
+                GenerateBoxMarkersAndPublish(obstacles_points, current_depth_bbox.stamp);
+                
+                if( point_cloud_ptr->size() > 0)
+                {
+                    pcl::toROSMsg(*point_cloud_ptr, point_cloud_msg);
+                    point_cloud_msg.header.frame_id = "fusion";
+                    point_cloud_msg.header.stamp = current_depth_bbox.stamp;
+                    // ROS_INFO("publish fusion %d", clusters[max_index].size());
+                    point_publisher_.publish(point_cloud_msg);
+                    ros::spinOnce();
+                }    
+                //////////imwrite
+                if(save_flag)
+                {
+                    char image_path[100];
+                    sprintf(image_path, "/media/nvidia/Elements/depth_img/%04d.jpg",frame_count);
+                    cv::imwrite(image_path,canvas);
+                }
+                frame_count ++; 
+                #endif // DEBUG                 
+            }
+            else
+            { 
+                usleep(2000);
+            }
+        }
+    }
+    void CallbackImageBoox(const sensor_msgs::ImageConstPtr& image_msg, const adc_msg::bboxes2dConstPtr& detection_bbox2d)
+    {
+        std::vector<adc_msg::bbox2d> bboxes = detection_bbox2d->bboxes;
+        cv::Mat img = cv_bridge::toCvCopy(image_msg, image_msg->encoding)->image;        
+        for(adc_msg::bbox2d bbox : bboxes)
+        {
+            int x1 = bbox.x1;
+            int y1 = bbox.y1;
+            int x2 = bbox.x2;
+            int y2 = bbox.y2;
+            cv::rectangle(img, cv::Point(x1, y1), cv::Point(x2, y2), cv::Scalar(0,150,200),2,8,0);
+            std::string str1=bbox.category;
+            cv::putText(img,str1, cv::Point(x1, y1-15), cv::FONT_HERSHEY_PLAIN, 2, cv::Scalar(0,150,200));
+        }
+        cv::imshow("show", img);
+        cv::waitKey(10);
+
+    }
+    void CallbackBboxDepth(const adc_msg::adc_depthConstPtr& depth_msg, const adc_msg::bboxes2dConstPtr& detection_bbox2d)
+    {
+        ros::Time depth_time = depth_msg->header.stamp;
+        depth_bbox merge_msg;
+        merge_msg.depth = *depth_msg;
+        merge_msg.boxes = *detection_bbox2d;
+        merge_msg.stamp = depth_time;
+        {
+            std::lock_guard<std::mutex> mutex_sync(mutex_sync_depth_bbox_);
+            cache_queue_.push(merge_msg);
+            if(cache_queue_.size() > KCacheNum) cache_queue_.pop();
+        }
+
+    }
+    void InitConfig()
+    {
+        std::string detection_image_topic;
+        std::string obstacles_shared_mem_topic;
+        bool is_vis_detection;
+        nh_ptr_->param("detection_bbox2d_topic", detection_bbox2d_topic_, std::string("/detection/bbox2d"));
+        nh_ptr_->param("stereo_depth_topic", stereo_depth_topic_, std::string("/stereo/depth"));
+        nh_ptr_->param("detection_image_topic", detection_image_topic, std::string("/detection/image"));
+        nh_ptr_->param("obstacles_shared_mem_topic", obstacles_shared_mem_topic, std::string("/detection/vision/obstacles"));
+        nh_ptr_->param("vis_detection", is_vis_detection, true);
+        nh_ptr_->param("dbscan_min_pts", dbscan_min_pts_, 50);
+        nh_ptr_->param("dbscan_radius", dbscan_radius_, 0.0001);
+        // cv::namedWindow("show",cv::WINDOW_NORMAL);
+
+        obstacles_shared_mem_handle_ = iv::modulecomm::RegisterSend(obstacles_shared_mem_topic.c_str(), 1000000, 1);
+        depth_sub_ptr_ = std::make_shared<message_filters::Subscriber<adc_msg::adc_depth>>(*nh_ptr_, stereo_depth_topic_, 1);
+        detection_bbox2s_sub_ptr_ = std::make_shared<message_filters::Subscriber<adc_msg::bboxes2d>>(*nh_ptr_, detection_bbox2d_topic_, 1);
+        detection_image_sub_ptr_ = std::make_shared<message_filters::Subscriber<sensor_msgs::Image>>(*nh_ptr_, detection_image_topic, 1);
+        CUDA_CHECK(cudaStreamCreate(&stream_depth_));
+        CUDA_CHECK(cudaStreamCreate(&stream_x_));
+        CUDA_CHECK(cudaStreamCreate(&stream_y_));
+        CUDA_CHECK(cudaStreamCreate(&stream_z_));
+        #ifdef DEBUG
+        point_publisher_ = nh_ptr_->advertise<sensor_msgs::PointCloud2>("/fusion/points", 1);
+        marker_publisher_ = nh_ptr_->advertise<visualization_msgs::Marker>("bbox_marker", 10);
+        #endif // DEBUG
+        thread_depth_bbox_ = std::thread(std::bind(&DetectionFusionCMW::DepthBboxesHandle, this));
+        thread_depth_bbox_.detach();
+        if(is_vis_detection)
+        {
+            sync_detection_ptr_ = std::make_shared<message_filters::Synchronizer<SyncPolicyDetection>>(SyncPolicyDetection(100), *detection_image_sub_ptr_, *detection_bbox2s_sub_ptr_);
+            sync_detection_ptr_->registerCallback(std::bind(&DetectionFusionCMW::CallbackImageBoox,this,std::placeholders::_1, std::placeholders::_2));
+        }
+        sync_ptr_ = std::make_shared<message_filters::Synchronizer<SyncPolicy>>(SyncPolicy(100), *depth_sub_ptr_, *detection_bbox2s_sub_ptr_);
+        sync_ptr_->registerCallback(std::bind(&DetectionFusionCMW::CallbackBboxDepth,this,std::placeholders::_1, std::placeholders::_2));
+        ros::spin();
+    }
+
+private:
+    std::shared_ptr<ros::NodeHandle> nh_ptr_;
+    std::string stereo_depth_topic_;
+    std::string detection_bbox2d_topic_;
+    std::shared_ptr<message_filters::Subscriber<adc_msg::adc_depth>> depth_sub_ptr_;
+    std::shared_ptr<message_filters::Subscriber<adc_msg::bboxes2d>> detection_bbox2s_sub_ptr_;
+    std::shared_ptr<message_filters::Subscriber<sensor_msgs::Image>> detection_image_sub_ptr_;
+    std::shared_ptr<message_filters::Synchronizer<SyncPolicy>> sync_ptr_;
+    std::shared_ptr<message_filters::Synchronizer<SyncPolicyDetection>> sync_detection_ptr_;
+    std::queue<depth_bbox>  cache_queue_;
+    std::mutex mutex_sync_depth_bbox_;
+    std::thread thread_depth_bbox_;
+    float32_t max_depth_ = 20.0;
+    float32_t min_depth_ = 0;
+
+
+    float* x_gpu_buf_ = nullptr;
+    float* y_gpu_buf_ = nullptr;
+    float* z_gpu_buf_ = nullptr;
+    short* depth_gpu_buf_ = nullptr;
+    
+    float* x_cpu_buf_ = nullptr;
+    float* y_cpu_buf_ = nullptr;
+    float* z_cpu_buf_ = nullptr;
+    short* depth_cpu_buf_ = nullptr;
+
+    cudaStream_t stream_depth_;
+    cudaStream_t stream_x_;
+    cudaStream_t stream_y_;
+    cudaStream_t stream_z_;
+    
+
+    int dbscan_min_pts_;
+    double dbscan_radius_;
+    adc::common::OBBExtrator obb_extrator_;
+
+    #ifdef DEBUG
+    ros::Publisher point_publisher_;
+    ros::Publisher marker_publisher_;
+    #endif // DEBUG
+
+    const unsigned int  KCacheNum = 2;
+    void* obstacles_shared_mem_handle_;
+};
+}
+}
+
+int main(int argc,  char** argv)
+{   
+    adc::ros_cmw::DetectionFusionCMW app(argc, argv);
+    return 0;
+}

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/app/detection_depth_fusion_app_node_old.cpp

@@ -0,0 +1,726 @@
+/**
+* \brief 
+* \author pengcheng (pengcheng@yslrpch@126.com)
+* \date 2020-08-25
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+
+#include <ros/ros.h>
+#include <message_filters/subscriber.h>
+#include <message_filters/time_synchronizer.h>
+#include <message_filters/sync_policies/approximate_time.h> 
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/image_encodings.h>
+#include <memory>
+#include <queue>
+#include <mutex>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/videoio.hpp>
+#include "adc_msg/adc_depth.h"
+#include "cmw_app/detection_app.h"
+#include <sensor_msgs/PointCloud2.h> 
+#include "adc_msg/bboxes2d.h"
+#include "adc_msg/bbox2d.h"
+#include <pcl/point_cloud.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include "common/utils.h"
+#include <cuda_runtime_api.h>
+#include "cuda_runtime.h"
+#include <visualization_msgs/Marker.h>
+
+#include "modulecomm.h"
+#include "obstacles.pb.h"
+#define IMAGE_WIDTH 640
+#define IMAGE_HEIGHT 480
+
+#define DEBUG
+
+namespace adc
+{
+namespace ros_cmw
+{
+
+class DetectionFusionCMW
+{
+public:
+    typedef message_filters::sync_policies::ApproximateTime<adc_msg::adc_depth, adc_msg::bboxes2d> SyncPolicy;
+    typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, adc_msg::bboxes2d> SyncPolicyDetection;
+    typedef std::vector<std::vector<float32_t>> ObstaclesType;
+    typedef std::vector<float> PointType;
+    
+public:
+    DetectionFusionCMW(int argc, char** argv)
+    {
+        ros::init(argc, argv, "detection");
+        nh_ptr_ = std::make_shared<ros::NodeHandle>("~");
+        InitConfig();
+        
+    }
+
+    ~DetectionFusionCMW()
+    {
+        if(nullptr != x_gpu_buf_)
+        {
+            SafeCudaFree(depth_gpu_buf_);
+            SafeCudaFree(x_gpu_buf_);
+            SafeCudaFree(y_gpu_buf_);
+            SafeCudaFree(z_gpu_buf_);
+            CUDA_CHECK(cudaFreeHost(depth_cpu_buf_));
+            CUDA_CHECK(cudaFreeHost(x_cpu_buf_));
+            CUDA_CHECK(cudaFreeHost(y_cpu_buf_));
+            CUDA_CHECK(cudaFreeHost(z_cpu_buf_));
+
+            depth_gpu_buf_ = nullptr;
+            x_gpu_buf_ = nullptr;
+            y_gpu_buf_ = nullptr;
+            z_gpu_buf_ = nullptr;
+            depth_cpu_buf_ = nullptr;
+            x_cpu_buf_ = nullptr;
+            y_cpu_buf_ = nullptr;
+            z_cpu_buf_ = nullptr;
+        }
+
+        CUDA_CHECK(cudaStreamDestroy(stream_depth_));
+        CUDA_CHECK(cudaStreamDestroy(stream_x_));
+        CUDA_CHECK(cudaStreamDestroy(stream_y_));
+        CUDA_CHECK(cudaStreamDestroy(stream_z_));
+    }
+private:
+
+    struct depth_bbox
+    {
+        adc_msg::adc_depth depth;
+        adc_msg::bboxes2d boxes;
+        ros::Time stamp;
+    };
+
+    struct Obstacle
+    {
+        std::vector<pcl::PointXYZRGB> corners;
+        pcl::PointXYZRGB center;
+
+    };
+
+    struct Obstacles
+    {
+        double time;
+        std::vector<Obstacle> obstacles;
+    };
+
+    void GenrateObstacleBox(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud, Obstacle& obtsacle)
+    {
+        float length, width, height;
+        std::vector<pcl::PointXYZRGB>& corners_ref = obtsacle.corners;
+        obb_extrator_.GetOBB(cloud, corners_ref, length, width, height);
+        (void) length;
+        (void) height;
+        (void) width;
+        pcl::PointXYZRGB& center_ref =  obtsacle.center;
+        center_ref.x = (corners_ref[0].x + corners_ref[7].x) / 2.0;
+        center_ref.y = (corners_ref[0].y + corners_ref[7].y) / 2.0;
+        center_ref.z = (corners_ref[0].z + corners_ref[7].z) / 2.0;
+    }
+
+    void GenerateBoxMarker(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud, ros::Time time, visualization_msgs::Marker& bbox_lines)
+    {
+        (void) time;
+        std::vector<pcl::PointXYZRGB> bbox;
+        float length, width, height;
+        obb_extrator_.GetOBB(cloud, bbox, length, width, height);
+
+        std::cout<<"l,w,h: "<<length<<","<<width<<","<<height<<std::endl;
+
+        geometry_msgs::Point p1, p2;
+
+        // line1
+        p1.x = bbox[0].x;
+        p1.y = bbox[0].y;
+        p1.z = bbox[0].z;
+
+        p2.x = bbox[1].x;
+        p2.y = bbox[1].y;
+        p2.z = bbox[1].z;
+
+        bbox_lines.points.push_back(p1);
+        bbox_lines.points.push_back(p2);
+        // line 2
+        p1.x = bbox[2].x;
+        p1.y = bbox[2].y;
+        p1.z = bbox[2].z;
+        bbox_lines.points.push_back(p1);
+        bbox_lines.points.push_back(p2);
+
+        // line3
+        p2.x = bbox[3].x;
+        p2.y = bbox[3].y;
+        p2.z = bbox[3].z;
+        bbox_lines.points.push_back(p1);
+        bbox_lines.points.push_back(p2);
+
+        //line 4
+        p1.x = bbox[0].x;
+        p1.y = bbox[0].y;
+        p1.z = bbox[0].z;
+        bbox_lines.points.push_back(p1);
+        bbox_lines.points.push_back(p2);
+
+        //line 5
+        p1.x = bbox[4].x;
+        p1.y = bbox[4].y;
+        p1.z = bbox[4].z;
+        p2.x = bbox[5].x;
+        p2.y = bbox[5].y;
+        p2.z = bbox[5].z;
+        bbox_lines.points.push_back(p1);
+        bbox_lines.points.push_back(p2);
+
+        // line 6
+        p1.x = bbox[6].x;
+        p1.y = bbox[6].y;
+        p1.z = bbox[6].z;
+        bbox_lines.points.push_back(p1);
+        bbox_lines.points.push_back(p2);
+
+         // line 7
+        p2.x = bbox[7].x;
+        p2.y = bbox[7].y;
+        p2.z = bbox[7].z;
+        bbox_lines.points.push_back(p1);
+        bbox_lines.points.push_back(p2);
+
+         // line 8
+        p1.x = bbox[4].x;
+        p1.y = bbox[4].y;
+        p1.z = bbox[4].z;
+        bbox_lines.points.push_back(p1);
+        bbox_lines.points.push_back(p2);
+
+        // line1
+        for(size_t i = 0 ; i < 4; i++)
+        {
+            p1.x = bbox[i].x;
+            p1.y = bbox[i].y;
+            p1.z = bbox[i].z;
+
+            p2.x = bbox[i+4].x;
+            p2.y = bbox[i+4].y;
+            p2.z = bbox[i+4].z;
+
+            bbox_lines.points.push_back(p1);
+            bbox_lines.points.push_back(p2);
+        }
+
+        // marker_publisher_.publish(bbox_lines);
+        // ROS_INFO("publis maeker");
+    }
+    
+
+    void PushsObstaclesBySharedMem(std::vector<pcl::PointCloud<pcl::PointXYZRGB>>& obs_points, 
+                                   ros::Time time, std::vector<std::string>& categorys,
+                                   std::vector<cv::Rect>& obs_bbox2d)
+    { 
+            iv::vision::ObstacleInfo obstacle_info;
+            obstacle_info.set_time(time.toSec());
+            assert(obs_points.size() == categorys.size());
+            assert(obs_points.size() == obs_bbox2d.size());
+            int count = 0;
+            for(auto obstacle_points : obs_points)
+            {
+                Obstacle obs;
+                GenrateObstacleBox(obstacle_points.makeShared(), obs);
+                
+                iv::vision::Bbox3D* bbox_3d = obstacle_info.add_bbox_3d();
+
+                bbox_3d->set_category(categorys[count]);
+                bbox_3d->set_top_left_x(obs_bbox2d[count].x);
+                bbox_3d->set_top_left_y(obs_bbox2d[count].y);
+                bbox_3d->set_bottom_right_x(obs_bbox2d[count].x+obs_bbox2d[count].width)
+                bbox_3d->set_bottom_right_y(obs_bbox2d[count].y+obs_bbox2d[count].height);
+
+                iv::vision::Point3D* p = bbox_3d->mutable_p1();
+                p->set_x(obs.corners[0].x);
+                p->set_y(obs.corners[0].y);
+                p->set_z(obs.corners[0].z);
+
+                p = bbox_3d->mutable_p2();
+                p->set_x(obs.corners[1].x);
+                p->set_y(obs.corners[1].y);
+                p->set_z(obs.corners[1].z);
+         
+                p = bbox_3d->mutable_p3();
+                p->set_x(obs.corners[2].x);
+                p->set_y(obs.corners[2].y);
+                p->set_z(obs.corners[2].z);
+
+                p = bbox_3d->mutable_p4();
+                p->set_x(obs.corners[3].x);
+                p->set_y(obs.corners[3].y);
+                p->set_z(obs.corners[3].z);
+
+                p = bbox_3d->mutable_p5();
+                p->set_x(obs.corners[4].x);
+                p->set_y(obs.corners[4].y);
+                p->set_z(obs.corners[4].z);
+
+                p = bbox_3d->mutable_p6();
+                p->set_x(obs.corners[5].x);
+                p->set_y(obs.corners[5].y);
+                p->set_z(obs.corners[5].z);
+
+                p = bbox_3d->mutable_p7();
+                p->set_x(obs.corners[6].x);
+                p->set_y(obs.corners[6].y);
+                p->set_z(obs.corners[6].z);
+
+                p = bbox_3d->mutable_p8();
+                p->set_x(obs.corners[7].x);
+                p->set_y(obs.corners[7].y);
+                p->set_z(obs.corners[7].z);
+
+                p = bbox_3d->mutable_c();
+                p->set_x(obs.center.x);
+                p->set_y(obs.center.y);
+                p->set_z(obs.center.z);
+
+                count++;
+            }
+
+        std::string pub_string = obstacle_info.SerializeAsString();
+        iv::modulecomm::ModuleSendMsg(obstacles_shared_mem_handle_, pub_string.data(), pub_string.length());
+    }
+
+    void GenerateBoxMarkersAndPublish(std::vector<pcl::PointCloud<pcl::PointXYZRGB>>& obs_points, ros::Time time )
+    {
+        visualization_msgs::Marker bbox_lines;
+        bbox_lines.header.frame_id = "/obs_vis";
+        bbox_lines.header.stamp = time;
+        bbox_lines.ns = "bbox_obb_lines";
+        bbox_lines.pose.orientation.w = 1.0;
+
+        bbox_lines.id = 0;
+        bbox_lines.scale.x = 0.008;
+        bbox_lines.type = visualization_msgs::Marker::LINE_LIST;
+        bbox_lines.color.r = 1.0;
+        bbox_lines.color.a = 1.0;
+
+        for(size_t i = 0; i < obs_points.size(); i++)
+        {
+            pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = obs_points[i].makeShared();
+            GenerateBoxMarker(cloud, time, bbox_lines);
+        }
+        marker_publisher_.publish(bbox_lines);
+    }
+    void DepthBboxesHandle()
+    {
+        size_t cache_size = 0;
+        int frame_count = 0;
+        while(true)
+        {   
+            depth_bbox  current_depth_bbox;
+            {
+                std::lock_guard<std::mutex> mutex_sync(mutex_sync_depth_bbox_);
+                cache_size = cache_queue_.size();
+            }
+            if(cache_size > 0)
+            {
+           
+
+                {
+                    std::lock_guard<std::mutex> mutex_sync(mutex_sync_depth_bbox_);
+                    current_depth_bbox = cache_queue_.front();
+                    cache_queue_.pop();
+                }
+
+                float32_t fu = current_depth_bbox.depth.fu;
+                float32_t fv = current_depth_bbox.depth.fv;
+                float32_t u0 = current_depth_bbox.depth.u0;
+                float32_t v0 = current_depth_bbox.depth.v0;
+                float32_t inv_fu = 1 / fu;
+                float32_t inv_fv = 1 / fv;
+
+                cv::Mat depth_mono16;
+                sensor_msgs::Image depth_mono16_msg = current_depth_bbox.depth.depth;
+                depth_mono16 = cv_bridge::toCvCopy(depth_mono16_msg, "mono16")->image;
+
+                ///////////imshow
+                cv::Mat color, depth_8u;
+                depth_8u = depth_mono16 / 1000;
+                depth_8u.convertTo(depth_8u, CV_8U, 255/80);
+                cv::applyColorMap(depth_8u, color, cv::COLORMAP_RAINBOW);
+                color.setTo(cv::Scalar(0, 0, 0), depth_mono16 <= 0);
+                //////////
+
+                int rows = depth_mono16.rows;
+                int cols = depth_mono16.cols;
+                size_t mem_grid_size = static_cast<size_t>(rows * cols);
+                if(nullptr == x_gpu_buf_)
+                {
+                    depth_gpu_buf_ = (short*)SafeCudaMalloc(mem_grid_size * sizeof(short));
+                    x_gpu_buf_ = (float*)SafeCudaMalloc(mem_grid_size * sizeof(float));
+                    y_gpu_buf_ = (float*)SafeCudaMalloc(mem_grid_size * sizeof(float));
+                    z_gpu_buf_ = (float*)SafeCudaMalloc(mem_grid_size * sizeof(float));
+                    
+                    depth_cpu_buf_ = (short*)SafeHostMalloc(mem_grid_size * sizeof(short));
+                    x_cpu_buf_ = (float*)SafeHostMalloc(mem_grid_size * sizeof(float));
+                    y_cpu_buf_ = (float*)SafeHostMalloc(mem_grid_size * sizeof(float));
+                    z_cpu_buf_ = (float*)SafeHostMalloc(mem_grid_size * sizeof(float));
+                    z_cpu_buf_ = new float[mem_grid_size];
+                }
+
+                void* depht_data_ptr = (void*)depth_mono16.data;
+     
+                CUDA_CHECK(cudaMemcpyAsync(depth_gpu_buf_, depht_data_ptr, mem_grid_size * sizeof(short),cudaMemcpyHostToDevice,stream_depth_));
+                memset(z_cpu_buf_, 1.0, mem_grid_size * sizeof(float));
+                
+                adc::common::ComputeXYZGPU((short *)depth_gpu_buf_, 0, 0, inv_fu, inv_fv, u0, v0, min_depth_, max_depth_, rows, cols, x_gpu_buf_, y_gpu_buf_,z_gpu_buf_, stream_depth_);
+                CUDA_CHECK(cudaStreamSynchronize(stream_depth_));;
+
+                CUDA_CHECK(cudaMemcpyAsync(x_cpu_buf_, x_gpu_buf_, mem_grid_size * sizeof(float), cudaMemcpyDeviceToHost,stream_x_));
+                CUDA_CHECK(cudaMemcpyAsync(y_cpu_buf_, y_gpu_buf_, mem_grid_size * sizeof(float), cudaMemcpyDeviceToHost,stream_y_));
+                CUDA_CHECK(cudaMemcpyAsync(z_cpu_buf_,z_gpu_buf_, mem_grid_size * sizeof(float), cudaMemcpyDeviceToHost,stream_z_));
+               
+                CUDA_CHECK(cudaStreamSynchronize(stream_x_));
+                CUDA_CHECK(cudaStreamSynchronize(stream_y_));
+                CUDA_CHECK(cudaStreamSynchronize(stream_z_));
+
+                cv::Mat x_map(rows, cols, CV_32FC1, x_cpu_buf_);
+                cv::Mat y_map(rows, cols, CV_32FC1, y_cpu_buf_);
+                cv::Mat z_map(rows, cols, CV_32FC1, z_cpu_buf_);
+
+                std::vector<adc_msg::bbox2d> bbooxes = current_depth_bbox.boxes.bboxes;
+                // std::vector<ObstaclesType> obstacles;
+                #ifdef DEBUG 
+                int color_num = 16;
+                uchar r[] = {0,125,121,116,112,108,103,99,95,91,86,82,78,73,69,65};
+                uchar g[] = {0,0,30,0,0,250,0,0,0,150,0,0,0,0,0,0};
+                uchar b[] = {120,125,255,10,0,255,255,255,255,255,225,255,255,255,255,255,255};
+                pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);
+                sensor_msgs::PointCloud2 point_cloud_msg;
+                int count = 0;
+                #endif
+
+                std::vector<pcl::PointCloud<pcl::PointXYZRGB>> obstacles_points;
+                std::vector<std::string> categorys;
+                std::vector<cv::Rect> obstacles_bbox2d;
+                for(adc_msg::bbox2d box : bbooxes)
+                {
+                    int x1 = box.x1;
+                    int y1 = box.y1;
+                    int x2 = box.x2;
+                    int y2 = box.y2;
+                    int width = x2 - x1;
+                    int height = y2 - y1;
+                    // x y wideh height
+                    cv::Mat roi_z = z_map(cv::Rect(x1, y1, width, height)).clone();
+                    cv::Mat roi_x = x_map(cv::Rect(x1, y1, width, height)).clone();
+                    cv::Mat roi_y = y_map(cv::Rect(x1, y1, width, height)).clone();
+                    std::vector<pcl::PointCloud<pcl::PointXYZRGB>> clusters;
+                    
+                    int roi_rows = roi_z.rows;
+                    int roi_cols = roi_z.cols;
+
+                    if(roi_rows >= 60 || roi_cols >= 60)
+                    // if(false)
+                    {
+                        cudaStream_t x_stream;
+                        cudaStream_t y_stream;
+                        cudaStream_t z_stream;
+                        CUDA_CHECK(cudaStreamCreate(&x_stream));
+                        CUDA_CHECK(cudaStreamCreate(&y_stream));
+                        CUDA_CHECK(cudaStreamCreate(&z_stream));
+
+                        void* x_gpu_buf;
+                        void* z_gpu_buf;
+                        void* y_gpu_buf;
+
+                        void* new_x_gpu_buf;
+                        void* new_z_gpu_buf;
+                        void* new_y_gpu_buf;
+
+                        void* new_x_cpu_buf;
+                        void* new_z_cpu_buf;
+                        void* new_y_cpu_buf;
+
+                        int ratio_y = roi_rows / 60;
+                        int ratio_x = roi_cols / 60;
+
+                        ratio_y = ratio_y > 0 ? ratio_y : 1;
+                        ratio_x = ratio_x > 0 ? ratio_x : 1;
+
+                        int new_rows = roi_rows / ratio_y;
+                        int new_cols = roi_cols / ratio_x;
+
+                        size_t old_grid_size = static_cast<size_t>(roi_rows * roi_cols);
+                        size_t new_grid_size = static_cast<size_t>(new_rows * new_cols);
+                        x_gpu_buf = SafeCudaMalloc(old_grid_size * sizeof(float));
+                        y_gpu_buf = SafeCudaMalloc(old_grid_size * sizeof(float));
+                        z_gpu_buf = SafeCudaMalloc(old_grid_size * sizeof(float));
+
+                        new_x_gpu_buf = SafeCudaMalloc(new_grid_size * sizeof(float));
+                        new_y_gpu_buf = SafeCudaMalloc(new_grid_size * sizeof(float));
+                        new_z_gpu_buf = SafeCudaMalloc(new_grid_size * sizeof(float));
+
+                        new_x_cpu_buf = SafeHostMalloc(new_grid_size * sizeof(float));
+                        new_y_cpu_buf = SafeHostMalloc(new_grid_size * sizeof(float));
+                        new_z_cpu_buf = SafeHostMalloc(new_grid_size * sizeof(float));
+
+                        CUDA_CHECK(cudaMemcpyAsync(x_gpu_buf, roi_x.data, old_grid_size * sizeof(float),cudaMemcpyHostToDevice,x_stream));
+                        CUDA_CHECK(cudaMemcpyAsync(y_gpu_buf, roi_y.data, old_grid_size * sizeof(float),cudaMemcpyHostToDevice,y_stream));
+                        CUDA_CHECK(cudaMemcpyAsync(z_gpu_buf, roi_z.data, old_grid_size * sizeof(float),cudaMemcpyHostToDevice,z_stream));
+                        // CUDA_CHECK(cudaStreamSynchronize(x_stream));
+                        CUDA_CHECK(cudaStreamSynchronize(y_stream));
+                        CUDA_CHECK(cudaStreamSynchronize(z_stream));
+
+                        adc::common::SampleDownGPU((float*)x_gpu_buf, (float*)y_gpu_buf, (float*)z_gpu_buf, ratio_x, ratio_y, 
+                                                    roi_cols, new_rows, new_cols, (float*)new_x_gpu_buf, (float*)new_y_gpu_buf, 
+                                                    (float*)new_z_gpu_buf,x_stream);
+                        CUDA_CHECK(cudaStreamSynchronize(x_stream));
+
+                        CUDA_CHECK(cudaMemcpyAsync(new_x_cpu_buf, new_x_gpu_buf, new_grid_size * sizeof(float),cudaMemcpyDeviceToHost,x_stream));
+                        CUDA_CHECK(cudaMemcpyAsync(new_y_cpu_buf ,new_y_gpu_buf, new_grid_size * sizeof(float),cudaMemcpyDeviceToHost,y_stream));
+                        CUDA_CHECK(cudaMemcpyAsync(new_z_cpu_buf ,new_z_gpu_buf, new_grid_size * sizeof(float),cudaMemcpyDeviceToHost,z_stream));
+
+                        CUDA_CHECK(cudaStreamSynchronize(x_stream));
+                        CUDA_CHECK(cudaStreamSynchronize(y_stream));
+                        CUDA_CHECK(cudaStreamSynchronize(z_stream));
+
+                        cv::Mat new_roi_x(new_rows, new_cols, CV_32FC1, new_x_cpu_buf);
+                        cv::Mat new_roi_y(new_rows, new_cols, CV_32FC1, new_y_cpu_buf);
+                        cv::Mat new_roi_z(new_rows, new_cols, CV_32FC1, new_z_cpu_buf);
+
+                        double start_time = (double)cv::getTickCount();
+                        adc::common::Clustering<pcl::PointXYZRGB>().SpatialClustering(new_roi_x, new_roi_y, new_roi_z, 9, 35, 0.01, min_depth_, max_depth_,  clusters);
+                        double end_time = (double)cv::getTickCount() - start_time;
+                        std::cout<< "Total Cost of cluster: "  << end_time*1000.0/cv::getTickFrequency()<<" ms"<<endl;
+
+                        SafeCudaFree(x_gpu_buf);
+                        SafeCudaFree(y_gpu_buf);
+                        SafeCudaFree(z_gpu_buf);
+                        SafeCudaFree(new_x_gpu_buf);
+                        SafeCudaFree(new_y_gpu_buf);
+                        SafeCudaFree(new_z_gpu_buf);
+
+                        CUDA_CHECK(cudaFreeHost(new_x_cpu_buf));
+                        CUDA_CHECK(cudaFreeHost(new_y_cpu_buf));
+                        CUDA_CHECK(cudaFreeHost(new_z_cpu_buf));
+
+                        CUDA_CHECK(cudaStreamDestroy(x_stream));
+                        CUDA_CHECK(cudaStreamDestroy(y_stream));
+                        CUDA_CHECK(cudaStreamDestroy(z_stream));
+
+                    }
+                    else
+                    {
+                       double start_time = (double)cv::getTickCount();
+                       adc::common::Clustering<pcl::PointXYZRGB>().SpatialClustering(roi_x, roi_y, roi_z, 9, 45, 0.01, min_depth_, max_depth_,  clusters);
+                       double end_time = (double)cv::getTickCount() - start_time;
+                       std::cout<< "Total Cost of cluster: "  << end_time*1000.0/cv::getTickFrequency()<<" ms"<<endl;
+                    }
+                    if(clusters.size() == 0) continue;
+                    categorys.emplace_back(box.category);
+                    size_t max_index = 0;
+                    size_t max_size = clusters[0].size();
+                    for(size_t i = 1; i < clusters.size(); i++)
+                    {
+                        if(max_size < clusters[i].size())
+                        {
+                            max_index = i;
+                            max_size = clusters[i].size();
+                        }
+                    }
+                    (void) max_size;
+                
+                    for(size_t i = 0; i < clusters[max_index].size(); i++)
+                    {
+                        clusters[max_index].points[i].r = r[count%color_num];
+                        clusters[max_index].points[i].g = g[count%color_num];
+                        clusters[max_index].points[i].b = b[count%color_num];                        
+                    }                    
+                    (*point_cloud_ptr) += clusters[max_index];
+                    obstacles_points.push_back(clusters[max_index]);
+                    obstacles_bbox2d.push_back(cv::Rect(x1,y1,width,height));
+
+                    //////////
+                    #ifdef DEBUG
+                    Obstacle obs;
+                    GenrateObstacleBox(clusters[max_index].makeShared(), obs);
+                    cv::rectangle(color, cv::Point(x1, y1), cv::Point(x2, y2), cv::Scalar(255,0,0),2,8,0);
+                    std::sort(clusters[max_index].begin(), clusters[max_index].end(),
+                    [](pcl::PointXYZRGB pt1, pcl::PointXYZRGB pt2) {return pt1.z > pt2.z; });
+                    //求Z的中值，并用box的中心（u,v)求对应的X，Y，结果作为box的center（X，Y，Z）
+                    int center_u = x1 + 0.5*width;
+                    int center_v = y1 + 0.5*height;
+                    int middle_idx = floor(clusters[max_index].width*0.5);
+                    float mid_z = clusters[max_index].points[middle_idx].z;
+                    cv::Point3f box_center_mid;
+                    box_center_mid.x = inv_fu * (center_u - u0) * mid_z;
+                    box_center_mid.y = inv_fv * (center_v - v0) * mid_z;
+                    box_center_mid.z = mid_z;
+                    std::string str1 = cv::format("%.2f", obs.center.x); 
+                    std::string str2 = cv::format("%.2f", box_center_mid.x);
+                    std::string str3 = cv::format("%.2f", obs.center.z);
+                    std::string str4 = cv::format("%.2f", box_center_mid.z);
+                    std::string str5 = str1 +"," + str2 + "," + str3 + "," + str4;
+                    cv::putText(color,str5, cv::Point(x1, y1-15), cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(255,0,0));
+                    std::cout<<str5<<std::endl;
+                    // GenerateBoxMarker(clusters[max_index].makeShared(), current_depth_bbox.stamp);
+                    count++;
+                    #endif // DEBUG
+                }
+
+                //send message by share memory
+                //PushsObstaclesBySharedMem(obstacles_points,current_depth_bbox.stamp,categorys,obstacles_bbox2d);
+                
+                #ifdef DEBUG
+                //3D包围框
+                GenerateBoxMarkersAndPublish(obstacles_points, current_depth_bbox.stamp);
+
+                if( point_cloud_ptr->size() > 0)
+                {
+                    pcl::toROSMsg(*point_cloud_ptr, point_cloud_msg);
+                    point_cloud_msg.header.frame_id = "fusion";
+                    point_cloud_msg.header.stamp = current_depth_bbox.stamp;
+                    // ROS_INFO("publish fusion %d", clusters[max_index].size());
+                    point_publisher_.publish(point_cloud_msg);
+                    ros::spinOnce();
+                } 
+                //////////imwrite
+                char image_path[100];
+                sprintf(image_path, "/media/nvidia/Elements/depth_img/old_%04d.jpg",frame_count);
+                cv::imwrite(image_path,color);
+                frame_count ++;                              
+                #endif // DEBUG                               
+            }
+            else
+            { 
+                usleep(2000);
+            }
+        }
+    }
+    void CallbackImageBoox(const sensor_msgs::ImageConstPtr& image_msg, const adc_msg::bboxes2dConstPtr& detection_bbox2d)
+    {
+        std::vector<adc_msg::bbox2d> bboxes = detection_bbox2d->bboxes;
+        cv::Mat img = cv_bridge::toCvCopy(image_msg, image_msg->encoding)->image;
+        
+        for(adc_msg::bbox2d bbox : bboxes)
+        {
+            int x1 = bbox.x1;
+            int y1 = bbox.y1;
+            int x2 = bbox.x2;
+            int y2 = bbox.y2;
+            cv::rectangle(img, cv::Point(x1, y1), cv::Point(x2, y2), cv::Scalar(0,150,200),2,8,0);
+            std::string str1=bbox.category;
+            cv::putText(img,str1, cv::Point(x1, y1-15), cv::FONT_HERSHEY_PLAIN, 2, cv::Scalar(0,150,200));
+        }
+
+        cv::imshow("show", img);
+        cv::waitKey(10);
+
+    }
+    void CallbackBboxDepth(const adc_msg::adc_depthConstPtr& depth_msg, const adc_msg::bboxes2dConstPtr& detection_bbox2d)
+    {
+        ros::Time depth_time = depth_msg->header.stamp;
+        depth_bbox merge_msg;
+        merge_msg.depth = *depth_msg;
+        merge_msg.boxes = *detection_bbox2d;
+        merge_msg.stamp = depth_time;
+        {
+            std::lock_guard<std::mutex> mutex_sync(mutex_sync_depth_bbox_);
+            cache_queue_.push(merge_msg);
+            if(cache_queue_.size() > KCacheNum) cache_queue_.pop();
+        }
+
+    }
+    void InitConfig()
+    {
+        std::string detection_image_topic;
+        std::string obstacles_shared_mem_topic;
+        bool is_vis_detection;
+        nh_ptr_->param("detection_bbox2d_topic", detection_bbox2d_topic_, std::string("/detection/bbox2d"));
+        nh_ptr_->param("stereo_depth_topic", stereo_depth_topic_, std::string("/stereo/depth"));
+        nh_ptr_->param("detection_image_topic", detection_image_topic, std::string("/detection/image"));
+        nh_ptr_->param("obstacles_shared_mem_topic", obstacles_shared_mem_topic, std::string("/detection/vision/obstacles"));
+        nh_ptr_->param("vis_detection", is_vis_detection, true);
+        nh_ptr_->param("dbscan_min_pts", dbscan_min_pts_, 50);
+        nh_ptr_->param("dbscan_radius", dbscan_radius_, 0.0001);
+        // cv::namedWindow("show",cv::WINDOW_NORMAL);
+
+        obstacles_shared_mem_handle_ = iv::modulecomm::RegisterSend(obstacles_shared_mem_topic.c_str(), 1000000, 1);
+        depth_sub_ptr_ = std::make_shared<message_filters::Subscriber<adc_msg::adc_depth>>(*nh_ptr_, stereo_depth_topic_, 1);
+        detection_bbox2s_sub_ptr_ = std::make_shared<message_filters::Subscriber<adc_msg::bboxes2d>>(*nh_ptr_, detection_bbox2d_topic_, 1);
+        detection_image_sub_ptr_ = std::make_shared<message_filters::Subscriber<sensor_msgs::Image>>(*nh_ptr_, detection_image_topic, 1);
+        CUDA_CHECK(cudaStreamCreate(&stream_depth_));
+        CUDA_CHECK(cudaStreamCreate(&stream_x_));
+        CUDA_CHECK(cudaStreamCreate(&stream_y_));
+        CUDA_CHECK(cudaStreamCreate(&stream_z_));
+        #ifdef DEBUG
+        point_publisher_ = nh_ptr_->advertise<sensor_msgs::PointCloud2>("/fusion/points", 1);
+        marker_publisher_ = nh_ptr_->advertise<visualization_msgs::Marker>("bbox_marker", 10);
+        #endif // DEBUG
+        thread_depth_bbox_ = std::thread(std::bind(&DetectionFusionCMW::DepthBboxesHandle, this));
+        thread_depth_bbox_.detach();
+        if(is_vis_detection)
+        {
+            sync_detection_ptr_ = std::make_shared<message_filters::Synchronizer<SyncPolicyDetection>>(SyncPolicyDetection(100), *detection_image_sub_ptr_, *detection_bbox2s_sub_ptr_);
+            sync_detection_ptr_->registerCallback(std::bind(&DetectionFusionCMW::CallbackImageBoox,this,std::placeholders::_1, std::placeholders::_2));
+        }
+        sync_ptr_ = std::make_shared<message_filters::Synchronizer<SyncPolicy>>(SyncPolicy(100), *depth_sub_ptr_, *detection_bbox2s_sub_ptr_);
+        sync_ptr_->registerCallback(std::bind(&DetectionFusionCMW::CallbackBboxDepth,this,std::placeholders::_1, std::placeholders::_2));
+        ros::spin();
+    }
+
+private:
+    std::shared_ptr<ros::NodeHandle> nh_ptr_;
+    std::string stereo_depth_topic_;
+    std::string detection_bbox2d_topic_;
+    std::shared_ptr<message_filters::Subscriber<adc_msg::adc_depth>> depth_sub_ptr_;
+    std::shared_ptr<message_filters::Subscriber<adc_msg::bboxes2d>> detection_bbox2s_sub_ptr_;
+    std::shared_ptr<message_filters::Subscriber<sensor_msgs::Image>> detection_image_sub_ptr_;
+    std::shared_ptr<message_filters::Synchronizer<SyncPolicy>> sync_ptr_;
+    std::shared_ptr<message_filters::Synchronizer<SyncPolicyDetection>> sync_detection_ptr_;
+    std::queue<depth_bbox>  cache_queue_;
+    std::mutex mutex_sync_depth_bbox_;
+    std::thread thread_depth_bbox_;
+    float32_t max_depth_ = 20.0;
+    float32_t min_depth_ = 0;
+
+
+    float* x_gpu_buf_ = nullptr;
+    float* y_gpu_buf_ = nullptr;
+    float* z_gpu_buf_ = nullptr;
+    short* depth_gpu_buf_ = nullptr;
+    
+    float* x_cpu_buf_ = nullptr;
+    float* y_cpu_buf_ = nullptr;
+    float* z_cpu_buf_ = nullptr;
+    short* depth_cpu_buf_ = nullptr;
+
+    cudaStream_t stream_depth_;
+    cudaStream_t stream_x_;
+    cudaStream_t stream_y_;
+    cudaStream_t stream_z_;
+    
+
+    int dbscan_min_pts_;
+    double dbscan_radius_;
+    adc::common::OBBExtrator obb_extrator_;
+
+    #ifdef DEBUG
+    ros::Publisher point_publisher_;
+    ros::Publisher marker_publisher_;
+    #endif // DEBUG
+
+    const unsigned int  KCacheNum = 2;
+    void* obstacles_shared_mem_handle_;
+};
+}
+}
+
+int main(int argc,  char** argv)
+{   
+    adc::ros_cmw::DetectionFusionCMW app(argc, argv);
+    return 0;
+}

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/app/detection_lane_node.cpp

@@ -0,0 +1,325 @@
+#include <ros/ros.h>
+#include <sensor_msgs/PointCloud2.h> 
+#include <pcl_conversions/pcl_conversions.h> 
+#include <pcl/point_cloud.h>
+#include <chrono>
+#include <stdio.h>  
+#include <iostream>  
+#include <fstream>
+#include "opencv2/opencv.hpp"
+#include <jsoncpp/json/json.h>
+#define IVAIL_VALUE  -10 
+
+const uchar COLOR_MAP[4][3] = {{255,0,0},{0,255,0},{0,0,255},{125,125,0}};
+using namespace std;
+using namespace cv;
+
+namespace adc
+{
+
+namespace ros_cmw
+{
+
+class TestStereoLane
+{
+public:
+    typedef std::chrono::system_clock::time_point  TimeType;
+public:
+    TestStereoLane(int argc, char** argv, std::string node_name = "stereo_lane")
+    {
+        ros::init(argc, argv, node_name);
+        nh_ptr_ = std::make_shared<ros::NodeHandle>("~");
+        InitConfig();
+    }
+private:
+    void readInToMatrix(fstream &in, string FilePath, float data[480][640]) 
+    {
+	    in.open(FilePath, ios::in);//打开一个file
+	    if (!in.is_open()) 
+        {
+		    cout << "Can not find " << FilePath << endl;
+		    // system("pause");
+	    }
+        string buff;
+        int i = 0;//行数i
+        while (getline(in, buff)) 
+        {
+            vector<float> nums;
+            // string->char *
+            char *s_input = (char *)buff.c_str();
+            const char * split = ",";
+            // 以‘,’为分隔符拆分字符串
+            char *p = strtok(s_input, split);
+            float a;
+            while (p != NULL) {
+                // char * -> int
+                a = atof(p);
+                //cout << a << endl;
+                nums.push_back(a);
+                p = strtok(NULL, split);
+            }//end while
+            for (size_t b = 0; b < nums.size(); b++) {
+                data[i][b] = nums[b]/1000.0;  //单位是米
+                //cout<<data[i][b]<<endl;
+            }//end for
+            i++;
+        }//end while
+        in.close();
+        cout << "get  data" << endl;
+    }
+
+    void ComputeXYZ(const float depth[480][640],  const int left_x, const int left_y, 
+                const float inv_fu, const float inv_fv, const float u0, const float v0,
+                const float min_depth, const float max_depth, const int rows, const int cols,
+                float* z, float* x, float* y)
+    {
+
+        for(int i=0;i<rows;i++)
+        {
+            for(int j=0;j<cols;j++)
+            {
+                int index_id = i * cols + j;
+                
+                //float z_f = static_cast<float>(depth[i][j]) / 1000.0;
+                float z_f = depth[i][j];
+                if(z_f > max_depth || z_f < min_depth)
+                {
+                    z[index_id] = IVAIL_VALUE;
+                    x[index_id] = IVAIL_VALUE;
+                    y[index_id] = IVAIL_VALUE;
+                }
+                else
+                {
+                    z[index_id] = z_f;
+                    float x_f = inv_fu * (j + left_x - u0) * z_f;
+                    float y_f = inv_fv * (i + left_y - v0) * z_f;
+                    x[index_id] = x_f;
+                    y[index_id] = y_f;
+                }
+
+            }
+        }
+
+    }
+    //最小二乘法拟合曲线,用y拟合x,拟合成功返回true，失败返回false
+    bool polyfit(vector<Point> &in_point,int n, Mat &fit)
+    {
+        //double Time = (double)cvGetTickCount();
+        int m = in_point.size();
+        //构造矩阵X
+        Mat X = Mat::zeros(n+1,n+1,CV_64FC1);
+        for(int i=0;i<n+1;i++)
+        {
+            for(int j=0;j<n+1;j++)
+            {
+                for(int k=0;k<m;k++)
+                {
+                    X.at<double>(i,j)=X.at<double>(i,j)+pow(in_point[k].y,i+j);
+                }
+            }
+        }
+        //构造Y矩阵
+        Mat Y = Mat::zeros(n+1,1,CV_64FC1);
+        for(int i=0;i<n+1;i++)
+        {
+            for(int k=0;k<m;k++)
+            {
+                Y.at<double>(i, 0) = Y.at<double>(i, 0) +
+                        std::pow(in_point[k].y, i) * in_point[k].x;
+            }
+        }
+
+        fit = cv::Mat::zeros(n + 1, 1, CV_64FC1);
+        //求解矩阵A
+        cv::solve(X, Y, fit, cv::DECOMP_LU);
+        //Time = (double)cvGetTickCount() - Time ;
+        //cout<<"polyfit = "<<Time/cvGetTickFrequency()/1000<<endl;
+
+        if(countNonZero(fit))
+            return true;
+        else 
+            return false;
+    }
+
+    static bool SortPointByY(const cv::Point &point1, const cv::Point &point2)
+    {
+        return point1.y < point2.y;
+    }
+
+    bool LaneFit(std::vector<std::vector<Point>> &lane_coords, int n,std::vector<std::vector<Point>> &fit_coords)
+    {
+        std::vector<Point> single_lane_coords;
+        std::vector<Point> out_single_lane_coords;
+        for(size_t lane_index=0;lane_index<lane_coords.size();lane_index++)
+        {
+            single_lane_coords = lane_coords[lane_index];
+            //remove too short lane
+            sort(single_lane_coords.begin(),single_lane_coords.end(),SortPointByY);
+            float min_y=single_lane_coords.front().y,max_y=single_lane_coords.back().y;
+            Mat mat_k;
+            bool fitflag = polyfit(single_lane_coords, n, mat_k);
+            if(fitflag)
+            {
+                //将拟合出来的点集存储
+                for (int i = min_y; i < max_y; i++)
+                {
+                    Point2d ipt;
+                    ipt.x = 0;
+                    ipt.y = i;
+                    for (int j = 0; j < n + 1; ++j)
+                    {
+                        ipt.x += mat_k.at<double>(j, 0)*pow(i,j);
+                    }
+                    out_single_lane_coords.push_back(ipt);
+                }
+                fit_coords.push_back(out_single_lane_coords);
+                out_single_lane_coords.clear();
+            }
+
+        }
+        return true;
+    }
+
+    void PublishPoints(Mat& points, cv::Mat& color_image, 
+                    vector<vector<Point>>& lane_point,ros::Time& stamp)
+    {
+        (void) color_image;
+        pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);
+        sensor_msgs::PointCloud2 point_cloud_msg;
+        for(size_t i=0;i<lane_point.size();i++)
+        {
+            for(size_t j=0;j<lane_point[i].size();j++)
+            {
+                Point pixel = lane_point[i][j];
+		Vec3f xyz = points.at<Vec3f>(pixel.y,pixel.x);
+                float x = xyz[0];
+                float y = xyz[1];
+                float z = xyz[2];
+
+                /*
+                Vec3b color = color_image.at<Vec3b>(pixel.y,pixel.x);
+                uchar b = color[0];
+                uchar g = color[1];
+                uchar r = color[2];
+                */
+
+                uchar b = COLOR_MAP[i][0];
+                uchar g = COLOR_MAP[i][1];
+                uchar r = COLOR_MAP[i][2];
+
+                if(z>0)
+                {
+                    pcl::PointXYZRGB point;
+                    point.x = x;
+                    point.y = y;
+                    point.z = z;
+                    point.r = r;
+                    point.g = g;
+                    point.b = b;
+                    point_cloud_ptr->push_back(point);
+                }
+
+            }
+        }
+  
+        //pcl::PointCloud<pcl::PointXYZRGB>::Ptr filters_point_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);
+        // adc::adc_3d::PointUtils::FilterRemoveOutlierPointsOnStatistical(point_cloud_ptr , filters_point_cloud_ptr);
+        // ROS_INFO("Send point cloud, size: %d", point_cloud_ptr->size());
+        pcl::toROSMsg(*point_cloud_ptr, point_cloud_msg);
+        point_cloud_msg.header.frame_id = "stereo_lanepoint"; 
+        point_cloud_msg.header.stamp = stamp;
+        point_vis_publisher_.publish(point_cloud_msg);
+        ros::spinOnce();
+    }
+
+    void GetWorldMatAndLanePoint(Mat& world_mat, Mat& img, vector<vector<Point>>& lane_point)
+    {
+        string json_path = "/media/nvidia/LIQINGXIA/6/1.json";
+        string txt_path = "/media/nvidia/LIQINGXIA/6/1.txt";
+        string img_path = "/media/nvidia/LIQINGXIA/6/1.png";
+        img = imread(img_path);
+        vector<vector<Point>>lanes;
+        vector<Point>line;
+        Json::Reader reader;
+        Json::Value root;
+        std::ifstream ifs;
+        string img_name;
+        int rows;
+        int cols;
+        ifs.open(json_path, std::ios::binary);
+        if (!ifs.is_open())
+        {
+            cout << "Error opening file\n";
+        }
+        if(reader.parse(ifs, root))
+        {
+            img_name = root["imagePath"].asString();
+            rows = root["imageHeight"].asInt();
+            cols = root["imageWidth"].asInt();
+            for (unsigned int i = 0; i < root["shapes"].size(); i++)
+            {
+                Json::Value Array = root["shapes"][i]["points"];
+                int rows = Array.size();
+                // int cols = Array[0].size();
+                for(int m=0;m<rows;m++)
+                {
+                    line.push_back(Point(Array[m][0].asInt(),Array[m][1].asInt()));
+                }
+                lanes.push_back(line);
+                line.clear();
+            }
+        
+            fstream file1; //创建文件流对象
+            float data[480][640];
+            readInToMatrix(file1,txt_path,data);
+            double inv_fu = 1.0/609.368164062;
+            double inv_fv = 1.0/609.368164062;
+            double u0 = 323.633148193;
+            double v0 = 244.768936157;
+            float x[rows*cols];
+            float y[rows*cols];
+            float z[rows*cols];
+            ComputeXYZ(data,0,0,inv_fu,inv_fu,u0,v0,1.0,8.0,480,640,z,x,y);
+            (void) inv_fu;
+            (void) inv_fv;
+            cv::Mat x_mat(rows, cols, CV_32FC1, x);
+            cv::Mat y_mat(rows, cols, CV_32FC1, y);
+            cv::Mat z_mat(rows, cols, CV_32FC1, z);
+            vector<Mat>channels_all;
+            channels_all.push_back(x_mat);
+            channels_all.push_back(y_mat);
+            channels_all.push_back(z_mat);
+            cv::merge(channels_all, world_mat);
+            LaneFit(lanes,2,lane_point);
+        }
+    }
+    void InitConfig()
+    {
+
+
+        nh_ptr_->param("points_vis_topic", points_vis_topic_, std::string("/stereo/lane_point_cloud"));
+
+        Mat world_mat,img;
+        vector<vector<Point>>lane_point;
+        GetWorldMatAndLanePoint(world_mat,img,lane_point);
+        point_vis_publisher_ = nh_ptr_->advertise<sensor_msgs::PointCloud2>(points_vis_topic_, 1);
+        TimeType tm;
+        int32_t sec = std::chrono::duration_cast<std::chrono::seconds>(tm.time_since_epoch()).count();
+        int32_t nsec = std::chrono::duration_cast<std::chrono::nanoseconds>(tm.time_since_epoch()).count() % 1000000000UL;
+        ros::Time stamp(sec, nsec);
+        while(true)
+            PublishPoints(world_mat,img,lane_point,stamp);
+    }
+private:
+    std::shared_ptr<ros::NodeHandle> nh_ptr_;
+    std::string points_vis_topic_;
+    ros::Publisher point_vis_publisher_;
+};
+}
+}
+
+int main(int argc, char** argv)
+{
+    adc::ros_cmw::TestStereoLane stereo_lane(argc, argv);
+    return 0;
+}

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/app/detection_trt7_app_node.cpp

@@ -0,0 +1,205 @@
+/**
+* \brief 
+* \author liqingxia (pengcheng@yslrpch@126.com)
+* \date 2021-06-21
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+
+#include <ros/ros.h>
+#include <message_filters/subscriber.h>
+#include <message_filters/time_synchronizer.h>
+#include <message_filters/sync_policies/approximate_time.h> 
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/image_encodings.h>
+#include <memory>
+#include <stdlib.h>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/videoio.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include "cmw_app/detection_trt7_app.h"
+#include <yaml-cpp/yaml.h>
+#include <vector>
+
+#include "common/project_root.h"
+#include "adc_msg/bboxes2d.h"
+#include "adc_msg/bbox2d.h"
+
+
+#define IMAGE_WIDTH 640
+#define IMAGE_HEIGHT 480
+
+namespace adc
+{
+namespace ros_cmw
+{
+
+class DetectionTrt7CMW
+{
+public:
+    // typedef message_filters::sync_policies::ApproximateTime<adc_msg::adc_depth, sensor_msgs::Image> SyncPolicy;
+    typedef std::chrono::system_clock::time_point  TimeType;
+    typedef  std::shared_ptr<std::list<vector<Tn::Bbox>>> Bboxes2DType;
+    typedef  cv::Mat ImageType;
+    typedef std::vector<std::string> ClassNameType;
+public:
+    DetectionTrt7CMW(int argc, char** argv)
+    {
+        ros::init(argc, argv, "detection");
+        nh_ptr_ = std::make_shared<ros::NodeHandle>("~");
+        InitConfig();
+    }
+private:
+    void CallbackDetection(Bboxes2DType& bboxes, TimeType& tm, ImageType& img, ClassNameType& class_name)
+    {
+        std::vector<adc_msg::bbox2d> detections;
+        auto detection_res_ptr = (*bboxes).begin();
+        for(std::vector<Tn::Bbox>::iterator bbox = detection_res_ptr->begin(); bbox != detection_res_ptr->end(); ++bbox)
+        {
+            adc_msg::bbox2d bbox2d_msg;
+            bbox2d_msg.x1 = bbox->left;
+            bbox2d_msg.y1 = bbox->top;
+            bbox2d_msg.x2 = bbox->right;
+            bbox2d_msg.y2 = bbox->bot;
+            bbox2d_msg.score = bbox->score;
+            bbox2d_msg.category = class_name[bbox->classId];
+            detections.push_back(bbox2d_msg);
+        }
+        adc_msg::bboxes2d bboxes2s_msg;
+        int32_t sec = std::chrono::duration_cast<std::chrono::seconds>(tm.time_since_epoch()).count();
+        int32_t nsec = std::chrono::duration_cast<std::chrono::nanoseconds>(tm.time_since_epoch()).count() % 1000000000UL;
+        ros::Time stamp(sec, nsec);
+        std_msgs::Header header;
+        header.stamp = stamp;
+        bboxes2s_msg.header = header;
+        bboxes2s_msg.bboxes = detections;
+        bboxes_pushisher_.publish(bboxes2s_msg);
+        if(publis_origin_img_)
+        {
+            cv_bridge::CvImage cv_img_l;
+            sensor_msgs::Image img_msg_l;
+            cv_img_l.header.stamp = stamp;
+            cv_img_l.encoding = "bgr8";
+            cv_img_l.image = img;
+            cv_img_l.toImageMsg(img_msg_l);
+            left_image_publisher_.publish(img_msg_l);
+        }
+    }
+
+    void CallbackBinocular(const sensor_msgs::ImageConstPtr& binocular_image_msg)
+    {
+
+        ros::Time image_time = binocular_image_msg->header.stamp;
+        // ros::Time image_time = ros::Time::now();
+        cv::Mat binocular = cv_bridge::toCvCopy(binocular_image_msg, binocular_image_msg->encoding)->image;
+        cv::Mat left_image = binocular(left_rect_).clone();
+        uint64_t nsecs = image_time.toNSec();
+        std::chrono::nanoseconds ns(nsecs);
+        TimeType time_stamp(ns);
+        cv::remap(left_image, left_image, map_x_, map_y_, cv::INTER_LINEAR);
+        detection_ptr_->CacheImages(left_image, time_stamp);
+    }
+    void ReadCameraParams(const std::string camera_yaml)
+    {
+        try
+        {
+            YAML::Node node = YAML::LoadFile(camera_yaml);
+            int height = node["image_height"].as<int>();
+            int width = node["image_width"].as<int>();
+            cv::Size size(width, height);
+            std::vector<double> K_v= node["camera_matrix"]["data"].as<std::vector<double>>();
+            std::vector<double> P_v = node["projection_matrix"]["data"].as<std::vector<double>>();
+            std::vector<double> D_v = node["distortion_coefficients"]["data"].as<std::vector<double>>();
+            std::vector<double> R_v = node["rectification_matrix"]["data"].as<std::vector<double>>();
+
+            cv::Mat _K(K_v);
+            cv::Mat _P(P_v);
+            cv::Mat _D(D_v);
+            cv::Mat _R(R_v);
+
+            _K = _K.reshape(3,3);
+            _P = _P.reshape(4,3);
+            _D = _D.reshape(5,1);
+            _R = _R.reshape(3,3);
+            cv::initUndistortRectifyMap(_K, _D, _R, _P, size, CV_32FC1, map_x_, map_y_);
+            
+        }
+        catch (const std::exception& e)
+        {
+            std::cerr << e.what() << '\n'<<std::endl;;
+            std::cerr<<" detection Ros app read camera params file faile!"<<std::endl;
+            exit(1);
+
+        }
+    }
+    void InitConfig()
+    {
+
+        std::string detection_config;
+        std::string root_path;
+        std::string left_camera_params_filename;
+        std::string detection_bbox2d_topic;
+        std::string origin_imgage_topic;
+        float hz;
+        nh_ptr_->param("binocular_topic", binocular_topic_, std::string("/camera/binocular"));
+        nh_ptr_->param("hz", hz, 30.0f);
+        nh_ptr_->param("detection_config", detection_config, std::string("detection.yaml"));
+        nh_ptr_->param("root_path", root_path, std::string("/opt/adc"));
+        nh_ptr_->param("left_camera_params_filename", left_camera_params_filename, std::string("left.yaml"));
+        nh_ptr_->param("detection_bbox2d_topic", detection_bbox2d_topic, std::string("/detection/bbox2d"));
+        nh_ptr_->param("publis_origin_img", publis_origin_img_, true);
+        nh_ptr_->param("origin_imgage_topic", origin_imgage_topic, std::string("/detection/image"));
+        std::string param_root = "ADC_ROOT="+root_path;
+        char* path_c = const_cast<char*>(param_root.c_str());
+        putenv(path_c);
+        std::string left_camera_params_file_path = adc::RootPath::GetAbsolutePath(left_camera_params_filename);
+        ReadCameraParams(left_camera_params_file_path);
+        detection_ptr_ = std::make_shared<adc::DetectionTrt7App>(detection_config, hz);
+        detection_ptr_->SetDetectionCallback(
+            std::bind(
+                &DetectionTrt7CMW::CallbackDetection, this, 
+                std::placeholders::_1, std::placeholders::_2,
+                std::placeholders::_3, std::placeholders::_4)
+        );
+//std::bind(&StereoMatchCMW::CallbackDepthHandler, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+
+        left_rect_ = cv::Rect(0,0,IMAGE_WIDTH, IMAGE_HEIGHT);
+        binocular_subscriber_ = nh_ptr_->subscribe<sensor_msgs::Image>(
+            binocular_topic_, 1,
+            std::bind(&DetectionTrt7CMW::CallbackBinocular,
+            this, 
+            std::placeholders::_1)
+            );
+        bboxes_pushisher_ = nh_ptr_->advertise<adc_msg::bboxes2d>(detection_bbox2d_topic,1);
+        transport_img_ptr_ = std::make_shared<image_transport::ImageTransport>(*nh_ptr_);
+        left_image_publisher_ = transport_img_ptr_->advertise(origin_imgage_topic, 1);
+        detection_ptr_->Run();
+        // depth_sub_ptr_ = std::make_shared<message_filters::Subscriber<adc_msg::adc_depth>>(*nh_ptr_, stereo_depth_topic_, 1);
+        // image_sub_ptr_ = std::make_shared<message_filters::Subscriber<sensor_msgs::Image>>(*nh_ptr_, binocular_topic_, 1);
+        // sync_ptr_ = std::make_shared<message_filters::Synchronizer<SyncPolicy>>(SyncPolicy(100), *depth_sub_ptr_, *image_sub_ptr_);
+        // sync_ptr_->registerCallback(std::bind(&DetectionCMW::CallbackImageDepth,this,std::placeholders::_1, std::placeholders::_2));
+        ros::spin();    
+
+    }
+private:
+    std::shared_ptr<ros::NodeHandle> nh_ptr_;
+    std::string binocular_topic_;
+    std::shared_ptr<adc::DetectionTrt7App> detection_ptr_;
+    cv::Rect left_rect_;
+    ros::Subscriber binocular_subscriber_;
+    ros::Publisher bboxes_pushisher_;
+    std::shared_ptr<image_transport::ImageTransport> transport_img_ptr_;
+    image_transport::Publisher left_image_publisher_;
+    cv::Mat map_x_;
+    cv::Mat map_y_;
+    bool publis_origin_img_;
+};
+}
+}
+int main(int argc,  char** argv)
+{   
+    adc::ros_cmw::DetectionTrt7CMW app(argc, argv);
+    return 0;
+}

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/app/lane_depth_fusion_app_node.cpp

@@ -0,0 +1,552 @@
+/**
+* \brief 
+* \author pengcheng (pengcheng@yslrpch@126.com)
+* \date 2020-08-25
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+
+#include <ros/ros.h>
+#include <message_filters/subscriber.h>
+#include <message_filters/time_synchronizer.h>
+#include <message_filters/sync_policies/approximate_time.h> 
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/image_encodings.h>
+#include <memory>
+#include <queue>
+#include <mutex>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/videoio.hpp>
+#include "adc_msg/adc_depth.h"
+#include "cmw_app/detection_app.h"
+#include <sensor_msgs/PointCloud2.h> 
+#include "adc_msg/lane_info.h"
+#include "adc_msg/lane_info_array.h"
+#include <pcl/point_cloud.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include <pcl/sample_consensus/ransac.h>
+#include <pcl/sample_consensus/sac_model_plane.h>
+#include <pcl/sample_consensus/sac_model_sphere.h>
+#include "eigen3/Eigen/Core"
+#include "common/utils.h"
+#include <cuda_runtime_api.h>
+#include "cuda_runtime.h"
+#include <visualization_msgs/Marker.h>
+
+#define IMAGE_WIDTH 640
+#define IMAGE_HEIGHT 480
+
+#define DEBUG
+
+
+ namespace adc
+ {
+ namespace ros_cmw
+ {
+
+ const int COLOR_MAP[13][3]={{255, 0, 0},{0, 255, 0},{0, 0, 255},{125, 125, 0},{0,125,125},
+                            {125, 0, 125},{50, 100, 50},{100, 50, 100},{50, 50, 100},
+                            {255,255,0},{0,255,255},{255,0,255},{100,100,100}};
+
+ class LaneFusionCMW
+ {
+ public:
+     struct depth_lane
+     {
+         adc_msg::adc_depth depth;
+         adc_msg::lane_info_array lanes;
+         ros::Time stamp;
+     };
+
+     typedef struct lane_information
+     {
+         int id;
+         int type;
+         int color;
+         float a;
+         float b;
+         float c;
+         float min_y;
+         float max_y;
+         float curvature;
+     }lane_information;
+     typedef message_filters::sync_policies::ApproximateTime<adc_msg::adc_depth, adc_msg::lane_info_array> SyncPolicy;
+     typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, adc_msg::lane_info_array> SyncPolicyDetection;
+     typedef std::shared_ptr<std::list<vector<lane_information>>> LaneInfoArrayType;
+ public:
+     LaneFusionCMW(int argc, char** argv)
+     {
+         ros::init(argc, argv, "detection");
+         nh_ptr_ = std::make_shared<ros::NodeHandle>("~");
+         InitConfig();
+     }
+ private:
+     //最小二乘法拟合曲线,用y拟合x,拟合成功返回true，失败返回false
+     bool polyfit(std::vector<cv::Point2f> &in_point, int n, cv::Mat &fit)
+     {
+             //double Time = (double)cvGetTickCount();
+             int m = in_point.size();
+             //构造矩阵X
+             cv::Mat X = cv::Mat::zeros(n + 1, n + 1, CV_64FC1);
+             for (int i = 0; i < n + 1; i++)
+             {
+                     for (int j = 0; j < n + 1; j++)
+                     {
+                             for (int k = 0; k < m; k++)
+                             {
+                                     X.at<double>(i, j) = X.at<double>(i, j) + pow(in_point[k].y, i + j);
+                             }
+                     }
+             }
+             //构造Y矩阵
+             cv::Mat Y = cv::Mat::zeros(n + 1, 1, CV_64FC1);
+             for (int i = 0; i < n + 1; i++)
+             {
+                     for (int k = 0; k < m; k++)
+                     {
+                             Y.at<double>(i, 0) = Y.at<double>(i, 0) +
+                                                                      std::pow(in_point[k].y, i) * in_point[k].x;
+                     }
+             }
+
+             fit = cv::Mat::zeros(n + 1, 1, CV_64FC1);
+             //求解矩阵A
+             cv::solve(X, Y, fit, cv::DECOMP_LU);
+             //Time = (double)cvGetTickCount() - Time ;
+             //cout<<"polyfit = "<<Time/cvGetTickFrequency()/1000<<endl;
+
+             if (countNonZero(fit))
+                     return true;
+             else
+                     return false;
+     }
+
+     pcl::PointCloud<pcl::PointXYZ>::Ptr ComputeXYZ(cv::Mat &depth, const int left_x, const int left_y,
+                                     const float inv_fu, const float inv_fv, const float u0, const float v0,
+                                     const float min_depth, const float max_depth,
+                                     const float corret_a=0, const float corret_b=0, const float corret_c=0)
+     {
+
+
+             pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_plane(new pcl::PointCloud<pcl::PointXYZ>);
+             //用图像下半部分拟合平面，或者取梯形区域
+             int rows = depth.rows;
+             int cols = depth.cols;
+             int half_rows = int(0.5*rows);
+
+             for (int i = half_rows; i < rows; i++)
+             {
+                 short* depth_p;
+                 depth_p = depth.ptr<short>(i);
+                 for (int j = 0; j < cols; j++)
+                     {
+                             //int index_id = i * cols + j;
+                             //float z_f = static_cast<float>(depth[i][j]) / 1000.0;
+                             float z_f = depth_p[j] / 1000.0;  //单位m
+                             //correct
+                             z_f = z_f + corret_a + corret_b*z_f + corret_c*z_f*z_f;
+
+                             pcl::PointXYZ point_plane;
+                             if (z_f < max_depth && z_f > min_depth)
+                             {
+                                     float x_f = inv_fu * (j + left_x - u0) * z_f;
+                                     float y_f = inv_fv * (i + left_y - v0) * z_f;
+                                     if(y_f>min_height_ && y_f<max_height_ && x_f>min_width_ && x_f<max_width_)
+                                     {
+                                             point_plane.x = x_f;
+                                             point_plane.y = y_f;
+                                             point_plane.z = z_f;
+                                             cloud_plane->push_back(point_plane);
+                                     }
+                             }
+                     }
+             }
+             return cloud_plane;
+     }
+
+     //将车道线上的点转换到相机坐标系下，通过zc=1，求与拟合出地平面的交点
+     void ComputeVirtualXYZ(const float inv_fu, const float inv_fv, const float u0, const float v0,
+                            const float min_depth, const float max_depth,Eigen::VectorXf &coeff,
+                            std::vector<lane_information> &pixel_lane_result,
+                            std::vector<lane_information> &camera_lane_result,
+                            std::vector<std::vector<cv::Point3f>> &coords_camera)
+     {
+
+         float z_f = 1.0;
+         float p1[3] = {0};
+         float p2[3];
+         float plane_normal[3] = {coeff[0],coeff[1],coeff[2]};
+         cv::Point3f crosspoint;
+         cv::Point2f fitpoint; //(x,z)
+         std::vector<cv::Point3f> single_coords_camera;
+         std::vector<cv::Point2f> single_fit_coords_camera;
+         float z_curvature = 1.0;
+         for(size_t i=0;i<pixel_lane_result.size();i++)
+         {
+
+             int min_y = int(pixel_lane_result[i].min_y);
+             int max_y = int(pixel_lane_result[i].max_y);
+             for(int y=min_y;y<max_y;y++)
+             {
+                 float x = pixel_lane_result[i].a + pixel_lane_result[i].b*y + pixel_lane_result[i].c*y*y;
+                 float x_f = inv_fu * (x - u0) * z_f;
+                 float y_f = inv_fv * (y - v0) * z_f;
+                 p2[0] = x_f;
+                 p2[1] = y_f;
+                 p2[2] = z_f;
+                 float p1p2[3];
+                 p1p2[0] = p2[0]-p1[0];
+                 p1p2[1] = p2[1]-p1[1];
+                 p1p2[2] = p2[2]-p1[2];
+                 //判断直线与平面是否平行，若平行则与法向量垂直，点乘为0
+                 float dot_p1p2_normal = p1p2[0]*plane_normal[0] + p1p2[1]*plane_normal[1]
+                                         + p1p2[2]*plane_normal[2];
+                  if(dot_p1p2_normal>0 || dot_p1p2_normal<0)
+                  {
+
+
+                      float n = abs(p1[0]*plane_normal[0] + p1[1]*plane_normal[1]
+                                     + p1[2]*plane_normal[2]+coeff[3])/
+                                     abs(dot_p1p2_normal);
+                      crosspoint.x = p1[0] + n*p1p2[0];
+                      crosspoint.y = p1[1] + n*p1p2[1];
+                      crosspoint.z = p1[2] + n*p1p2[2];
+                      if (crosspoint.z < max_depth && crosspoint.z > min_depth)
+                      {
+                         single_coords_camera.push_back(crosspoint);
+                         fitpoint = cv::Point2f(crosspoint.x,crosspoint.z);
+                         single_fit_coords_camera.push_back(fitpoint);
+                      }
+                    }
+             }
+             //拟合相机坐标系下的车道线参数
+             cv::Mat fit_mat_camera;
+             if(single_fit_coords_camera.size()>3)
+             {
+                 bool fitflag = polyfit(single_fit_coords_camera,2,fit_mat_camera);
+                 if(fitflag)
+                 {
+                     lane_information single_lane_camera;
+                     single_lane_camera.min_y = single_fit_coords_camera.front().y;
+                     single_lane_camera.max_y = single_fit_coords_camera.back().y;
+                     single_lane_camera.a = fit_mat_camera.at<double>(0,0);
+                     single_lane_camera.b = fit_mat_camera.at<double>(1,0);
+                     single_lane_camera.c = fit_mat_camera.at<double>(2,0);
+                     single_lane_camera.id = pixel_lane_result[i].id;
+                     single_lane_camera.type = pixel_lane_result[i].type;
+                     single_lane_camera.color = pixel_lane_result[i].color;
+                     single_lane_camera.curvature = abs(2*fit_mat_camera.at<double>(2,0))/pow(1 + pow((2*fit_mat_camera.at<double>(2,0)
+                                                                      *z_curvature + fit_mat_camera.at<double>(1,0)),2),1.5);
+                     camera_lane_result.push_back(single_lane_camera);
+                     coords_camera.push_back(single_coords_camera);
+                 }
+             }
+             single_coords_camera.clear();
+             single_fit_coords_camera.clear();
+        }
+     }
+
+     void PublishLanes3d(std::vector<lane_information> &camera_lane_result, ros::Time &time_stamp)
+     {
+         std::vector<adc_msg::lane_info> lanes;
+         for(std::vector<lane_information>::iterator lane = camera_lane_result.begin(); lane != camera_lane_result.end(); ++lane)
+         {
+             adc_msg::lane_info lane3d_msg;
+             lane3d_msg.index = lane->id;
+             lane3d_msg.type = lane->type;
+             lane3d_msg.color = lane->color;
+             lane3d_msg.a = lane->a;
+             lane3d_msg.b = lane->b;
+             lane3d_msg.c = lane->c;
+             lane3d_msg.min_y = lane->min_y;
+             lane3d_msg.max_y = lane->max_y;
+             lane3d_msg.curvature = lane->curvature;
+             lanes.push_back(lane3d_msg);
+         }
+         adc_msg::lane_info_array lane_array3d_msg;
+         std_msgs::Header header;
+         header.stamp = time_stamp;
+         lane_array3d_msg.header = header;
+         lane_array3d_msg.lane_infos = lanes;
+         lanes3d_publisher_.publish(lane_array3d_msg);
+     }
+
+     void PublishLanes3dPoint(std::vector<std::vector<cv::Point3f>> &coords_camera, ros::Time &time_stamp)
+     {
+         pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);
+         sensor_msgs::PointCloud2 point_cloud_msg;
+         for(size_t i=0;i<coords_camera.size();i++)
+         {
+             for(size_t j=0;j<coords_camera[i].size();j++)
+             {
+                 float x = coords_camera[i][j].x;
+                 float y = coords_camera[i][j].y;
+                 float z = coords_camera[i][j].z;
+                 uchar b = COLOR_MAP[i][0];
+                 uchar g = COLOR_MAP[i][1];
+                 uchar r = COLOR_MAP[i][2];
+                 if(z>0)
+                 {
+                     pcl::PointXYZRGB point;
+                     point.x = x;
+                     point.y = y;
+                     point.z = z;
+                     point.r = r;
+                     point.g = g;
+                     point.b = b;
+                     point_cloud_ptr->push_back(point);
+                 }
+
+             }
+         }
+         //pcl::PointCloud<pcl::PointXYZRGB>::Ptr filters_point_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);
+         // adc::adc_3d::PointUtils::FilterRemoveOutlierPointsOnStatistical(point_cloud_ptr , filters_point_cloud_ptr);
+         // ROS_INFO("Send point cloud, size: %d", point_cloud_ptr->size());
+         pcl::toROSMsg(*point_cloud_ptr, point_cloud_msg);
+         point_cloud_msg.header.frame_id = "lanes3d_point";
+         point_cloud_msg.header.stamp = time_stamp;
+         lanes3d_point_publisher_.publish(point_cloud_msg);
+     }
+
+     void DepthLanesHandle()
+     {
+         size_t cache_size = 0;
+         while(true)
+         {
+             depth_lane  current_depth_lane;
+             {
+                 std::lock_guard<std::mutex> mutex_sync(mutex_sync_depth_lane_);
+                 cache_size = cache_queue_.size();
+             }
+             if(cache_size > 0)
+             {
+
+                 {
+                     std::lock_guard<std::mutex> mutex_sync(mutex_sync_depth_lane_);
+                     current_depth_lane = cache_queue_.front();
+                     cache_queue_.pop();
+                 }
+
+                 float32_t fu = current_depth_lane.depth.fu;
+                 float32_t fv = current_depth_lane.depth.fv;
+                 float32_t u0 = current_depth_lane.depth.u0;
+                 float32_t v0 = current_depth_lane.depth.v0;
+                 float32_t inv_fu = 1 / fu;
+                 float32_t inv_fv = 1 / fv;
+
+                 //获得矫正后的深度图像
+                 cv::Mat depth_mono16;
+                 sensor_msgs::Image depth_mono16_msg = current_depth_lane.depth.depth;
+                 depth_mono16 = cv_bridge::toCvCopy(depth_mono16_msg, "mono16")->image;
+
+                 // int rows = depth_mono16.rows;
+                 // int cols = depth_mono16.cols;
+
+                 //double t0 = (double)cv::getTickCount();
+
+                 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_plane(new pcl::PointCloud<pcl::PointXYZ>);
+                 cloud_plane = ComputeXYZ(depth_mono16, 0, 0, inv_fu, inv_fu, u0, v0, min_depth_, max_depth_);
+
+                 //t0 = (double)cv::getTickCount()- t0;
+
+                 //std::cout<< "ComputeXYZ: "  <<t0*1000.0/cv::getTickFrequency()<<" ms"<<std::endl;
+
+                 //std::cout<<"cloud_plane->width: "<<cloud_plane->width<<std::endl;
+
+                 if(cloud_plane->width > 10)
+                 {
+                     //double t1 = (double)cv::getTickCount();
+                     //vector<int> inliers;//用于存放合群点的vector
+                     pcl::SampleConsensusModelPlane<pcl::PointXYZ>::Ptr model(
+                     new pcl::SampleConsensusModelPlane<pcl::PointXYZ>(cloud_plane));//定义待拟合平面的model，并使用待拟合点云初始化
+                     pcl::RandomSampleConsensus<pcl::PointXYZ> ransac(model);//定义RANSAC算法模型
+                     ransac.setDistanceThreshold(0.05);//设定阈值
+                     ransac.computeModel();//拟合
+                     // ransac.getInliers(inliers);//获取合群点
+                     // vector<int> tmp;
+                     Eigen::VectorXf coeff;
+                     ransac.getModelCoefficients(coeff);//获取拟合平面参数，对于平面ax+by_cz_d=0，coeff分别按顺序保存a,b,c,d
+                     std::cout<<"coeff "<<coeff[0]<<" "<<coeff[1]<<" "<<coeff[2]<<" "<<coeff[3]<<std::endl;
+
+                     //double t2 = (double)cv::getTickCount()- t1;
+
+                     //std::cout<< "SampleConsensusModelPlane: "  <<t2*1000.0/cv::getTickFrequency()<<" ms"<<std::endl;
+
+                     //获得图像上车道线检测结果
+                     std::vector<adc_msg::lane_info> lanes = current_depth_lane.lanes.lane_infos;
+                     std::vector<lane_information> pixel_lane_result;
+                     std::vector<lane_information> camera_lane_result;
+                     std::vector<std::vector<cv::Point3f>> coords_camera;
+                     for(adc_msg::lane_info lane : lanes)
+                     {
+                         lane_information single_lane;
+                         single_lane.min_y = lane.min_y;
+                         single_lane.max_y = lane.max_y;
+                         single_lane.a = lane.a;
+                         single_lane.b = lane.b;
+                         single_lane.c = lane.c;
+                         single_lane.id = lane.index;
+                         single_lane.type = lane.type;
+                         single_lane.color = lane.color;
+                         single_lane.curvature = lane.curvature;
+                         pixel_lane_result.push_back(single_lane);
+                     }
+
+                     //t1 = (double)cv::getTickCount()- t1;
+                     //std::cout<< "Total Cost: "  <<t1*1000.0/cv::getTickFrequency()<<" ms"<<std::endl;
+
+                     ComputeVirtualXYZ(inv_fu,inv_fv,u0,v0,min_depth_,max_depth_,coeff,
+                                       pixel_lane_result,camera_lane_result,coords_camera);
+
+                     ros::Time time_stamp = current_depth_lane.stamp;
+                     PublishLanes3d(camera_lane_result,time_stamp);
+                     if(is_vis_lanes3d_point)
+                         PublishLanes3dPoint(coords_camera,time_stamp);
+
+                     //显示相机坐标系下的车道线点集合
+                     cv::Mat mask(1920, 1080, CV_8UC3, cv::Scalar(255,255,255));
+                     if(coords_camera.size()>0)
+                     {
+                         for (std::size_t i = 0; i < coords_camera.size(); i++)
+                         {
+                                 for (std::size_t j = 0; j < coords_camera[i].size() - 1; j++)
+                                 {
+                                         float x_idx =coords_camera[i][j].x;
+                                         float y_idx = coords_camera[i][j].y;
+                                         float z_idx = coords_camera[i][j].z;
+                                         //通过y值选出地面上的点
+                                         if (z_idx > 0 && y_idx > 0.3 && y_idx < 0.8)
+                                         {
+                                                 int x_pixel = int((x_idx + 5) * 100);
+                                                 int z_pixel = int(z_idx * 100);
+                                                 cv::circle(mask, cv::Point(x_pixel, z_pixel), 5,
+                                                         cv::Scalar(COLOR_MAP[i][0], COLOR_MAP[i][1], COLOR_MAP[i][2]));
+                                         }
+                                 }
+                         }
+
+                      }
+                     cv::flip(mask,mask,0);
+                     cv::imshow("camera_lane",mask);
+                     cv::waitKey(1);
+                 }
+            }
+            else
+            {
+                 usleep(2000);
+            }
+         }
+
+     }
+
+     void CallbackImageLane(const sensor_msgs::ImageConstPtr& image_msg, const adc_msg::lane_info_arrayConstPtr& detection_lane2d)
+     {
+         std::vector<adc_msg::lane_info> lanes = detection_lane2d->lane_infos;
+         cv::Mat img = cv_bridge::toCvCopy(image_msg, image_msg->encoding)->image;
+        
+         for(adc_msg::lane_info lane : lanes)
+         {
+             int min_y = int(lane.min_y);
+             int max_y = int(lane.max_y);
+             float a = lane.a;
+             float b = lane.b;
+             float c = lane.c;
+             int id = lane.index;
+             for(int i=min_y;i<max_y;i++)
+             {
+                 int x = int(a + b*i + c*i*i);
+                 cv::Point lane_point(x,i);
+                 cv::circle(img, lane_point,5,cv::Scalar(COLOR_MAP[id][0],
+                                                  COLOR_MAP[id][1],
+                                                  COLOR_MAP[id][2]),-1);
+             }
+         }
+         cv::imshow("show", img);
+         cv::waitKey(10);
+     }
+     void CallbackLaneDepth(const adc_msg::adc_depthConstPtr& depth_msg, const adc_msg::lane_info_arrayConstPtr& detection_lane2d)
+     {
+         ros::Time depth_time = depth_msg->header.stamp;
+         depth_lane merge_msg;
+         merge_msg.depth = *depth_msg;
+         merge_msg.lanes = *detection_lane2d;
+         merge_msg.stamp = depth_time;
+         {
+             std::lock_guard<std::mutex> mutex_sync(mutex_sync_depth_lane_);
+             cache_queue_.push(merge_msg);
+             if(cache_queue_.size() > KCacheNum) cache_queue_.pop();
+         }
+
+     }
+     void InitConfig()
+     {
+
+         nh_ptr_->param("detection_lanes2d_topic", detection_lanes2d_topic_, std::string("/detection/lanes2d"));
+         nh_ptr_->param("detection_lanes3d_topic", detection_lanes3d_topic_, std::string("/detection/lanes3d"));
+         nh_ptr_->param("lanes3d_point_topic", lanes3d_point_topic_, std::string("/detection/lanes3d_point"));
+         nh_ptr_->param("stereo_depth_topic", stereo_depth_topic_, std::string("/stereo/depth"));
+         nh_ptr_->param("detection_image_topic", detection_image_topic, std::string("/detection/image_lane"));
+         nh_ptr_->param("vis_detection", is_vis_detection, true);
+         nh_ptr_->param("vis_lanes3d_point", is_vis_lanes3d_point, true);
+         cv::namedWindow("show",cv::WINDOW_NORMAL);
+
+         depth_sub_ptr_ = std::make_shared<message_filters::Subscriber<adc_msg::adc_depth>>(*nh_ptr_, stereo_depth_topic_, 1);
+         detection_lanes_sub_ptr_ = std::make_shared<message_filters::Subscriber<adc_msg::lane_info_array>>(*nh_ptr_, detection_lanes2d_topic_, 1);
+         detection_image_sub_ptr_ = std::make_shared<message_filters::Subscriber<sensor_msgs::Image>>(*nh_ptr_, detection_image_topic, 1);
+
+         lanes3d_publisher_ = nh_ptr_->advertise<adc_msg::lane_info_array>(detection_lanes3d_topic_,1);
+
+         if(is_vis_lanes3d_point)
+         {
+             lanes3d_point_publisher_ = nh_ptr_->advertise<sensor_msgs::PointCloud2>(lanes3d_point_topic_, 1);
+         }
+         thread_depth_lane_ = std::thread(std::bind(&LaneFusionCMW::DepthLanesHandle, this));
+         thread_depth_lane_.detach();
+         if(is_vis_detection)
+         {
+             sync_detection_ptr_ = std::make_shared<message_filters::Synchronizer<SyncPolicyDetection>>(SyncPolicyDetection(100), *detection_image_sub_ptr_, *detection_lanes_sub_ptr_);
+             sync_detection_ptr_->registerCallback(std::bind(&LaneFusionCMW::CallbackImageLane,this,std::placeholders::_1, std::placeholders::_2));
+         }
+         sync_ptr_ = std::make_shared<message_filters::Synchronizer<SyncPolicy>>(SyncPolicy(100), *depth_sub_ptr_, *detection_lanes_sub_ptr_);
+         sync_ptr_->registerCallback(std::bind(&LaneFusionCMW::CallbackLaneDepth,this,std::placeholders::_1, std::placeholders::_2));
+         ros::spin();
+     }
+
+ private:
+     std::shared_ptr<ros::NodeHandle> nh_ptr_;
+     std::string stereo_depth_topic_;
+     std::string detection_lanes2d_topic_;
+     std::string detection_lanes3d_topic_;
+     std::string lanes3d_point_topic_;
+     ros::Publisher lanes3d_publisher_;
+     ros::Publisher lanes3d_point_publisher_;
+     std::string detection_image_topic;
+     bool is_vis_detection;
+     bool is_vis_lanes3d_point;
+     std::shared_ptr<message_filters::Subscriber<adc_msg::adc_depth>> depth_sub_ptr_;
+     std::shared_ptr<message_filters::Subscriber<adc_msg::lane_info_array>> detection_lanes_sub_ptr_;
+     std::shared_ptr<message_filters::Subscriber<sensor_msgs::Image>> detection_image_sub_ptr_;
+     std::shared_ptr<message_filters::Synchronizer<SyncPolicy>> sync_ptr_;
+     std::shared_ptr<message_filters::Synchronizer<SyncPolicyDetection>> sync_detection_ptr_;
+     std::queue<depth_lane>  cache_queue_;
+     std::mutex mutex_sync_depth_lane_;
+     std::thread thread_depth_lane_;
+     float32_t max_depth_ = 10.0;
+     float32_t min_depth_ = 1.0;
+     float32_t max_height_ = 0.8;  //摄像头距离地面的高度y的值域范围
+     float32_t min_height_ = 0.3;
+     float32_t max_width_ = 3.0;  //拟合地面时选取的x值域范围
+     float32_t min_width_ = -3.0;
+     const unsigned int  KCacheNum = 2;
+ };
+ }
+ }
+
+int main(int argc,  char** argv)
+{   (void) argc;
+    (void) argv;
+    adc::ros_cmw::LaneFusionCMW app(argc, argv);
+    return 0;
+}

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/app/lane_detection_app_node.cpp

@@ -0,0 +1,209 @@
+/**
+* \brief
+* \author liqingxia
+* \date 2020-11-30
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+
+#include <ros/ros.h>
+#include <message_filters/subscriber.h>
+#include <message_filters/time_synchronizer.h>
+#include <message_filters/sync_policies/approximate_time.h>
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/image_encodings.h>
+#include <memory>
+#include <stdlib.h>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/videoio.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include "cmw_app/lane_detection_app.h"
+#include <yaml-cpp/yaml.h>
+#include <vector>
+
+#include "common/project_root.h"
+#include "adc_msg/lane_info_array.h"
+#include "adc_msg/lane_info.h"
+
+#define IMAGE_WIDTH 640
+#define IMAGE_HEIGHT 480
+
+namespace adc
+{
+namespace ros_cmw
+{
+class LaneDetectionCMW
+{
+public:
+    //typedef message_filters::sync_policies::ApproximateTime<adc_msg::adc_depth, sensor_msgs::Image> SyncPolicy;
+    typedef std::chrono::system_clock::time_point  TimeType;
+    typedef  std::shared_ptr<std::list<vector<ld::lane_info>>> LaneInfoArrayType;
+    typedef  cv::Mat ImageType;
+public:
+    LaneDetectionCMW(int argc, char** argv)
+    {
+        ros::init(argc, argv, "detections");
+        nh_ptr_ = std::make_shared<ros::NodeHandle>("~");
+        InitConfig();
+    }
+private:
+    //向外发送车道线检测结果和左图
+    void CallbackDetection(LaneInfoArrayType& laneinfos, TimeType& tm, ImageType& img)
+    {
+        std::vector<adc_msg::lane_info> lanes;
+        auto lane_res_ptr = (*laneinfos).begin();
+        for(std::vector<ld::lane_info>::iterator lane = lane_res_ptr->begin(); lane != lane_res_ptr->end(); ++lane)
+        {
+            adc_msg::lane_info lane2d_msg;
+            lane2d_msg.index = lane->id;
+            lane2d_msg.type = lane->type;
+            lane2d_msg.color = lane->color;
+            lane2d_msg.a = lane->para.at<float>(0,0);
+            lane2d_msg.b = lane->para.at<float>(1,0);
+            lane2d_msg.c = lane->para.at<float>(2,0);
+            lane2d_msg.min_y = lane->min_y;
+            lane2d_msg.max_y = lane->max_y;
+            lane2d_msg.curvature = lane->curvature;
+            lanes.push_back(lane2d_msg);
+        }
+        adc_msg::lane_info_array lane_array2d_msg;
+        int32_t sec = std::chrono::duration_cast<std::chrono::seconds>(tm.time_since_epoch()).count();
+        int32_t nsec = std::chrono::duration_cast<std::chrono::nanoseconds>(tm.time_since_epoch()).count() % 1000000000UL;
+        ros::Time stamp(sec, nsec);
+        std_msgs::Header header;
+        header.stamp = stamp;
+        lane_array2d_msg.header = header;
+        lane_array2d_msg.lane_infos = lanes;
+        lanes_pushisher_.publish(lane_array2d_msg);
+        if(publis_origin_img_)
+        {
+            cv_bridge::CvImage cv_img_l;
+            sensor_msgs::Image img_msg_l;
+            cv_img_l.header.stamp = stamp;
+            cv_img_l.encoding = "bgr8";
+            cv_img_l.image = img;
+            cv_img_l.toImageMsg(img_msg_l);
+            left_image_publisher_.publish(img_msg_l);
+        }
+    }
+
+    void CallbackBinocular(const sensor_msgs::ImageConstPtr& binocular_image_msg)
+    {
+
+        //应该用什么时候的image_time作为stamp？？？？？？？？？？？？
+        ros::Time image_time = binocular_image_msg->header.stamp;
+        //ros::Time image_time = ros::Time::now();
+        cv::Mat binocular = cv_bridge::toCvCopy(binocular_image_msg, binocular_image_msg->encoding)->image;
+        cv::Mat left_image = binocular(left_rect_).clone();
+        uint64_t nsecs = image_time.toNSec();
+        std::chrono::nanoseconds ns(nsecs);
+        TimeType time_stamp(ns);
+        cv::remap(left_image, left_image, map_x_, map_y_, cv::INTER_LINEAR);
+        detection_ptr_->CacheImages(left_image, time_stamp);
+    }
+    void ReadCameraParams(const std::string camera_yaml)
+    {
+        try
+        {
+            YAML::Node node = YAML::LoadFile(camera_yaml);
+            int height = node["image_height"].as<int>();
+            int width = node["image_width"].as<int>();
+            cv::Size size(width, height);
+            std::vector<double> K_v= node["camera_matrix"]["data"].as<std::vector<double>>();
+            std::vector<double> P_v = node["projection_matrix"]["data"].as<std::vector<double>>();
+            std::vector<double> D_v = node["distortion_coefficients"]["data"].as<std::vector<double>>();
+            std::vector<double> R_v = node["rectification_matrix"]["data"].as<std::vector<double>>();
+
+            cv::Mat _K(K_v);
+            cv::Mat _P(P_v);
+            cv::Mat _D(D_v);
+            cv::Mat _R(R_v);
+
+            _K = _K.reshape(3,3);
+            _P = _P.reshape(4,3);
+            _D = _D.reshape(5.1);
+            _R = _R.reshape(3,3);
+            cv::initUndistortRectifyMap(_K, _D, _R, _P, size, CV_32FC1, map_x_, map_y_);
+
+        }
+        catch (const std::exception& e)
+        {
+            std::cerr << e.what() << '\n'<<std::endl;;
+            std::cerr<<" detection Ros app read camera params file faile!"<<std::endl;
+            exit(1);
+
+        }
+    }
+    void InitConfig()
+    {
+
+        std::string detection_config;
+        std::string root_path;
+        std::string left_camera_params_filename;
+        std::string detection_lanes2d_topic;
+        std::string origin_imgage_topic;
+        float hz;
+        nh_ptr_->param("binocular_topic", binocular_topic_, std::string("/camera/binocular"));
+        nh_ptr_->param("hz", hz, 30.0f);
+        nh_ptr_->param("detection_config", detection_config, std::string("lane_detection.yaml"));
+        nh_ptr_->param("root_path", root_path, std::string("/opt/adc"));
+        nh_ptr_->param("left_camera_params_filename", left_camera_params_filename, std::string("left.yaml"));
+        nh_ptr_->param("detection_lanes2d_topic", detection_lanes2d_topic, std::string("/detection/lanes2d"));
+        nh_ptr_->param("publis_origin_img", publis_origin_img_, true);
+        nh_ptr_->param("origin_imgage_topic", origin_imgage_topic, std::string("/detection/image_lane"));
+        std::string param_root = "ADC_ROOT="+root_path;
+        char* path_c = const_cast<char*>(param_root.c_str());
+        putenv(path_c);
+        std::string left_camera_params_file_path = adc::RootPath::GetAbsolutePath(left_camera_params_filename);
+        ReadCameraParams(left_camera_params_file_path);
+        detection_ptr_ = std::make_shared<adc::LaneDetectionApp>(detection_config, hz);
+        detection_ptr_->SetDetectionCallback(
+            std::bind(
+                &LaneDetectionCMW::CallbackDetection, this,
+                std::placeholders::_1, std::placeholders::_2,
+                std::placeholders::_3)
+        );
+//std::bind(&StereoMatchCMW::CallbackDepthHandler, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+
+        left_rect_ = cv::Rect(0,0,IMAGE_WIDTH, IMAGE_HEIGHT);
+        binocular_subscriber_ = nh_ptr_->subscribe<sensor_msgs::Image>(
+            binocular_topic_, 1,
+            std::bind(&LaneDetectionCMW::CallbackBinocular,
+            this,
+            std::placeholders::_1)
+            );
+        lanes_pushisher_ = nh_ptr_->advertise<adc_msg::lane_info_array>(detection_lanes2d_topic,1);
+        transport_img_ptr_ = std::make_shared<image_transport::ImageTransport>(*nh_ptr_);
+        left_image_publisher_ = transport_img_ptr_->advertise(origin_imgage_topic, 1);
+        detection_ptr_->Run();
+        // depth_sub_ptr_ = std::make_shared<message_filters::Subscriber<adc_msg::adc_depth>>(*nh_ptr_, stereo_depth_topic_, 1);
+        // image_sub_ptr_ = std::make_shared<message_filters::Subscriber<sensor_msgs::Image>>(*nh_ptr_, binocular_topic_, 1);
+        // sync_ptr_ = std::make_shared<message_filters::Synchronizer<SyncPolicy>>(SyncPolicy(100), *depth_sub_ptr_, *image_sub_ptr_);
+        // sync_ptr_->registerCallback(std::bind(&DetectionCMW::CallbackImageDepth,this,std::placeholders::_1, std::placeholders::_2));
+        ros::spin();
+
+    }
+private:
+    std::shared_ptr<ros::NodeHandle> nh_ptr_;
+    std::string binocular_topic_;
+    std::shared_ptr<adc::LaneDetectionApp> detection_ptr_;
+    cv::Rect left_rect_;
+    ros::Subscriber binocular_subscriber_;
+    ros::Publisher lanes_pushisher_;
+    std::shared_ptr<image_transport::ImageTransport> transport_img_ptr_;
+    image_transport::Publisher left_image_publisher_;
+
+    cv::Mat map_x_;
+    cv::Mat map_y_;
+    bool publis_origin_img_;
+};
+}
+}
+
+int main(int argc,  char** argv)
+{
+    adc::ros_cmw::LaneDetectionCMW app(argc, argv);
+    return 0;
+}

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/app/modulecomm.h

@@ -0,0 +1,40 @@
+#ifndef MODULECOMM_H
+#define MODULECOMM_H
+
+#include <QtCore/qglobal.h>
+#include <QDateTime>
+
+#include <functional>
+
+#if defined(MODULECOMM_LIBRARY)
+#  define MODULECOMMSHARED_EXPORT Q_DECL_EXPORT
+#else
+#  define MODULECOMMSHARED_EXPORT Q_DECL_IMPORT
+#endif
+
+
+
+//#include <iostream>
+//#include <thread>
+
+//using namespace std::placeholders;
+typedef std::function<void(const char * ,const unsigned int , const unsigned int , QDateTime * ,const char *)> ModuleFun;
+typedef void (* SMCallBack)(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
+
+namespace iv {
+namespace modulecomm {
+void * MODULECOMMSHARED_EXPORT RegisterSend(const char * strcommname,const unsigned int nBufSize,const unsigned int nMsgBufCount);
+void * MODULECOMMSHARED_EXPORT RegisterRecv(const char * strcommname,SMCallBack pCall);
+void * MODULECOMMSHARED_EXPORT RegisterRecvPlus(const char * strcommname,ModuleFun xFun);
+void MODULECOMMSHARED_EXPORT ModuleSendMsg(void * pHandle,const char * strdata,const unsigned int nDataLen);
+void MODULECOMMSHARED_EXPORT Unregister(void * pHandle);
+void MODULECOMMSHARED_EXPORT PauseComm(void * pHandle);
+void MODULECOMMSHARED_EXPORT ContintuComm(void * pHandle);
+
+}
+
+}
+
+
+
+#endif 

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/app/sgm_app_node.cpp

@@ -0,0 +1,227 @@
+/**
+* \brief 
+* \author pengcheng (pengcheng@yslrpch@126.com)
+* \date 2020-08-21
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+#include <ros/ros.h>
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/image_encodings.h>
+#include <memory>
+#include <opencv2/opencv.hpp>
+#include <stdlib.h>
+#include <pcl/point_cloud.h>
+#include <pcl_conversions/pcl_conversions.h> 
+#include <sensor_msgs/PointCloud2.h> 
+
+
+#include "cmw_app/sgm_app.h"
+#include "adc_3d/utils.h"
+#include "adc_msg/adc_depth.h"
+
+
+
+namespace adc
+{
+    
+namespace ros_cmw
+{
+    
+class StereoMatchCMW
+{
+
+public:
+    typedef std::chrono::system_clock::time_point  TimeType;
+    typedef cv::Mat PointCloudMat;
+    typedef cv::Mat ImageColor;
+  
+
+public:
+    StereoMatchCMW(int argc, char** argv, std::string node_name = "stereo_match")
+    {
+        ros::init(argc, argv, node_name);
+        nh_ptr_ = std::make_shared<ros::NodeHandle>("~");
+        InitConfig();
+    }
+private:
+    void PublishPoints(PointCloudMat& points, cv::Mat& color_image, ros::Time& stamp)
+    {
+        (void) stamp;
+        pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);
+        sensor_msgs::PointCloud2 point_cloud_msg;
+
+        float* point_data_ptr = points.ptr<float>();
+        uchar* color_data_ptr = color_image.ptr<uchar>();
+        uint32_t points_size = points.rows * points.cols;
+        for(uint32_t index = 0; index < points_size; index++)
+        {
+            float x = point_data_ptr[0];
+            float y = point_data_ptr[1];
+            float z = point_data_ptr[2];
+            uchar b = color_data_ptr[0];
+            uchar g = color_data_ptr[1];
+            uchar r = color_data_ptr[2];
+            if(z < 0.15 || z > max_depth_)
+            {
+                point_data_ptr += 3;
+                color_data_ptr += 3;
+                continue;
+            }
+            else
+            {
+                pcl::PointXYZRGB point;
+                point.x = x;
+                point.y = y;
+                point.z = z;
+                point.r = r;
+                point.g = g;
+                point.b = b;
+                point_cloud_ptr->push_back(point);
+                point_data_ptr += 3;
+                color_data_ptr += 3;
+
+            }
+        }
+        
+
+        pcl::PointCloud<pcl::PointXYZRGB>::Ptr filters_point_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);
+
+        // adc::adc_3d::PointUtils::FilterRemoveOutlierPointsOnStatistical(point_cloud_ptr , filters_point_cloud_ptr);
+        // ROS_INFO("Send point cloud, size: %d", point_cloud_ptr->size());
+        pcl::toROSMsg(*point_cloud_ptr, point_cloud_msg);
+        point_cloud_msg.header.frame_id = "stereo_camera"; 
+        point_cloud_msg.header.stamp = ros::Time::now();
+        point_vis_publisher_.publish(point_cloud_msg);
+        ros::spinOnce();
+    }
+
+    void PublshDepth(cv::Mat& depth, ros::Time& stamp)
+    {
+        cv::Mat depth_nomo16;
+        adc_msg::adc_depth depth_msg;
+        std_msgs::Header header;
+
+        depth.convertTo(depth_nomo16, CV_16U, 1000, 0);
+        cv_bridge::CvImage cv_img(std_msgs::Header(), "mono16", depth_nomo16);
+        cv_img.header.stamp=stamp;
+        header.stamp = stamp;
+        depth_msg.header = header;
+        depth_msg.fu = camera_params_.fu;
+        depth_msg.fv = camera_params_.fv;
+        depth_msg.u0 = camera_params_.u0;
+        depth_msg.v0 = camera_params_.v0;
+        cv_img.toImageMsg(depth_msg.depth);
+        depth_publisher_.publish(depth_msg);
+        ros::spinOnce();
+    }
+    void CallbackDepthHandler(PointCloudMat& depth_3d, ImageColor& image, TimeType& tm)
+    {
+        int32_t sec = std::chrono::duration_cast<std::chrono::seconds>(tm.time_since_epoch()).count();
+        int32_t nsec = std::chrono::duration_cast<std::chrono::nanoseconds>(tm.time_since_epoch()).count() % 1000000000UL;
+        ros::Time stamp(sec, nsec);
+        //
+        std::vector<cv::Mat> channels(3);
+        cv::split(depth_3d, channels);
+        cv::Mat depth = channels[2];
+        // cv::Mat depth_8u, depth_color;
+        // depth.convertTo(depth_8u, CV_8U, 255/15);
+        // cv::applyColorMap(depth_8u, depth_color,  cv::COLORMAP_RAINBOW);
+        // depth_color.setTo(cv::Scalar(0, 0, 0), depth_8u < 0);
+        if(send_vis_)
+        {
+            PublishPoints(depth_3d, image, stamp);
+        }
+        PublshDepth(depth, stamp);
+        // cv::imshow("depth", depth_color);
+        // cv::waitKey(10);
+    }
+    void InitConfig()
+    {
+        std::string root_path;
+        std::string steroe_config;
+        std::string depth_topic;
+        float hz;
+        int image_height;
+        int image_width;
+        nh_ptr_->param("binocular_camera_topic", binocular_camera_topic_, std::string("/camera/binocular"));
+        nh_ptr_->param("stereo_depth_topic", stereo_depth_topic_, std::string("/stereo/depth"));
+        nh_ptr_->param("root_path", root_path, std::string("/opt/adc"));
+        nh_ptr_->param("steroe_config", steroe_config, std::string("stereo.yaml"));
+        nh_ptr_->param("hz", hz, 30.0f);
+        nh_ptr_->param("send_vis", send_vis_, false);
+        nh_ptr_->param("points_vis_topic", points_vis_topic_, std::string("/stereo/point_cloud"));
+        nh_ptr_->param("max_depth", max_depth_, 15.0f);
+        nh_ptr_->param("depth_topic", depth_topic, std::string("/stereo/depth"));
+        nh_ptr_->param("image_width", image_width, 640);
+        nh_ptr_->param("image_height", image_height, 480);
+        
+
+        std::string param_root = "ADC_ROOT="+root_path;
+        char* path_c = const_cast<char*>(param_root.c_str());
+        putenv(path_c);
+        left_rect = cv::Rect(0,0,image_width, image_height);
+        right_rect = cv::Rect(image_width,0,image_height, image_height);
+        sgm_ptr_ = std::make_shared<adc::StereoSgmApp>(steroe_config, hz);
+        //add callback 
+        sgm_ptr_->SetPointCloudMatAndImageColorCallback(
+            std::bind(&StereoMatchCMW::CallbackDepthHandler, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+        sgm_ptr_->Run();
+        sgm_ptr_->GetDepthParams(camera_params_);
+        if(send_vis_)
+        {
+            point_vis_publisher_ = nh_ptr_->advertise<sensor_msgs::PointCloud2>(points_vis_topic_, 1);
+        }
+        depth_publisher_ = nh_ptr_->advertise<adc_msg::adc_depth>(depth_topic, 1);
+        binocular_subscriber_ = nh_ptr_->subscribe<sensor_msgs::Image>(
+                                binocular_camera_topic_, 1,
+                                std::bind(
+                                    &StereoMatchCMW::CallbackReceviceBinocular,
+                                    this,
+                                    std::placeholders::_1)
+                                    );
+        ros::spin();
+
+    }
+
+    void CallbackReceviceBinocular(const sensor_msgs::ImageConstPtr& binocular_img_msg)
+    {
+        cv::Mat left_image, right_image, binocular_image;
+        binocular_image = cv_bridge::toCvCopy(binocular_img_msg, binocular_img_msg->encoding)->image;
+        left_image = binocular_image(left_rect).clone();
+        right_image = binocular_image(right_rect).clone();
+        ros::Time time = binocular_img_msg->header.stamp;
+        // ros::Time time = ros::Time::now();
+
+        uint64_t nsecs = time.toNSec();
+        std::chrono::nanoseconds ns(nsecs);
+        TimeType time_stamp(ns);
+        sgm_ptr_->CacheImages(left_image, right_image, time_stamp);
+    }
+
+private:
+    std::shared_ptr<ros::NodeHandle> nh_ptr_;
+    std::string binocular_camera_topic_;
+    std::string points_vis_topic_;
+    ros::Subscriber binocular_subscriber_;
+    ros::Publisher point_vis_publisher_;
+    ros::Publisher depth_publisher_;
+    std::string stereo_depth_topic_;
+    std::shared_ptr<adc::StereoSgmApp> sgm_ptr_;
+    cv::Rect left_rect, right_rect;
+    bool send_vis_;
+    float32_t max_depth_;
+    adc::CameraParameters camera_params_;
+
+};
+}
+}
+
+int main(int argc, char** argv)
+{
+    adc::ros_cmw::StereoMatchCMW stereo_cmw(argc, argv);
+    return 0;
+
+}
+

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/adc_3d/utils.h

@@ -0,0 +1,36 @@
+/**
+* \brief 
+* \author pengcheng (pengcheng@yslrpch@126.com)
+* \date 2020-06-09
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+
+#include <pcl/point_types.h>
+#include <pcl/filters/passthrough.h>
+#include <pcl/filters/statistical_outlier_removal.h>
+
+
+namespace adc
+{
+namespace adc_3d
+{
+
+class PointUtils
+{
+public:
+
+static void FilterRemoveOutlierPointsOnStatistical(pcl::PointCloud<pcl::PointXYZ>::Ptr input_pointcloud,
+                         pcl::PointCloud<pcl::PointXYZ>::Ptr output_pointcloud,
+                         const int knn_num = 50,
+                         const float32_t std = 1.0);
+static void FilterRemoveOutlierPointsOnStatistical(pcl::PointCloud<pcl::PointXYZRGB>::Ptr input_pointcloud,
+                         pcl::PointCloud<pcl::PointXYZRGB>::Ptr output_pointcloud,
+                         const int knn_num = 50,
+                         const float32_t std = 1.0);
+
+};
+
+}
+
+}

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/cmw_app/detection_trt7_app.h

@@ -0,0 +1,76 @@
+#ifndef  DETECTION_TRT7_APP_H
+#define DETECTION_TRT7_APP_H
+
+#include <opencv2/core/core.hpp>
+#include "opencv2/imgproc/imgproc.hpp"
+#include <queue>
+#include <utility>
+#include <mutex>
+#include <functional>
+#include <cuda_runtime.h>
+#include <memory>
+#include <chrono>
+#include "common/work.h"
+#include "detection_trt7/yolov4Tensorrt/include/yolodetect.h"
+#include "detection_trt7/include/detect_obstacle.h"
+#include "detection_trt7/include/dataReader.h"
+#include <list>
+#include <yaml-cpp/yaml.h>
+using namespace std;
+
+namespace adc
+{
+    class DetectionTrt7App : public Worker
+    {
+
+    public:
+        typedef  std::shared_ptr<std::list<vector<Tn::Bbox>>> OutputDataType;
+        typedef  std::chrono::system_clock::time_point  TimeType;
+        typedef  cv::Mat ImageType;
+        typedef std::vector<std::string> ClassNameType;
+        typedef std::function<void(OutputDataType&, TimeType&, ImageType&, std::vector<string>&)> DetectionCallback;
+     
+        DetectionTrt7App(const std::string &config_file, const float hz);
+
+        void SetDetectionCallback(DetectionCallback callback);
+        void DoWork();
+
+        void CacheImages(const cv::Mat &left_img, TimeType& time);
+
+        bool ReceiveImage(void);
+
+        void Inference();
+
+        vector<string> GetNamesFromFile(string filePathAndName);
+
+    private:
+        void InitConfig(const std::string& config_file);
+
+    private:
+        std::mutex mutex_image_;
+    private:
+        ///cache data
+        std::queue<cv::Mat> image_cache_;
+        std::queue<std::chrono::system_clock::time_point> time_cache_;
+
+
+    private:
+        NetworkInfo network_info_;
+        std::string engine_path_;
+        IExecutionContext* yolo_context_;
+        std::shared_ptr<YoloDetect> Yolo_detect_;
+        std::shared_ptr<std::list<vector<Tn::Bbox>>> outputs_;
+        std::vector<KalmanTracker> trackers_;
+        int64 image_count_;
+        cv::Mat left_image_;
+        std::chrono::system_clock::time_point  current_time_;
+        std::vector<string> class_name_;
+        DetectionCallback detection_callback_;
+	static const int kQueueSize = 10; 
+        float nms_;
+        float ignore_;
+        bool track_;
+    };
+}
+
+#endif // ! DETECTION_TRT7_APP_H

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/cmw_app/lane_detection_app.h

@@ -0,0 +1,74 @@
+#ifndef  LANE_DETECTION_APP_H
+#define LANE_DETECTION_APP_H
+
+
+#include <opencv2/core/core.hpp>
+#include "opencv2/imgproc/imgproc.hpp"
+#include <queue>
+#include <utility>
+#include <mutex>
+#include <functional>
+#include <cuda_runtime.h>
+#include <memory>
+#include <chrono>
+#include "common/work.h"
+#include "lane_detection/tensorrt/tensorrt.h"
+#include "lane_detection/lanedetect.h"
+#include <list>
+#include <yaml-cpp/yaml.h>
+using namespace std;
+
+namespace adc
+{
+    static const int INPUT_H = 256;
+    static const int INPUT_W = 512;  
+    static const int INPUT_C = 3;
+
+    class LaneDetectionApp : public Worker
+    {
+
+    public:
+        typedef  std::shared_ptr<std::list<vector<ld::lane_info>>> OutputDataType;
+        typedef  std::chrono::system_clock::time_point  TimeType;
+        typedef  cv::Mat ImageType;
+        typedef std::function<void(OutputDataType&, TimeType&, ImageType&)> DetectionCallback;
+
+        LaneDetectionApp(const std::string &config_file, const float hz);
+        ~LaneDetectionApp();
+        void SetDetectionCallback(DetectionCallback callback);
+        void DoWork();
+        void CacheImages(const cv::Mat &left_img, TimeType& time);
+        bool ReceiveImage(void);
+        void Inference();
+    private:
+        void InitConfig(const std::string& config_file);
+
+    private:
+        std::mutex mutex_image_;
+    private:
+        ///cache data
+        std::queue<cv::Mat> image_cache_;
+        std::queue<std::chrono::system_clock::time_point> time_cache_;
+
+    private:
+        IExecutionContext* lane_context;
+        std::shared_ptr<ld::TensorRT> lane_trt;
+        std::shared_ptr<ld::LaneNet> lanenet;
+        std::vector<KalmanTracker> trackers;
+        static int frame_count;
+        shared_ptr<std::list<vector<ld::lane_info>>> outputs_;
+        cv::Mat left_image_;
+        std::chrono::system_clock::time_point  current_time_;
+        DetectionCallback detection_callback_;
+        static const int kQueueSize = 10;
+        int width_;
+        int hight_;
+        int channel_;
+    public:
+        float _mean[INPUT_C] = {0.485, 0.456, 0.406};//rgb
+        float _std[INPUT_C] = {0.229, 0.224, 0.225};
+    };
+
+}
+
+#endif // ! LANE_DETECTION_APP_H

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/cmw_app/sgm_app.h

@@ -0,0 +1,180 @@
+/**
+* \brief 
+* \author pengcheng (pengcheng@yslrpch@126.com)
+* \date 2020-05-20
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+
+#ifndef  STEREO_VISION_SGM_APP_H
+#define STEREO_VISION_SGM_APP_H
+
+
+#include <opencv2/core/core.hpp>
+#include <queue>
+#include <utility>
+#include <mutex>
+#include <functional>
+#include <cuda_runtime.h>
+#include <memory>
+#include <stereo_vision/sgm.h>
+#include <common/work.h>
+namespace adc
+{
+
+
+struct device_buffer
+{
+	device_buffer() : data(nullptr) {}
+	device_buffer(size_t count) { allocate(count); }
+	void allocate(size_t count) { cudaMalloc(&data, count); }
+	~device_buffer() { cudaFree(data); }
+	void* data;
+};
+
+
+struct CameraParameters
+{
+	float fu;
+	float fv;
+	float u0;
+	float v0;
+	float baseline;
+	float height;
+	float tilt;
+    float pitch;
+    float yaw;
+
+};
+
+struct CoordinateTransform
+{
+	CoordinateTransform(const CameraParameters& camera) : camera(camera)
+	{
+		sinTilt = (sinf(camera.tilt));
+		cosTilt = (cosf(camera.tilt));
+		bf = camera.baseline * camera.fu;
+		invfu = 1.f / camera.fu;
+		invfv = 1.f / camera.fv;
+        sin_pitch = (sinf(camera.pitch));
+        cos_pitch = (cosf(camera.pitch));
+        sin_yaw = (sinf(camera.yaw));
+        cos_yaw = (cosf(camera.yaw));
+        cv::Mat R_x = (cv::Mat_<float>(3,3)<<1 ,    0 ,                 0,
+                                                                                    0,    sin_pitch,    cos_pitch,
+                                                                                    0,    -sin_pitch,  cos_pitch);
+        cv::Mat R_y = (cv::Mat_<float>(3,3)<<cos_yaw,    0,     -sin_yaw,
+                                                                                    0 ,                  1 ,                    0,
+                                                                                    sin_yaw,     0,     cos_yaw);
+        cv::Mat R_z = (cv::Mat_<float>(3,3)<<cosTilt,     sinTilt,        0,
+                                                                                -sinTilt,     cosTilt,      0,
+                                                                                0,                  0,                  1);
+        R = R_x*R_y*R_z;                                                                        
+	}
+
+	inline cv::Point3f imageToWorld(const cv::Point2f& pt, float d) const
+	{
+		const float u = pt.x;
+		const float v = pt.y;
+
+		const float Zc = bf / d;
+		const float Xc = invfu * (u - camera.u0) * Zc;
+		const float Yc = invfv * (v - camera.v0) * Zc;
+        // cv::Mat point = (cv::Mat_<float>(3,1)<<Xc,Yc,Zc);
+        // point = R*point;
+        // float x_w = point.at<float>(0,0);
+        // float y_w =point.at<float>(1,0);
+        // float z_w = point.at<float>(2,0);
+		return cv::Point3f(Xc, Yc, Zc);
+	}
+
+	CameraParameters camera;
+	float sinTilt, cosTilt, bf, invfu, invfv;
+    float  sin_pitch,  cos_pitch, sin_yaw,cos_yaw;
+    cv::Mat R;
+};
+
+
+class StereoSgmApp : public Worker
+{
+
+public:
+    typedef std::vector<cv::Vec3b> PointColorType;
+    typedef std::vector<cv::Point3f> PointCloudType;
+    typedef std::chrono::system_clock::time_point  TimeType;
+    typedef cv::Mat PointCloudMat;
+    typedef cv::Mat ImageColor;
+    typedef std::function<void(PointCloudMat&, TimeType&)> PointCloudMatCallback;
+    typedef std::function<void(PointCloudType&, TimeType&)> PointCloudCallback;
+    typedef std::function<void(PointColorType&, TimeType&)> PointColorCallback;
+    typedef std::function<void(PointCloudType&,  PointColorType&, TimeType&)> PointAndColorCallback;
+    typedef std::function<void(PointCloudMat&, ImageColor&, TimeType&)> PointCloudMatAndImageColorCallback;
+
+    explicit StereoSgmApp(const std::string &config_file, const float hz) ;
+
+    void SetPointCloudCallback(PointCloudCallback callback);
+    void SetPointColorCallback(PointColorCallback callback);
+    void SetPointAdnColorCallback(PointAndColorCallback callback);
+    void SetPointCloudMatCallback(PointCloudMatCallback callback);
+    void SetPointCloudMatAndImageColorCallback(PointCloudMatAndImageColorCallback callback);
+    void DoWork();
+    void CacheImages(const cv::Mat &left_img, const cv::Mat &right_img, TimeType& time);
+    bool ReceiveImage(void);
+    static void ReadParams(const std::string& yaml_file, cv::Mat& K, cv::Mat& D, cv::Mat& P, cv::Mat& R, cv::Size& size);
+    void GetDepthParams(CameraParameters& camera_params);
+private:
+    void InitConfig(const std::string& config_file);
+
+    void ReprojectPointsTo3D();
+
+    void StereoMatch();
+private:
+    std::mutex mutex_image_;
+private:
+    ///cache data
+    std::queue<std::pair<cv::Mat,cv::Mat>> image_cache_;
+    std::queue<std::chrono::system_clock::time_point> time_cache_;
+private:
+    cv::Mat map_l_x, map_l_y, map_r_x, map_r_y;
+    std::shared_ptr<CameraParameters> camera_ptr_;
+    std::shared_ptr<CoordinateTransform> tf_ptr_;
+    std::shared_ptr<adc::StereoSGM> sgm_ptr_;
+    float max_depth_;
+    int input_type_;
+    int input_bytes_;
+    int output_bytes_;
+
+    int disp_size_ = 64;
+    int output_depth_ = 16;
+    bool subpixel_ = true;
+    int P1_ = 10;
+    int P2_ = 120;
+    float uniqueness_ = 0.95f;
+    int top_row_ = 0;
+
+    const size_t kQueueSize = 10;
+
+    cv::Mat dispartity_, dispartity_32f_;
+    cv::Mat left_image_, right_image_;
+    std::chrono::system_clock::time_point  current_time_;
+
+    std::shared_ptr<device_buffer> d_left_ptr_;
+    std::shared_ptr<device_buffer> d_right_ptr_;
+    std::shared_ptr<device_buffer> d_dispartity_ptr_;
+    PointCloudType point_cloud_;
+    PointColorType point_color_;
+    cv::Mat point_cloud_mat_;
+
+
+    PointColorCallback point_color_callback_;
+    PointCloudCallback point_cloud_callback_;
+    PointAndColorCallback poind_and_color_callback_;
+    PointCloudMatCallback point_cloud_mat_callback_;
+    PointCloudMatAndImageColorCallback point_cloud_mat_and_image_color_callback_;
+};
+
+}
+
+#endif // ! STEREO_VISION_SGM_APP_H
+
+

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/common/cuda_utils.h

@@ -0,0 +1,66 @@
+/**
+ *  \brerf 
+ *  \author pengcheng(pengcheng@adcsoft.cn)
+ *  \date 2020.09.11
+ *  \attention 
+ * 
+*/
+
+#ifndef _COMMON_CUDA_UTILS__H___
+#define _COMMON_CUDA_UTILS__H___
+
+
+#include <assert.h>
+#include "cuda.h"
+#include "cuda_runtime.h"
+#include <cudnn.h>
+#include <iostream>
+
+#ifndef CUDA_CHECK
+
+#define CUDA_CHECK(callstr)                                                                    \
+    {                                                                                          \
+        cudaError_t error_code = callstr;                                                      \
+        if (error_code != cudaSuccess) {                                                       \
+            std::cerr << "CUDA error " << error_code << " at " << __FILE__ << ":" << __LINE__<<std::endl; \
+            assert(0);                                                                         \
+        }                                                                                      \
+    }
+
+#endif
+
+
+inline void* SafeHostMalloc(size_t mem_size)
+{
+    void * host_mem;
+    CUDA_CHECK(cudaHostAlloc(&host_mem, mem_size, cudaHostAllocDefault));
+    if(host_mem == nullptr)
+    {
+        std::cerr << "CPU Out of memory" << std::endl;
+        exit(1);
+    }
+    return host_mem;
+}
+
+inline void* SafeCudaMalloc(size_t memSize)
+{
+    void* deviceMem;
+    CUDA_CHECK(cudaMalloc((void**)&deviceMem, memSize));
+    if (deviceMem == nullptr)
+    {
+        std::cerr << "GPU Out of memory" << std::endl;
+        exit(1);
+    }
+    return deviceMem;
+}
+
+inline void SafeCudaFree(void* device_mem)
+{
+    if(device_mem != nullptr)
+    {
+        CUDA_CHECK(cudaFree(device_mem));
+    }
+}
+
+#endif // !_COMMON_CUDA_UTILS__H_
+

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/common/impl/cxxopts.hpp

@@ -0,0 +1,2209 @@
+/*
+Copyright (c) 2014, 2015, 2016, 2017 Jarryd Beck
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+#ifndef CXXOPTS_HPP_INCLUDED
+#define CXXOPTS_HPP_INCLUDED
+
+#include <cstring>
+#include <cctype>
+#include <exception>
+#include <iostream>
+#include <limits>
+#include <map>
+#include <memory>
+#include <regex>
+#include <sstream>
+#include <string>
+#include <unordered_map>
+#include <unordered_set>
+#include <vector>
+
+#ifdef __cpp_lib_optional
+#include <optional>
+#define CXXOPTS_HAS_OPTIONAL
+#endif
+
+#ifndef CXXOPTS_VECTOR_DELIMITER
+#define CXXOPTS_VECTOR_DELIMITER ','
+#endif
+
+#define CXXOPTS__VERSION_MAJOR 2
+#define CXXOPTS__VERSION_MINOR 2
+#define CXXOPTS__VERSION_PATCH 0
+
+namespace cxxopts
+{
+  static constexpr struct {
+    uint8_t major, minor, patch;
+  } version = {
+    CXXOPTS__VERSION_MAJOR,
+    CXXOPTS__VERSION_MINOR,
+    CXXOPTS__VERSION_PATCH
+  };
+}
+
+//when we ask cxxopts to use Unicode, help strings are processed using ICU,
+//which results in the correct lengths being computed for strings when they
+//are formatted for the help output
+//it is necessary to make sure that <unicode/unistr.h> can be found by the
+//compiler, and that icu-uc is linked in to the binary.
+
+#ifdef CXXOPTS_USE_UNICODE
+#include <unicode/unistr.h>
+
+namespace cxxopts
+{
+  typedef icu::UnicodeString String;
+
+  inline
+  String
+  toLocalString(std::string s)
+  {
+    return icu::UnicodeString::fromUTF8(std::move(s));
+  }
+
+  class UnicodeStringIterator : public
+    std::iterator<std::forward_iterator_tag, int32_t>
+  {
+    public:
+
+    UnicodeStringIterator(const icu::UnicodeString* string, int32_t pos)
+    : s(string)
+    , i(pos)
+    {
+    }
+
+    value_type
+    operator*() const
+    {
+      return s->char32At(i);
+    }
+
+    bool
+    operator==(const UnicodeStringIterator& rhs) const
+    {
+      return s == rhs.s && i == rhs.i;
+    }
+
+    bool
+    operator!=(const UnicodeStringIterator& rhs) const
+    {
+      return !(*this == rhs);
+    }
+
+    UnicodeStringIterator&
+    operator++()
+    {
+      ++i;
+      return *this;
+    }
+
+    UnicodeStringIterator
+    operator+(int32_t v)
+    {
+      return UnicodeStringIterator(s, i + v);
+    }
+
+    private:
+    const icu::UnicodeString* s;
+    int32_t i;
+  };
+
+  inline
+  String&
+  stringAppend(String&s, String a)
+  {
+    return s.append(std::move(a));
+  }
+
+  inline
+  String&
+  stringAppend(String& s, int n, UChar32 c)
+  {
+    for (int i = 0; i != n; ++i)
+    {
+      s.append(c);
+    }
+
+    return s;
+  }
+
+  template <typename Iterator>
+  String&
+  stringAppend(String& s, Iterator begin, Iterator end)
+  {
+    while (begin != end)
+    {
+      s.append(*begin);
+      ++begin;
+    }
+
+    return s;
+  }
+
+  inline
+  size_t
+  stringLength(const String& s)
+  {
+    return s.length();
+  }
+
+  inline
+  std::string
+  toUTF8String(const String& s)
+  {
+    std::string result;
+    s.toUTF8String(result);
+
+    return result;
+  }
+
+  inline
+  bool
+  empty(const String& s)
+  {
+    return s.isEmpty();
+  }
+}
+
+namespace std
+{
+  inline
+  cxxopts::UnicodeStringIterator
+  begin(const icu::UnicodeString& s)
+  {
+    return cxxopts::UnicodeStringIterator(&s, 0);
+  }
+
+  inline
+  cxxopts::UnicodeStringIterator
+  end(const icu::UnicodeString& s)
+  {
+    return cxxopts::UnicodeStringIterator(&s, s.length());
+  }
+}
+
+//ifdef CXXOPTS_USE_UNICODE
+#else
+
+namespace cxxopts
+{
+  typedef std::string String;
+
+  template <typename T>
+  T
+  toLocalString(T&& t)
+  {
+    return std::forward<T>(t);
+  }
+
+  inline
+  size_t
+  stringLength(const String& s)
+  {
+    return s.length();
+  }
+
+  inline
+  String&
+  stringAppend(String&s, String a)
+  {
+    return s.append(std::move(a));
+  }
+
+  inline
+  String&
+  stringAppend(String& s, size_t n, char c)
+  {
+    return s.append(n, c);
+  }
+
+  template <typename Iterator>
+  String&
+  stringAppend(String& s, Iterator begin, Iterator end)
+  {
+    return s.append(begin, end);
+  }
+
+  template <typename T>
+  std::string
+  toUTF8String(T&& t)
+  {
+    return std::forward<T>(t);
+  }
+
+  inline
+  bool
+  empty(const std::string& s)
+  {
+    return s.empty();
+  }
+}
+
+//ifdef CXXOPTS_USE_UNICODE
+#endif
+
+namespace cxxopts
+{
+  namespace
+  {
+#ifdef _WIN32
+    const std::string LQUOTE("\'");
+    const std::string RQUOTE("\'");
+#else
+    const std::string LQUOTE("‘");
+    const std::string RQUOTE("’");
+#endif
+  }
+
+  class Value : public std::enable_shared_from_this<Value>
+  {
+    public:
+
+    virtual ~Value() = default;
+
+    virtual
+    std::shared_ptr<Value>
+    clone() const = 0;
+
+    virtual void
+    parse(const std::string& text) const = 0;
+
+    virtual void
+    parse() const = 0;
+
+    virtual bool
+    has_default() const = 0;
+
+    virtual bool
+    is_container() const = 0;
+
+    virtual bool
+    has_implicit() const = 0;
+
+    virtual std::string
+    get_default_value() const = 0;
+
+    virtual std::string
+    get_implicit_value() const = 0;
+
+    virtual std::shared_ptr<Value>
+    default_value(const std::string& value) = 0;
+
+    virtual std::shared_ptr<Value>
+    implicit_value(const std::string& value) = 0;
+
+    virtual std::shared_ptr<Value>
+    no_implicit_value() = 0;
+
+    virtual bool
+    is_boolean() const = 0;
+  };
+
+  class OptionException : public std::exception
+  {
+    public:
+    OptionException(const std::string& message)
+    : m_message(message)
+    {
+    }
+
+    virtual const char*
+    what() const noexcept
+    {
+      return m_message.c_str();
+    }
+
+    private:
+    std::string m_message;
+  };
+
+  class OptionSpecException : public OptionException
+  {
+    public:
+
+    OptionSpecException(const std::string& message)
+    : OptionException(message)
+    {
+    }
+  };
+
+  class OptionParseException : public OptionException
+  {
+    public:
+    OptionParseException(const std::string& message)
+    : OptionException(message)
+    {
+    }
+  };
+
+  class option_exists_error : public OptionSpecException
+  {
+    public:
+    option_exists_error(const std::string& option)
+    : OptionSpecException("Option " + LQUOTE + option + RQUOTE + " already exists")
+    {
+    }
+  };
+
+  class invalid_option_format_error : public OptionSpecException
+  {
+    public:
+    invalid_option_format_error(const std::string& format)
+    : OptionSpecException("Invalid option format " + LQUOTE + format + RQUOTE)
+    {
+    }
+  };
+
+  class option_syntax_exception : public OptionParseException {
+    public:
+    option_syntax_exception(const std::string& text)
+    : OptionParseException("Argument " + LQUOTE + text + RQUOTE +
+        " starts with a - but has incorrect syntax")
+    {
+    }
+  };
+
+  class option_not_exists_exception : public OptionParseException
+  {
+    public:
+    option_not_exists_exception(const std::string& option)
+    : OptionParseException("Option " + LQUOTE + option + RQUOTE + " does not exist")
+    {
+    }
+  };
+
+  class missing_argument_exception : public OptionParseException
+  {
+    public:
+    missing_argument_exception(const std::string& option)
+    : OptionParseException(
+        "Option " + LQUOTE + option + RQUOTE + " is missing an argument"
+      )
+    {
+    }
+  };
+
+  class option_requires_argument_exception : public OptionParseException
+  {
+    public:
+    option_requires_argument_exception(const std::string& option)
+    : OptionParseException(
+        "Option " + LQUOTE + option + RQUOTE + " requires an argument"
+      )
+    {
+    }
+  };
+
+  class option_not_has_argument_exception : public OptionParseException
+  {
+    public:
+    option_not_has_argument_exception
+    (
+      const std::string& option,
+      const std::string& arg
+    )
+    : OptionParseException(
+        "Option " + LQUOTE + option + RQUOTE +
+        " does not take an argument, but argument " +
+        LQUOTE + arg + RQUOTE + " given"
+      )
+    {
+    }
+  };
+
+  class option_not_present_exception : public OptionParseException
+  {
+    public:
+    option_not_present_exception(const std::string& option)
+    : OptionParseException("Option " + LQUOTE + option + RQUOTE + " not present")
+    {
+    }
+  };
+
+  class argument_incorrect_type : public OptionParseException
+  {
+    public:
+    argument_incorrect_type
+    (
+      const std::string& arg
+    )
+    : OptionParseException(
+        "Argument " + LQUOTE + arg + RQUOTE + " failed to parse"
+      )
+    {
+    }
+  };
+
+  class option_required_exception : public OptionParseException
+  {
+    public:
+    option_required_exception(const std::string& option)
+    : OptionParseException(
+        "Option " + LQUOTE + option + RQUOTE + " is required but not present"
+      )
+    {
+    }
+  };
+
+  template <typename T>
+  void throw_or_mimic(const std::string& text)
+  {
+    static_assert(std::is_base_of<std::exception, T>::value,
+                  "throw_or_mimic only works on std::exception and "
+                  "deriving classes");
+
+#ifndef CXXOPTS_NO_EXCEPTIONS
+    // If CXXOPTS_NO_EXCEPTIONS is not defined, just throw
+    throw T{text};
+#else
+    // Otherwise manually instantiate the exception, print what() to stderr,
+    // and abort
+    T exception{text};
+    std::cerr << exception.what() << std::endl;
+    std::cerr << "Aborting (exceptions disabled)..." << std::endl;
+    std::abort();
+#endif
+  }
+
+  namespace values
+  {
+    namespace
+    {
+      std::basic_regex<char> integer_pattern
+        ("(-)?(0x)?([0-9a-zA-Z]+)|((0x)?0)");
+      std::basic_regex<char> truthy_pattern
+        ("(t|T)(rue)?|1");
+      std::basic_regex<char> falsy_pattern
+        ("(f|F)(alse)?|0");
+    }
+
+    namespace detail
+    {
+      template <typename T, bool B>
+      struct SignedCheck;
+
+      template <typename T>
+      struct SignedCheck<T, true>
+      {
+        template <typename U>
+        void
+        operator()(bool negative, U u, const std::string& text)
+        {
+          if (negative)
+          {
+            if (u > static_cast<U>((std::numeric_limits<T>::min)()))
+            {
+              throw_or_mimic<argument_incorrect_type>(text);
+            }
+          }
+          else
+          {
+            if (u > static_cast<U>((std::numeric_limits<T>::max)()))
+            {
+              throw_or_mimic<argument_incorrect_type>(text);
+            }
+          }
+        }
+      };
+
+      template <typename T>
+      struct SignedCheck<T, false>
+      {
+        template <typename U>
+        void
+        operator()(bool, U, const std::string&) {}
+      };
+
+      template <typename T, typename U>
+      void
+      check_signed_range(bool negative, U value, const std::string& text)
+      {
+        SignedCheck<T, std::numeric_limits<T>::is_signed>()(negative, value, text);
+      }
+    }
+
+    template <typename R, typename T>
+    R
+    checked_negate(T&& t, const std::string&, std::true_type)
+    {
+      // if we got to here, then `t` is a positive number that fits into
+      // `R`. So to avoid MSVC C4146, we first cast it to `R`.
+      // See https://github.com/jarro2783/cxxopts/issues/62 for more details.
+      return -static_cast<R>(t-1)-1;
+    }
+
+    template <typename R, typename T>
+    T
+    checked_negate(T&& t, const std::string& text, std::false_type)
+    {
+      throw_or_mimic<argument_incorrect_type>(text);
+      return t;
+    }
+
+    template <typename T>
+    void
+    integer_parser(const std::string& text, T& value)
+    {
+      std::smatch match;
+      std::regex_match(text, match, integer_pattern);
+
+      if (match.length() == 0)
+      {
+        throw_or_mimic<argument_incorrect_type>(text);
+      }
+
+      if (match.length(4) > 0)
+      {
+        value = 0;
+        return;
+      }
+
+      using US = typename std::make_unsigned<T>::type;
+
+      constexpr bool is_signed = std::numeric_limits<T>::is_signed;
+      const bool negative = match.length(1) > 0;
+      const uint8_t base = match.length(2) > 0 ? 16 : 10;
+
+      auto value_match = match[3];
+
+      US result = 0;
+
+      for (auto iter = value_match.first; iter != value_match.second; ++iter)
+      {
+        US digit = 0;
+
+        if (*iter >= '0' && *iter <= '9')
+        {
+          digit = static_cast<US>(*iter - '0');
+        }
+        else if (base == 16 && *iter >= 'a' && *iter <= 'f')
+        {
+          digit = static_cast<US>(*iter - 'a' + 10);
+        }
+        else if (base == 16 && *iter >= 'A' && *iter <= 'F')
+        {
+          digit = static_cast<US>(*iter - 'A' + 10);
+        }
+        else
+        {
+          throw_or_mimic<argument_incorrect_type>(text);
+        }
+
+        US next = result * base + digit;
+        if (result > next)
+        {
+          throw_or_mimic<argument_incorrect_type>(text);
+        }
+
+        result = next;
+      }
+
+      detail::check_signed_range<T>(negative, result, text);
+
+      if (negative)
+      {
+        value = checked_negate<T>(result,
+          text,
+          std::integral_constant<bool, is_signed>());
+      }
+      else
+      {
+        value = static_cast<T>(result);
+      }
+    }
+
+    template <typename T>
+    void stringstream_parser(const std::string& text, T& value)
+    {
+      std::stringstream in(text);
+      in >> value;
+      if (!in) {
+        throw_or_mimic<argument_incorrect_type>(text);
+      }
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, uint8_t& value)
+    {
+      integer_parser(text, value);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, int8_t& value)
+    {
+      integer_parser(text, value);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, uint16_t& value)
+    {
+      integer_parser(text, value);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, int16_t& value)
+    {
+      integer_parser(text, value);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, uint32_t& value)
+    {
+      integer_parser(text, value);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, int32_t& value)
+    {
+      integer_parser(text, value);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, uint64_t& value)
+    {
+      integer_parser(text, value);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, int64_t& value)
+    {
+      integer_parser(text, value);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, bool& value)
+    {
+      std::smatch result;
+      std::regex_match(text, result, truthy_pattern);
+
+      if (!result.empty())
+      {
+        value = true;
+        return;
+      }
+
+      std::regex_match(text, result, falsy_pattern);
+      if (!result.empty())
+      {
+        value = false;
+        return;
+      }
+
+      throw_or_mimic<argument_incorrect_type>(text);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, std::string& value)
+    {
+      value = text;
+    }
+
+    // The fallback parser. It uses the stringstream parser to parse all types
+    // that have not been overloaded explicitly.  It has to be placed in the
+    // source code before all other more specialized templates.
+    template <typename T>
+    void
+    parse_value(const std::string& text, T& value) {
+      stringstream_parser(text, value);
+    }
+
+    template <typename T>
+    void
+    parse_value(const std::string& text, std::vector<T>& value)
+    {
+      std::stringstream in(text);
+      std::string token;
+      while(in.eof() == false && std::getline(in, token, CXXOPTS_VECTOR_DELIMITER)) {
+        T v;
+        parse_value(token, v);
+        value.emplace_back(std::move(v));
+      }
+    }
+
+#ifdef CXXOPTS_HAS_OPTIONAL
+    template <typename T>
+    void
+    parse_value(const std::string& text, std::optional<T>& value)
+    {
+      T result;
+      parse_value(text, result);
+      value = std::move(result);
+    }
+#endif
+
+    inline
+    void parse_value(const std::string& text, char& c)
+    {
+      if (text.length() != 1)
+      {
+        throw_or_mimic<argument_incorrect_type>(text);
+      }
+
+      c = text[0];
+    }
+
+    template <typename T>
+    struct type_is_container
+    {
+      static constexpr bool value = false;
+    };
+
+    template <typename T>
+    struct type_is_container<std::vector<T>>
+    {
+      static constexpr bool value = true;
+    };
+
+    template <typename T>
+    class abstract_value : public Value
+    {
+      using Self = abstract_value<T>;
+
+      public:
+      abstract_value()
+      : m_result(std::make_shared<T>())
+      , m_store(m_result.get())
+      {
+      }
+
+      abstract_value(T* t)
+      : m_store(t)
+      {
+      }
+
+      virtual ~abstract_value() = default;
+
+      abstract_value(const abstract_value& rhs)
+      {
+        if (rhs.m_result)
+        {
+          m_result = std::make_shared<T>();
+          m_store = m_result.get();
+        }
+        else
+        {
+          m_store = rhs.m_store;
+        }
+
+        m_default = rhs.m_default;
+        m_implicit = rhs.m_implicit;
+        m_default_value = rhs.m_default_value;
+        m_implicit_value = rhs.m_implicit_value;
+      }
+
+      void
+      parse(const std::string& text) const
+      {
+        parse_value(text, *m_store);
+      }
+
+      bool
+      is_container() const
+      {
+        return type_is_container<T>::value;
+      }
+
+      void
+      parse() const
+      {
+        parse_value(m_default_value, *m_store);
+      }
+
+      bool
+      has_default() const
+      {
+        return m_default;
+      }
+
+      bool
+      has_implicit() const
+      {
+        return m_implicit;
+      }
+
+      std::shared_ptr<Value>
+      default_value(const std::string& value)
+      {
+        m_default = true;
+        m_default_value = value;
+        return shared_from_this();
+      }
+
+      std::shared_ptr<Value>
+      implicit_value(const std::string& value)
+      {
+        m_implicit = true;
+        m_implicit_value = value;
+        return shared_from_this();
+      }
+
+      std::shared_ptr<Value>
+      no_implicit_value()
+      {
+        m_implicit = false;
+        return shared_from_this();
+      }
+
+      std::string
+      get_default_value() const
+      {
+        return m_default_value;
+      }
+
+      std::string
+      get_implicit_value() const
+      {
+        return m_implicit_value;
+      }
+
+      bool
+      is_boolean() const
+      {
+        return std::is_same<T, bool>::value;
+      }
+
+      const T&
+      get() const
+      {
+        if (m_store == nullptr)
+        {
+          return *m_result;
+        }
+        else
+        {
+          return *m_store;
+        }
+      }
+
+      protected:
+      std::shared_ptr<T> m_result;
+      T* m_store;
+
+      bool m_default = false;
+      bool m_implicit = false;
+
+      std::string m_default_value;
+      std::string m_implicit_value;
+    };
+
+    template <typename T>
+    class standard_value : public abstract_value<T>
+    {
+      public:
+      using abstract_value<T>::abstract_value;
+
+      std::shared_ptr<Value>
+      clone() const
+      {
+        return std::make_shared<standard_value<T>>(*this);
+      }
+    };
+
+    template <>
+    class standard_value<bool> : public abstract_value<bool>
+    {
+      public:
+      ~standard_value() = default;
+
+      standard_value()
+      {
+        set_default_and_implicit();
+      }
+
+      standard_value(bool* b)
+      : abstract_value(b)
+      {
+        set_default_and_implicit();
+      }
+
+      std::shared_ptr<Value>
+      clone() const
+      {
+        return std::make_shared<standard_value<bool>>(*this);
+      }
+
+      private:
+
+      void
+      set_default_and_implicit()
+      {
+        m_default = true;
+        m_default_value = "false";
+        m_implicit = true;
+        m_implicit_value = "true";
+      }
+    };
+  }
+
+  template <typename T>
+  std::shared_ptr<Value>
+  value()
+  {
+    return std::make_shared<values::standard_value<T>>();
+  }
+
+  template <typename T>
+  std::shared_ptr<Value>
+  value(T& t)
+  {
+    return std::make_shared<values::standard_value<T>>(&t);
+  }
+
+  class OptionAdder;
+
+  class OptionDetails
+  {
+    public:
+    OptionDetails
+    (
+      const std::string& short_,
+      const std::string& long_,
+      const String& desc,
+      std::shared_ptr<const Value> val
+    )
+    : m_short(short_)
+    , m_long(long_)
+    , m_desc(desc)
+    , m_value(val)
+    , m_count(0)
+    {
+    }
+
+    OptionDetails(const OptionDetails& rhs)
+    : m_desc(rhs.m_desc)
+    , m_count(rhs.m_count)
+    {
+      m_value = rhs.m_value->clone();
+    }
+
+    OptionDetails(OptionDetails&& rhs) = default;
+
+    const String&
+    description() const
+    {
+      return m_desc;
+    }
+
+    const Value& value() const {
+        return *m_value;
+    }
+
+    std::shared_ptr<Value>
+    make_storage() const
+    {
+      return m_value->clone();
+    }
+
+    const std::string&
+    short_name() const
+    {
+      return m_short;
+    }
+
+    const std::string&
+    long_name() const
+    {
+      return m_long;
+    }
+
+    private:
+    std::string m_short;
+    std::string m_long;
+    String m_desc;
+    std::shared_ptr<const Value> m_value;
+    int m_count;
+  };
+
+  struct HelpOptionDetails
+  {
+    std::string s;
+    std::string l;
+    String desc;
+    bool has_default;
+    std::string default_value;
+    bool has_implicit;
+    std::string implicit_value;
+    std::string arg_help;
+    bool is_container;
+    bool is_boolean;
+  };
+
+  struct HelpGroupDetails
+  {
+    std::string name;
+    std::string description;
+    std::vector<HelpOptionDetails> options;
+  };
+
+  class OptionValue
+  {
+    public:
+    void
+    parse
+    (
+      std::shared_ptr<const OptionDetails> details,
+      const std::string& text
+    )
+    {
+      ensure_value(details);
+      ++m_count;
+      m_value->parse(text);
+    }
+
+    void
+    parse_default(std::shared_ptr<const OptionDetails> details)
+    {
+      ensure_value(details);
+      m_default = true;
+      m_value->parse();
+    }
+
+    size_t
+    count() const noexcept
+    {
+      return m_count;
+    }
+
+    // TODO: maybe default options should count towards the number of arguments
+    bool
+    has_default() const noexcept
+    {
+      return m_default;
+    }
+
+    template <typename T>
+    const T&
+    as() const
+    {
+      if (m_value == nullptr) {
+        throw_or_mimic<std::domain_error>("No value");
+      }
+
+#ifdef CXXOPTS_NO_RTTI
+      return static_cast<const values::standard_value<T>&>(*m_value).get();
+#else
+      return dynamic_cast<const values::standard_value<T>&>(*m_value).get();
+#endif
+    }
+
+    private:
+    void
+    ensure_value(std::shared_ptr<const OptionDetails> details)
+    {
+      if (m_value == nullptr)
+      {
+        m_value = details->make_storage();
+      }
+    }
+
+    std::shared_ptr<Value> m_value;
+    size_t m_count = 0;
+    bool m_default = false;
+  };
+
+  class KeyValue
+  {
+    public:
+    KeyValue(std::string key_, std::string value_)
+    : m_key(std::move(key_))
+    , m_value(std::move(value_))
+    {
+    }
+
+    const
+    std::string&
+    key() const
+    {
+      return m_key;
+    }
+
+    const
+    std::string&
+    value() const
+    {
+      return m_value;
+    }
+
+    template <typename T>
+    T
+    as() const
+    {
+      T result;
+      values::parse_value(m_value, result);
+      return result;
+    }
+
+    private:
+    std::string m_key;
+    std::string m_value;
+  };
+
+  class ParseResult
+  {
+    public:
+
+    ParseResult(
+      const std::shared_ptr<
+        std::unordered_map<std::string, std::shared_ptr<OptionDetails>>
+      >,
+      std::vector<std::string>,
+      bool allow_unrecognised,
+      int&, char**&);
+
+    size_t
+    count(const std::string& o) const
+    {
+      auto iter = m_options->find(o);
+      if (iter == m_options->end())
+      {
+        return 0;
+      }
+
+      auto riter = m_results.find(iter->second);
+
+      return riter->second.count();
+    }
+
+    const OptionValue&
+    operator[](const std::string& option) const
+    {
+      auto iter = m_options->find(option);
+
+      if (iter == m_options->end())
+      {
+        throw_or_mimic<option_not_present_exception>(option);
+      }
+
+      auto riter = m_results.find(iter->second);
+
+      return riter->second;
+    }
+
+    const std::vector<KeyValue>&
+    arguments() const
+    {
+      return m_sequential;
+    }
+
+    private:
+
+    void
+    parse(int& argc, char**& argv);
+
+    void
+    add_to_option(const std::string& option, const std::string& arg);
+
+    bool
+    consume_positional(std::string a);
+
+    void
+    parse_option
+    (
+      std::shared_ptr<OptionDetails> value,
+      const std::string& name,
+      const std::string& arg = ""
+    );
+
+    void
+    parse_default(std::shared_ptr<OptionDetails> details);
+
+    void
+    checked_parse_arg
+    (
+      int argc,
+      char* argv[],
+      int& current,
+      std::shared_ptr<OptionDetails> value,
+      const std::string& name
+    );
+
+    const std::shared_ptr<
+      std::unordered_map<std::string, std::shared_ptr<OptionDetails>>
+    > m_options;
+    std::vector<std::string> m_positional;
+    std::vector<std::string>::iterator m_next_positional;
+    std::unordered_set<std::string> m_positional_set;
+    std::unordered_map<std::shared_ptr<OptionDetails>, OptionValue> m_results;
+
+    bool m_allow_unrecognised;
+
+    std::vector<KeyValue> m_sequential;
+  };
+
+  struct Option
+  {
+    Option
+    (
+      const std::string& opts,
+      const std::string& desc,
+      const std::shared_ptr<const Value>& value = ::cxxopts::value<bool>(),
+      const std::string& arg_help = ""
+    )
+    : opts_(opts)
+    , desc_(desc)
+    , value_(value)
+    , arg_help_(arg_help)
+    {
+    }
+
+    std::string opts_;
+    std::string desc_;
+    std::shared_ptr<const Value> value_;
+    std::string arg_help_;
+  };
+
+  class Options
+  {
+    typedef std::unordered_map<std::string, std::shared_ptr<OptionDetails>>
+      OptionMap;
+    public:
+
+    Options(std::string program, std::string help_string = "")
+    : m_program(std::move(program))
+    , m_help_string(toLocalString(std::move(help_string)))
+    , m_custom_help("[OPTION...]")
+    , m_positional_help("positional parameters")
+    , m_show_positional(false)
+    , m_allow_unrecognised(false)
+    , m_options(std::make_shared<OptionMap>())
+    , m_next_positional(m_positional.end())
+    {
+    }
+
+    Options&
+    positional_help(std::string help_text)
+    {
+      m_positional_help = std::move(help_text);
+      return *this;
+    }
+
+    Options&
+    custom_help(std::string help_text)
+    {
+      m_custom_help = std::move(help_text);
+      return *this;
+    }
+
+    Options&
+    show_positional_help()
+    {
+      m_show_positional = true;
+      return *this;
+    }
+
+    Options&
+    allow_unrecognised_options()
+    {
+      m_allow_unrecognised = true;
+      return *this;
+    }
+
+    ParseResult
+    parse(int& argc, char**& argv);
+
+    OptionAdder
+    add_options(std::string group = "");
+
+    void
+    add_options
+    (
+      const std::string& group,
+      std::initializer_list<Option> options
+    );
+
+    void
+    add_option
+    (
+      const std::string& group,
+      const Option& option
+    );
+
+    void
+    add_option
+    (
+      const std::string& group,
+      const std::string& s,
+      const std::string& l,
+      std::string desc,
+      std::shared_ptr<const Value> value,
+      std::string arg_help
+    );
+
+    //parse positional arguments into the given option
+    void
+    parse_positional(std::string option);
+
+    void
+    parse_positional(std::vector<std::string> options);
+
+    void
+    parse_positional(std::initializer_list<std::string> options);
+
+    template <typename Iterator>
+    void
+    parse_positional(Iterator begin, Iterator end) {
+      parse_positional(std::vector<std::string>{begin, end});
+    }
+
+    std::string
+    help(const std::vector<std::string>& groups = {}) const;
+
+    const std::vector<std::string>
+    groups() const;
+
+    const HelpGroupDetails&
+    group_help(const std::string& group) const;
+
+    private:
+
+    void
+    add_one_option
+    (
+      const std::string& option,
+      std::shared_ptr<OptionDetails> details
+    );
+
+    String
+    help_one_group(const std::string& group) const;
+
+    void
+    generate_group_help
+    (
+      String& result,
+      const std::vector<std::string>& groups
+    ) const;
+
+    void
+    generate_all_groups_help(String& result) const;
+
+    std::string m_program;
+    String m_help_string;
+    std::string m_custom_help;
+    std::string m_positional_help;
+    bool m_show_positional;
+    bool m_allow_unrecognised;
+
+    std::shared_ptr<OptionMap> m_options;
+    std::vector<std::string> m_positional;
+    std::vector<std::string>::iterator m_next_positional;
+    std::unordered_set<std::string> m_positional_set;
+
+    //mapping from groups to help options
+    std::map<std::string, HelpGroupDetails> m_help;
+  };
+
+  class OptionAdder
+  {
+    public:
+
+    OptionAdder(Options& options, std::string group)
+    : m_options(options), m_group(std::move(group))
+    {
+    }
+
+    OptionAdder&
+    operator()
+    (
+      const std::string& opts,
+      const std::string& desc,
+      std::shared_ptr<const Value> value
+        = ::cxxopts::value<bool>(),
+      std::string arg_help = ""
+    );
+
+    private:
+    Options& m_options;
+    std::string m_group;
+  };
+
+  namespace
+  {
+    constexpr int OPTION_LONGEST = 30;
+    constexpr int OPTION_DESC_GAP = 2;
+
+    std::basic_regex<char> option_matcher
+      ("--([[:alnum:]][-_[:alnum:]]+)(=(.*))?|-([[:alnum:]]+)");
+
+    std::basic_regex<char> option_specifier
+      ("(([[:alnum:]]),)?[ ]*([[:alnum:]][-_[:alnum:]]*)?");
+
+    String
+    format_option
+    (
+      const HelpOptionDetails& o
+    )
+    {
+      auto& s = o.s;
+      auto& l = o.l;
+
+      String result = "  ";
+
+      if (s.size() > 0)
+      {
+        result += "-" + toLocalString(s) + ",";
+      }
+      else
+      {
+        result += "   ";
+      }
+
+      if (l.size() > 0)
+      {
+        result += " --" + toLocalString(l);
+      }
+
+      auto arg = o.arg_help.size() > 0 ? toLocalString(o.arg_help) : "arg";
+
+      if (!o.is_boolean)
+      {
+        if (o.has_implicit)
+        {
+          result += " [=" + arg + "(=" + toLocalString(o.implicit_value) + ")]";
+        }
+        else
+        {
+          result += " " + arg;
+        }
+      }
+
+      return result;
+    }
+
+    String
+    format_description
+    (
+      const HelpOptionDetails& o,
+      size_t start,
+      size_t width
+    )
+    {
+      auto desc = o.desc;
+
+      if (o.has_default && (!o.is_boolean || o.default_value != "false"))
+      {
+        if(o.default_value != "")
+        {
+          desc += toLocalString(" (default: " + o.default_value + ")");
+        }
+        else
+        {
+          desc += toLocalString(" (default: \"\")");
+        }
+      }
+
+      String result;
+
+      auto current = std::begin(desc);
+      auto startLine = current;
+      auto lastSpace = current;
+
+      auto size = size_t{};
+
+      while (current != std::end(desc))
+      {
+        if (*current == ' ')
+        {
+          lastSpace = current;
+        }
+
+        if (*current == '\n')
+        {
+          startLine = current + 1;
+          lastSpace = startLine;
+        }
+        else if (size > width)
+        {
+          if (lastSpace == startLine)
+          {
+            stringAppend(result, startLine, current + 1);
+            stringAppend(result, "\n");
+            stringAppend(result, start, ' ');
+            startLine = current + 1;
+            lastSpace = startLine;
+          }
+          else
+          {
+            stringAppend(result, startLine, lastSpace);
+            stringAppend(result, "\n");
+            stringAppend(result, start, ' ');
+            startLine = lastSpace + 1;
+          }
+          size = 0;
+        }
+        else
+        {
+          ++size;
+        }
+
+        ++current;
+      }
+
+      //append whatever is left
+      stringAppend(result, startLine, current);
+
+      return result;
+    }
+  }
+
+inline
+ParseResult::ParseResult
+(
+  const std::shared_ptr<
+    std::unordered_map<std::string, std::shared_ptr<OptionDetails>>
+  > options,
+  std::vector<std::string> positional,
+  bool allow_unrecognised,
+  int& argc, char**& argv
+)
+: m_options(options)
+, m_positional(std::move(positional))
+, m_next_positional(m_positional.begin())
+, m_allow_unrecognised(allow_unrecognised)
+{
+  parse(argc, argv);
+}
+
+inline
+void
+Options::add_options
+(
+  const std::string &group,
+  std::initializer_list<Option> options
+)
+{
+ OptionAdder option_adder(*this, group);
+ for (const auto &option: options)
+ {
+   option_adder(option.opts_, option.desc_, option.value_, option.arg_help_);
+ }
+}
+
+inline
+OptionAdder
+Options::add_options(std::string group)
+{
+  return OptionAdder(*this, std::move(group));
+}
+
+inline
+OptionAdder&
+OptionAdder::operator()
+(
+  const std::string& opts,
+  const std::string& desc,
+  std::shared_ptr<const Value> value,
+  std::string arg_help
+)
+{
+  std::match_results<const char*> result;
+  std::regex_match(opts.c_str(), result, option_specifier);
+
+  if (result.empty())
+  {
+    throw_or_mimic<invalid_option_format_error>(opts);
+  }
+
+  const auto& short_match = result[2];
+  const auto& long_match = result[3];
+
+  if (!short_match.length() && !long_match.length())
+  {
+    throw_or_mimic<invalid_option_format_error>(opts);
+  } else if (long_match.length() == 1 && short_match.length())
+  {
+    throw_or_mimic<invalid_option_format_error>(opts);
+  }
+
+  auto option_names = []
+  (
+    const std::sub_match<const char*>& short_,
+    const std::sub_match<const char*>& long_
+  )
+  {
+    if (long_.length() == 1)
+    {
+      return std::make_tuple(long_.str(), short_.str());
+    }
+    else
+    {
+      return std::make_tuple(short_.str(), long_.str());
+    }
+  }(short_match, long_match);
+
+  m_options.add_option
+  (
+    m_group,
+    std::get<0>(option_names),
+    std::get<1>(option_names),
+    desc,
+    value,
+    std::move(arg_help)
+  );
+
+  return *this;
+}
+
+inline
+void
+ParseResult::parse_default(std::shared_ptr<OptionDetails> details)
+{
+  m_results[details].parse_default(details);
+}
+
+inline
+void
+ParseResult::parse_option
+(
+  std::shared_ptr<OptionDetails> value,
+  const std::string& /*name*/,
+  const std::string& arg
+)
+{
+  auto& result = m_results[value];
+  result.parse(value, arg);
+
+  m_sequential.emplace_back(value->long_name(), arg);
+}
+
+inline
+void
+ParseResult::checked_parse_arg
+(
+  int argc,
+  char* argv[],
+  int& current,
+  std::shared_ptr<OptionDetails> value,
+  const std::string& name
+)
+{
+  if (current + 1 >= argc)
+  {
+    if (value->value().has_implicit())
+    {
+      parse_option(value, name, value->value().get_implicit_value());
+    }
+    else
+    {
+      throw_or_mimic<missing_argument_exception>(name);
+    }
+  }
+  else
+  {
+    if (value->value().has_implicit())
+    {
+      parse_option(value, name, value->value().get_implicit_value());
+    }
+    else
+    {
+      parse_option(value, name, argv[current + 1]);
+      ++current;
+    }
+  }
+}
+
+inline
+void
+ParseResult::add_to_option(const std::string& option, const std::string& arg)
+{
+  auto iter = m_options->find(option);
+
+  if (iter == m_options->end())
+  {
+    throw_or_mimic<option_not_exists_exception>(option);
+  }
+
+  parse_option(iter->second, option, arg);
+}
+
+inline
+bool
+ParseResult::consume_positional(std::string a)
+{
+  while (m_next_positional != m_positional.end())
+  {
+    auto iter = m_options->find(*m_next_positional);
+    if (iter != m_options->end())
+    {
+      auto& result = m_results[iter->second];
+      if (!iter->second->value().is_container())
+      {
+        if (result.count() == 0)
+        {
+          add_to_option(*m_next_positional, a);
+          ++m_next_positional;
+          return true;
+        }
+        else
+        {
+          ++m_next_positional;
+          continue;
+        }
+      }
+      else
+      {
+        add_to_option(*m_next_positional, a);
+        return true;
+      }
+    }
+    else
+    {
+      throw_or_mimic<option_not_exists_exception>(*m_next_positional);
+    }
+  }
+
+  return false;
+}
+
+inline
+void
+Options::parse_positional(std::string option)
+{
+  parse_positional(std::vector<std::string>{std::move(option)});
+}
+
+inline
+void
+Options::parse_positional(std::vector<std::string> options)
+{
+  m_positional = std::move(options);
+  m_next_positional = m_positional.begin();
+
+  m_positional_set.insert(m_positional.begin(), m_positional.end());
+}
+
+inline
+void
+Options::parse_positional(std::initializer_list<std::string> options)
+{
+  parse_positional(std::vector<std::string>(std::move(options)));
+}
+
+inline
+ParseResult
+Options::parse(int& argc, char**& argv)
+{
+  ParseResult result(m_options, m_positional, m_allow_unrecognised, argc, argv);
+  return result;
+}
+
+inline
+void
+ParseResult::parse(int& argc, char**& argv)
+{
+  int current = 1;
+
+  int nextKeep = 1;
+
+  bool consume_remaining = false;
+
+  while (current != argc)
+  {
+    if (strcmp(argv[current], "--") == 0)
+    {
+      consume_remaining = true;
+      ++current;
+      break;
+    }
+
+    std::match_results<const char*> result;
+    std::regex_match(argv[current], result, option_matcher);
+
+    if (result.empty())
+    {
+      //not a flag
+
+      // but if it starts with a `-`, then it's an error
+      if (argv[current][0] == '-' && argv[current][1] != '\0') {
+        if (!m_allow_unrecognised) {
+          throw_or_mimic<option_syntax_exception>(argv[current]);
+        }
+      }
+
+      //if true is returned here then it was consumed, otherwise it is
+      //ignored
+      if (consume_positional(argv[current]))
+      {
+      }
+      else
+      {
+        argv[nextKeep] = argv[current];
+        ++nextKeep;
+      }
+      //if we return from here then it was parsed successfully, so continue
+    }
+    else
+    {
+      //short or long option?
+      if (result[4].length() != 0)
+      {
+        const std::string& s = result[4];
+
+        for (std::size_t i = 0; i != s.size(); ++i)
+        {
+          std::string name(1, s[i]);
+          auto iter = m_options->find(name);
+
+          if (iter == m_options->end())
+          {
+            if (m_allow_unrecognised)
+            {
+              continue;
+            }
+            else
+            {
+              //error
+              throw_or_mimic<option_not_exists_exception>(name);
+            }
+          }
+
+          auto value = iter->second;
+
+          if (i + 1 == s.size())
+          {
+            //it must be the last argument
+            checked_parse_arg(argc, argv, current, value, name);
+          }
+          else if (value->value().has_implicit())
+          {
+            parse_option(value, name, value->value().get_implicit_value());
+          }
+          else
+          {
+            //error
+            throw_or_mimic<option_requires_argument_exception>(name);
+          }
+        }
+      }
+      else if (result[1].length() != 0)
+      {
+        const std::string& name = result[1];
+
+        auto iter = m_options->find(name);
+
+        if (iter == m_options->end())
+        {
+          if (m_allow_unrecognised)
+          {
+            // keep unrecognised options in argument list, skip to next argument
+            argv[nextKeep] = argv[current];
+            ++nextKeep;
+            ++current;
+            continue;
+          }
+          else
+          {
+            //error
+            throw_or_mimic<option_not_exists_exception>(name);
+          }
+        }
+
+        auto opt = iter->second;
+
+        //equals provided for long option?
+        if (result[2].length() != 0)
+        {
+          //parse the option given
+
+          parse_option(opt, name, result[3]);
+        }
+        else
+        {
+          //parse the next argument
+          checked_parse_arg(argc, argv, current, opt, name);
+        }
+      }
+
+    }
+
+    ++current;
+  }
+
+  for (auto& opt : *m_options)
+  {
+    auto& detail = opt.second;
+    auto& value = detail->value();
+
+    auto& store = m_results[detail];
+
+    if(value.has_default() && !store.count() && !store.has_default()){
+      parse_default(detail);
+    }
+  }
+
+  if (consume_remaining)
+  {
+    while (current < argc)
+    {
+      if (!consume_positional(argv[current])) {
+        break;
+      }
+      ++current;
+    }
+
+    //adjust argv for any that couldn't be swallowed
+    while (current != argc) {
+      argv[nextKeep] = argv[current];
+      ++nextKeep;
+      ++current;
+    }
+  }
+
+  argc = nextKeep;
+
+}
+
+inline
+void
+Options::add_option
+(
+  const std::string& group,
+  const Option& option
+)
+{
+    add_options(group, {option});
+}
+
+inline
+void
+Options::add_option
+(
+  const std::string& group,
+  const std::string& s,
+  const std::string& l,
+  std::string desc,
+  std::shared_ptr<const Value> value,
+  std::string arg_help
+)
+{
+  auto stringDesc = toLocalString(std::move(desc));
+  auto option = std::make_shared<OptionDetails>(s, l, stringDesc, value);
+
+  if (s.size() > 0)
+  {
+    add_one_option(s, option);
+  }
+
+  if (l.size() > 0)
+  {
+    add_one_option(l, option);
+  }
+
+  //add the help details
+  auto& options = m_help[group];
+
+  options.options.emplace_back(HelpOptionDetails{s, l, stringDesc,
+      value->has_default(), value->get_default_value(),
+      value->has_implicit(), value->get_implicit_value(),
+      std::move(arg_help),
+      value->is_container(),
+      value->is_boolean()});
+}
+
+inline
+void
+Options::add_one_option
+(
+  const std::string& option,
+  std::shared_ptr<OptionDetails> details
+)
+{
+  auto in = m_options->emplace(option, details);
+
+  if (!in.second)
+  {
+    throw_or_mimic<option_exists_error>(option);
+  }
+}
+
+inline
+String
+Options::help_one_group(const std::string& g) const
+{
+  typedef std::vector<std::pair<String, String>> OptionHelp;
+
+  auto group = m_help.find(g);
+  if (group == m_help.end())
+  {
+    return "";
+  }
+
+  OptionHelp format;
+
+  size_t longest = 0;
+
+  String result;
+
+  if (!g.empty())
+  {
+    result += toLocalString(" " + g + " options:\n");
+  }
+
+  for (const auto& o : group->second.options)
+  {
+    if (m_positional_set.find(o.l) != m_positional_set.end() &&
+        !m_show_positional)
+    {
+      continue;
+    }
+
+    auto s = format_option(o);
+    longest = (std::max)(longest, stringLength(s));
+    format.push_back(std::make_pair(s, String()));
+  }
+
+  longest = (std::min)(longest, static_cast<size_t>(OPTION_LONGEST));
+
+  //widest allowed description
+  auto allowed = size_t{76} - longest - OPTION_DESC_GAP;
+
+  auto fiter = format.begin();
+  for (const auto& o : group->second.options)
+  {
+    if (m_positional_set.find(o.l) != m_positional_set.end() &&
+        !m_show_positional)
+    {
+      continue;
+    }
+
+    auto d = format_description(o, longest + OPTION_DESC_GAP, allowed);
+
+    result += fiter->first;
+    if (stringLength(fiter->first) > longest)
+    {
+      result += '\n';
+      result += toLocalString(std::string(longest + OPTION_DESC_GAP, ' '));
+    }
+    else
+    {
+      result += toLocalString(std::string(longest + OPTION_DESC_GAP -
+        stringLength(fiter->first),
+        ' '));
+    }
+    result += d;
+    result += '\n';
+
+    ++fiter;
+  }
+
+  return result;
+}
+
+inline
+void
+Options::generate_group_help
+(
+  String& result,
+  const std::vector<std::string>& print_groups
+) const
+{
+  for (size_t i = 0; i != print_groups.size(); ++i)
+  {
+    const String& group_help_text = help_one_group(print_groups[i]);
+    if (empty(group_help_text))
+    {
+      continue;
+    }
+    result += group_help_text;
+    if (i < print_groups.size() - 1)
+    {
+      result += '\n';
+    }
+  }
+}
+
+inline
+void
+Options::generate_all_groups_help(String& result) const
+{
+  std::vector<std::string> all_groups;
+  all_groups.reserve(m_help.size());
+
+  for (auto& group : m_help)
+  {
+    all_groups.push_back(group.first);
+  }
+
+  generate_group_help(result, all_groups);
+}
+
+inline
+std::string
+Options::help(const std::vector<std::string>& help_groups) const
+{
+  String result = m_help_string + "\nUsage:\n  " +
+    toLocalString(m_program) + " " + toLocalString(m_custom_help);
+
+  if (m_positional.size() > 0 && m_positional_help.size() > 0) {
+    result += " " + toLocalString(m_positional_help);
+  }
+
+  result += "\n\n";
+
+  if (help_groups.size() == 0)
+  {
+    generate_all_groups_help(result);
+  }
+  else
+  {
+    generate_group_help(result, help_groups);
+  }
+
+  return toUTF8String(result);
+}
+
+inline
+const std::vector<std::string>
+Options::groups() const
+{
+  std::vector<std::string> g;
+
+  std::transform(
+    m_help.begin(),
+    m_help.end(),
+    std::back_inserter(g),
+    [] (const std::map<std::string, HelpGroupDetails>::value_type& pair)
+    {
+      return pair.first;
+    }
+  );
+
+  return g;
+}
+
+inline
+const HelpGroupDetails&
+Options::group_help(const std::string& group) const
+{
+  return m_help.at(group);
+}
+
+}
+
+#endif //CXXOPTS_HPP_INCLUDED

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/common/project_root.h

@@ -0,0 +1,34 @@
+/**
+* \brief 
+* \author pengcheng (pengcheng@yslrpch@126.com)
+* \date 2020-06-19
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+
+#include <string>
+#include <memory>
+namespace adc
+{
+    
+class RootPath
+{
+public:
+    using Ptr = std::shared_ptr<RootPath>;
+    void SetRoot(const std::string &root);
+    std::string GetRoot();
+    static RootPath::Ptr GetInstance();
+    static bool AbsolutePath(const std::string &path);
+    static const std::string GetAbsolutePath(const std::string &path);
+    ~RootPath();  
+    RootPath();
+
+private:
+    std::string root_path_;
+    static RootPath::Ptr instance_ptr_;
+
+};
+
+
+
+}

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/common/time_adcsoft.h

@@ -0,0 +1,35 @@
+/**
+ *  \brerf 
+ *  \author pengcheng(pengcheng@adcsoft.cn)
+ *  \date 2019.11.25
+ *  \attention 
+ * 
+*/
+
+#ifndef  ADCSOFT_TIME_ADCSOFT_H__
+#define ADCSOFT_TIME_ADCSOFT_H__
+
+#include <chrono>
+#include <thread>
+
+namespace adc
+{
+
+class Timer
+{
+public:
+    Timer(const float& hz);
+
+    void Start();
+
+    void Stop();
+
+private:
+    std::chrono::duration<float> duration_;
+
+    std::chrono::system_clock::time_point start_;
+
+    std::chrono::duration<float> elapsed_;
+};
+}
+#endif // ! ADCSOFT_TIME_H__

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/common/utils.h

@@ -0,0 +1,131 @@
+/**
+ *  \brerf 
+ *  \author pengcheng(pengcheng@adcsoft.cn)
+ *  \date 2020.09.01
+ *  \attention 
+ * 
+*/
+
+
+#include <float.h>
+#include <opencv2/core.hpp>
+#include <pcl/point_cloud.h>
+#include<pcl/point_types.h>
+#include <pcl/features/moment_of_inertia_estimation.h>
+#include <chrono>
+#include "cuda_runtime.h"
+#include "common/cuda_utils.h"
+#include <memory>
+
+#ifndef ADC_COMMON_UTILS
+#define ADC_COMMON_UTILS 
+
+
+
+namespace adc
+{
+
+namespace common
+{
+
+
+void SampleDownGPUDevice(const float* x, const float* y, const float* z, const int ratio_x, const int ratio_y,
+                const int old_cols, const int new_rows, const int new_cols,
+                float* new_x, float* new_y, float* new_z, cudaStream_t stream);
+
+
+void SampleDownGPU(const float* x, const float* y, const float* z, const int ratio_x, const int ratio_y,
+                const int old_cols, const int new_rows, const int new_cols,
+                float* new_x, float* new_y, float* new_z, cudaStream_t stream);
+
+void ComputeXYZGPUDevice(const short* depth,  const int left_x, const int left_y, 
+    const float inv_fu, const float inv_fv, const float u0, const float v0,
+    const float min_depth, const float max_depth, const int rows, const int cols,
+    float* x, float* y, float* z, cudaStream_t stream,const float corret_a,
+                         const float corret_b, const float corret_c);
+void ComputeXYZGPU(const short* depth,  const int left_x, const int left_y, 
+    const float inv_fu, const float inv_fv, const float u0, const float v0,
+    const float min_depth, const float max_depth, const int rows, const int cols,
+    float* x, float* y, float* z, cudaStream_t stream,
+    const float corret_a=0.0, const float corret_b=0.0, const float corret_c=0.0);
+void TestGPU(float* z);
+
+class Perf
+{
+public:
+    Perf(const std::string& desc, float threshold = 0.0);
+    ~Perf();
+private:
+    std::string description_;
+    std::chrono::duration<float> threshold_;
+    std::chrono::system_clock::time_point start_;
+
+};
+
+template<typename Scalar>
+class Clustering
+{
+
+public:
+
+    void ComputeXY(const cv::Mat& depth, int left_x, int left_y, float32_t inv_fu,
+                    float32_t inv_fv, float32_t u0, float32_t v0, float32_t min_depth,
+                    float32_t max_depth, cv::Mat &x_3d, cv::Mat &y_3d);
+
+    void ConputeDis(const  std::vector<float32_t> &p1, const std::vector<float32_t> &p2, float32_t &square);
+
+    bool CorePoint(const cv::Mat &depth, const  cv::Mat &x_map, const cv::Mat &y_map,
+                    int core_x, int core_y, int kernel_begin_x, 
+                    int kernel_end_x, int kernel_begin_y, int kernel_end_y,
+                    float32_t max_dis, float32_t min_depth, float32_t max_depth,
+                    std::vector<cv::Point2i> &boundary_point, std::vector<float32_t> &core_point
+                    );
+    bool CorePoint2(const cv::Mat &depth, const  cv::Mat &x_map, const cv::Mat &y_map,
+                int core_x, int core_y, int kernel_begin_x, 
+                int kernel_end_x, int kernel_begin_y, int kernel_end_y,
+                float32_t max_dis, float32_t min_depth, float32_t max_depth,
+                std::vector<cv::Point2i> &boundary_point, std::vector<float32_t> &core_point
+                );
+    void ExternCluster(const cv::Mat& depth, const cv::Mat& x_map, 
+                    const cv::Mat& y_map, cv::Mat &flag_visited, float32_t min_depth, float32_t max_depth,
+                    float32_t max_dis, size_t min_pts, size_t kernel_size, float32_t full_size,
+                    std::vector<cv::Point2i> &boundary, pcl::PointCloud<Scalar>& cluster
+                    );
+    void ExternCluster2(const cv::Mat& depth, const cv::Mat& x_map, 
+                    const cv::Mat& y_map, cv::Mat &flag_visited, float32_t min_depth, float32_t max_depth,
+                    float32_t max_dis, size_t min_pts, size_t kernel_size, float32_t full_size,
+                    std::vector<cv::Point2i> &boundary, pcl::PointCloud<Scalar>& cluster
+                    );
+
+    void SpatialClustering(cv::Mat &depth, size_t kernel_size, size_t min_pts, float32_t max_dis,
+                        int left_x, int left_y, float32_t inv_fu, float32_t inv_fv, float32_t u0, float32_t v0,
+                        float32_t min_depth, float32_t max_depth,
+                        std::vector<pcl::PointCloud<Scalar>>  &clusters);
+
+    void SpatialClustering(cv::Mat& x, cv::Mat& y, cv::Mat& z, size_t kernel_size, size_t min_pts, float32_t max_dis,
+                        float32_t min_depth, float32_t max_depth, std::vector<pcl::PointCloud<Scalar>>  &clusters);
+
+
+};
+
+class OBBExtrator
+{
+public:
+    OBBExtrator(){};
+    ~OBBExtrator(){};
+    void GetOBB(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_ptr, std::vector<pcl::PointXYZRGB>& bbox_corner,float &length, float& width, float& height);
+
+private:
+    void ConvertPoints(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_ptr);
+
+private:
+    std::vector<cv::Point2f> points_;
+    float32_t max_z_;
+    float32_t min_z_;
+    cv::RotatedRect bbox_;
+
+};
+}
+
+}
+#endif // !ADC_COMMON_UTILS

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/common/work.h

@@ -0,0 +1,53 @@
+/**
+* \brief 
+* \author pengcheng (pengcheng@yslrpch@126.com)
+* \date 2020-05-23
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+#ifndef CMW_APP_TIME_ADCSOFT_H
+#define  CMW_APP_TIME_ADCSOFT_H
+
+#include <common/time_adcsoft.h>
+#include <iostream>
+
+namespace adc
+{
+
+class Worker
+{
+
+public:
+    enum
+    {
+        WS_INIT         = 0x001,
+        WS_RUN          = 0x002,
+        WS_SUSPEND      = 0x003,
+        WS_TERMINATE    = 0x004, 
+    };
+
+public:
+    Worker(float hz=20);
+
+    virtual ~Worker();
+
+    virtual void DoWork() = 0;
+
+    void Run();
+
+    void Suspend();
+
+    void Terminate();
+
+protected:
+    void MainThread();
+
+protected:
+    std::thread main_thread_;
+    Timer timer_;
+    std::uint16_t worker_state_;
+};
+
+}
+
+#endif

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/detection_trt7/include/Hungarian.h

@@ -0,0 +1,36 @@
+//
+// Created by lqx on 20-4-23.
+//
+
+#ifndef TRACK_SORT_HUNGARIAN_H_H
+#define TRACK_SORT_HUNGARIAN_H_H
+
+#include <iostream>
+#include <vector>
+
+using namespace std;
+
+class HungarianAlgorithm
+{
+public:
+    HungarianAlgorithm();
+    ~HungarianAlgorithm();
+    double Solve(vector<vector<double>>& DistMatrix, vector<int>& Assignment);
+
+private:
+    void assignmentoptimal(int *assignment, double *cost, double *distMatrix, int nOfRows, int nOfColumns);
+    void buildassignmentvector(int *assignment, bool *starMatrix, int nOfRows, int nOfColumns);
+    void computeassignmentcost(int *assignment, double *cost, double *distMatrix, int nOfRows);
+    void step2a(int *assignment, double *distMatrix, bool *starMatrix, bool *newStarMatrix, bool *primeMatrix,
+                bool *coveredColumns, bool *coveredRows, int nOfRows, int nOfColumns, int minDim);
+    void step2b(int *assignment, double *distMatrix, bool *starMatrix, bool *newStarMatrix, bool *primeMatrix,
+                bool *coveredColumns, bool *coveredRows, int nOfRows, int nOfColumns, int minDim);
+    void step3(int *assignment, double *distMatrix, bool *starMatrix, bool *newStarMatrix, bool *primeMatrix,
+               bool *coveredColumns, bool *coveredRows, int nOfRows, int nOfColumns, int minDim);
+    void step4(int *assignment, double *distMatrix, bool *starMatrix, bool *newStarMatrix, bool *primeMatrix,
+               bool *coveredColumns, bool *coveredRows, int nOfRows, int nOfColumns, int minDim, int row, int col);
+    void step5(int *assignment, double *distMatrix, bool *starMatrix, bool *newStarMatrix, bool *primeMatrix,
+               bool *coveredColumns, bool *coveredRows, int nOfRows, int nOfColumns, int minDim);
+};
+
+#endif //TRACK_SORT_HUNGARIAN_H_H

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/detection_trt7/include/KalmanTracker.h

@@ -0,0 +1,89 @@
+//
+// Created by lqx on 20-4-23.
+//
+
+#ifndef TRACK_SORT_KALMANTRACKER_H
+#define TRACK_SORT_KALMANTRACKER_H
+
+///////////////////////////////////////////////////////////////////////////////
+// KalmanTracker.h: KalmanTracker Class Declaration
+
+#include "opencv2/video/tracking.hpp"
+#include "opencv2/highgui/highgui.hpp"
+
+using namespace std;
+
+#define StateType cv::Rect_<float>
+
+
+// This class represents the internel state of individual tracked objects observed as bounding box.
+class KalmanTracker
+{
+public:
+    KalmanTracker()
+    {
+        init_kf(StateType());
+        m_time_since_update = 0;
+        m_hits = 0;
+        m_hit_streak = 0;
+        m_age = 0;
+        m_id = kf_count;
+        //kf_count++;
+    }
+    KalmanTracker(StateType initRect)
+    {
+        init_kf(initRect);
+        m_time_since_update = 0;
+        m_hits = 0;
+        m_hit_streak = 0;
+        m_age = 0;
+        m_id = kf_count;
+        //kf_count++;
+    }
+
+    KalmanTracker(StateType initRect, int classId,float prob)
+    {
+        init_kf(initRect);
+        m_time_since_update = 0;
+        m_hits = 0;
+        m_hit_streak = 0;
+        m_age = 0;
+        m_id = kf_count;
+        //kf_count++;
+        m_class_id = classId;
+        m_prob = prob;
+    }
+
+    ~KalmanTracker()
+    {
+        m_history.clear();
+        m_class_history.clear();
+    }
+
+    StateType predict();
+    void update(StateType stateMat,int classId, float prob);
+
+    StateType get_state();
+    StateType get_rect_xysr(float cx, float cy, float s, float r);
+
+    static int kf_count;
+
+    int m_time_since_update;
+    int m_hits;
+    int m_hit_streak;
+    int m_age;
+    int m_id;
+    int m_class_id;
+    std::vector<int> m_class_history;
+    float m_prob;
+
+private:
+    void init_kf(StateType stateMat);
+
+    cv::KalmanFilter kf;
+    cv::Mat measurement;
+
+    std::vector<StateType> m_history;
+};
+
+#endif //TRACK_SORT_KALMANTRACKER_H

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/detection_trt7/include/dataReader.h

@@ -0,0 +1,32 @@
+#ifndef _DATA_READER_H_
+#define _DATA_READER_H_
+
+#include <vector>
+#include <list>
+#include <string>
+
+namespace Tn
+{
+    std::list<std::string> readFileList(const std::string& fileName);
+    
+    struct Source
+    {
+        std::string fileName;
+        int label;
+    };
+    std::list<Source> readLabelFileList(const std::string& fileName);    
+
+    struct Bbox
+    {
+        int classId;
+        int left;
+        int right;
+        int top;
+        int bot;
+        float score;
+    };
+    //[lst<filename>,lst<bbox_vec>]
+    std::tuple<std::list<std::string>, std::list<std::vector<Bbox>>> readObjectLabelFileList(const std::string& fileName);
+}
+
+#endif

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/detection_trt7/include/detect_obstacle.h

@@ -0,0 +1,57 @@
+#ifndef DETECT_TURNSTILE_H
+#define DETECT_TURNSTILE_H
+
+#include "detection_trt7/include/Hungarian.h"
+#include "detection_trt7/include/KalmanTracker.h"
+
+namespace td{
+
+const int COLOR_MAP[2][3]={{0, 0, 255},{255, 0, 0}};
+
+const int max_age = 2;
+const int min_hits = 3;
+const double iouThreshold = 0.5;
+
+struct bbox_t {
+    unsigned int x, y, w, h;       // (x,y) - top-left corner, (w, h) - width & height of bounded box
+    float prob;                    // confidence - probability that the object was found correctly
+    unsigned int obj_id;           // class of object - from range [0, classes-1]
+    unsigned int track_id;         // tracking id for video (0 - untracked, 1 - inf - tracked object)
+    unsigned int frames_counter;   // counter of frames on which the object was detected
+    float x_3d, y_3d, z_3d;        // center of object (in Meters) if ZED 3D Camera is used
+};
+
+typedef struct TrackingBox
+{
+    int frame;
+    int id;
+    int class_id;
+    float prob;
+    cv::Rect_<float> box;
+    vector<int> class_history;
+
+}TrackingBox;
+
+//yolo data o DetectBox
+typedef struct DetectBox
+{
+    int class_id;
+    float prob;
+    cv::Rect_<float> box;
+}DetectBox;
+
+//Computes IOU between two bounding boxes
+double GetIOU(cv::Rect_<float> bb_test, cv::Rect_<float> bb_gt);
+//画出检测框和相关信息
+void DrawBoxes(cv::Mat &frame, vector<string> classes, int classId, int turnstileId,float conf, int left, int top, int right, int bottom);
+
+//画出检测结果,image
+void Drawer(cv::Mat &frame, vector<bbox_t> outs, vector<string> classes);
+//画出检测结果,video
+void Drawer(cv::Mat &frame, vector<td::TrackingBox> &track_result, vector<string> &classes);
+//tracking turnstile
+bool TrackObstacle(int64 frame_count,vector<KalmanTracker> &trackers,vector<bbox_t> &outs,vector<td::TrackingBox> &track_result);
+}
+
+
+#endif // DETECT_TURNSTILE_H

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/detection_trt7/yolov4Tensorrt/include/Utils.h

@@ -0,0 +1,94 @@
+#ifndef __TRT_UTILS_H_
+#define __TRT_UTILS_H_
+
+#include <iostream>
+#include <vector>
+#include <algorithm>
+#include <cudnn.h>
+
+#ifndef CUDA_CHECK
+
+#define CUDA_CHECK(callstr)                                                                    \
+    {                                                                                          \
+        cudaError_t error_code = callstr;                                                      \
+        if (error_code != cudaSuccess) {                                                       \
+            std::cerr << "CUDA error " << error_code << " at " << __FILE__ << ":" << __LINE__; \
+            assert(0);                                                                         \
+        }                                                                                      \
+    }
+
+#endif
+
+namespace Tn
+{
+    class Profiler : public nvinfer1::IProfiler
+    {
+    public:
+        void printLayerTimes(int itrationsTimes)
+        {
+            float totalTime = 0;
+            for (size_t i = 0; i < mProfile.size(); i++)
+            {
+                printf("%-40.40s %4.3fms\n", mProfile[i].first.c_str(), mProfile[i].second / itrationsTimes);
+                totalTime += mProfile[i].second;
+            }
+            printf("Time over all layers: %4.3f\n", totalTime / itrationsTimes);
+        }
+    private:
+        typedef std::pair<std::string, float> Record;
+        std::vector<Record> mProfile;
+
+        virtual void reportLayerTime(const char* layerName, float ms)
+        {
+            auto record = std::find_if(mProfile.begin(), mProfile.end(), [&](const Record& r){ return r.first == layerName; });
+            if (record == mProfile.end())
+                mProfile.push_back(std::make_pair(layerName, ms));
+            else
+                record->second += ms;
+        }
+    };
+
+    //Logger for TensorRT info/warning/errors
+    class Logger : public nvinfer1::ILogger
+    {
+    public:
+
+        Logger(): Logger(Severity::kWARNING) {}
+
+        Logger(Severity severity): reportableSeverity(severity) {}
+
+        void log(Severity severity, const char* msg) override
+        {
+            // suppress messages with severity enum value greater than the reportable
+            if (severity > reportableSeverity) return;
+
+            switch (severity)
+            {
+                case Severity::kINTERNAL_ERROR: std::cerr << "INTERNAL_ERROR: "; break;
+                case Severity::kERROR: std::cerr << "ERROR: "; break;
+                case Severity::kWARNING: std::cerr << "WARNING: "; break;
+                case Severity::kINFO: std::cerr << "INFO: "; break;
+                default: std::cerr << "UNKNOWN: "; break;
+            }
+            std::cerr << msg << std::endl;
+        }
+
+        Severity reportableSeverity{Severity::kWARNING};
+    };
+
+    template<typename T> 
+    void write(char*& buffer, const T& val)
+    {
+        *reinterpret_cast<T*>(buffer) = val;
+        buffer += sizeof(T);
+    }
+
+    template<typename T> 
+    void read(const char*& buffer, T& val)
+    {
+        val = *reinterpret_cast<const T*>(buffer);
+        buffer += sizeof(T);
+    }
+}
+
+#endif

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/detection_trt7/yolov4Tensorrt/include/logging.h

@@ -0,0 +1,503 @@
+/*
+ * Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TENSORRT_LOGGING_H
+#define TENSORRT_LOGGING_H
+
+#include "NvInferRuntimeCommon.h"
+#include <cassert>
+#include <ctime>
+#include <iomanip>
+#include <iostream>
+#include <ostream>
+#include <sstream>
+#include <string>
+
+using Severity = nvinfer1::ILogger::Severity;
+
+class LogStreamConsumerBuffer : public std::stringbuf
+{
+public:
+    LogStreamConsumerBuffer(std::ostream& stream, const std::string& prefix, bool shouldLog)
+        : mOutput(stream)
+        , mPrefix(prefix)
+        , mShouldLog(shouldLog)
+    {
+    }
+
+    LogStreamConsumerBuffer(LogStreamConsumerBuffer&& other)
+        : mOutput(other.mOutput)
+    {
+    }
+
+    ~LogStreamConsumerBuffer()
+    {
+        // std::streambuf::pbase() gives a pointer to the beginning of the buffered part of the output sequence
+        // std::streambuf::pptr() gives a pointer to the current position of the output sequence
+        // if the pointer to the beginning is not equal to the pointer to the current position,
+        // call putOutput() to log the output to the stream
+        if (pbase() != pptr())
+        {
+            putOutput();
+        }
+    }
+
+    // synchronizes the stream buffer and returns 0 on success
+    // synchronizing the stream buffer consists of inserting the buffer contents into the stream,
+    // resetting the buffer and flushing the stream
+    virtual int sync()
+    {
+        putOutput();
+        return 0;
+    }
+
+    void putOutput()
+    {
+        if (mShouldLog)
+        {
+            // prepend timestamp
+            std::time_t timestamp = std::time(nullptr);
+            tm* tm_local = std::localtime(&timestamp);
+            std::cout << "[";
+            std::cout << std::setw(2) << std::setfill('0') << 1 + tm_local->tm_mon << "/";
+            std::cout << std::setw(2) << std::setfill('0') << tm_local->tm_mday << "/";
+            std::cout << std::setw(4) << std::setfill('0') << 1900 + tm_local->tm_year << "-";
+            std::cout << std::setw(2) << std::setfill('0') << tm_local->tm_hour << ":";
+            std::cout << std::setw(2) << std::setfill('0') << tm_local->tm_min << ":";
+            std::cout << std::setw(2) << std::setfill('0') << tm_local->tm_sec << "] ";
+            // std::stringbuf::str() gets the string contents of the buffer
+            // insert the buffer contents pre-appended by the appropriate prefix into the stream
+            mOutput << mPrefix << str();
+            // set the buffer to empty
+            str("");
+            // flush the stream
+            mOutput.flush();
+        }
+    }
+
+    void setShouldLog(bool shouldLog)
+    {
+        mShouldLog = shouldLog;
+    }
+
+private:
+    std::ostream& mOutput;
+    std::string mPrefix;
+    bool mShouldLog;
+};
+
+//!
+//! \class LogStreamConsumerBase
+//! \brief Convenience object used to initialize LogStreamConsumerBuffer before std::ostream in LogStreamConsumer
+//!
+class LogStreamConsumerBase
+{
+public:
+    LogStreamConsumerBase(std::ostream& stream, const std::string& prefix, bool shouldLog)
+        : mBuffer(stream, prefix, shouldLog)
+    {
+    }
+
+protected:
+    LogStreamConsumerBuffer mBuffer;
+};
+
+//!
+//! \class LogStreamConsumer
+//! \brief Convenience object used to facilitate use of C++ stream syntax when logging messages.
+//!  Order of base classes is LogStreamConsumerBase and then std::ostream.
+//!  This is because the LogStreamConsumerBase class is used to initialize the LogStreamConsumerBuffer member field
+//!  in LogStreamConsumer and then the address of the buffer is passed to std::ostream.
+//!  This is necessary to prevent the address of an uninitialized buffer from being passed to std::ostream.
+//!  Please do not change the order of the parent classes.
+//!
+class LogStreamConsumer : protected LogStreamConsumerBase, public std::ostream
+{
+public:
+    //! \brief Creates a LogStreamConsumer which logs messages with level severity.
+    //!  Reportable severity determines if the messages are severe enough to be logged.
+    LogStreamConsumer(Severity reportableSeverity, Severity severity)
+        : LogStreamConsumerBase(severityOstream(severity), severityPrefix(severity), severity <= reportableSeverity)
+        , std::ostream(&mBuffer) // links the stream buffer with the stream
+        , mShouldLog(severity <= reportableSeverity)
+        , mSeverity(severity)
+    {
+    }
+
+    LogStreamConsumer(LogStreamConsumer&& other)
+        : LogStreamConsumerBase(severityOstream(other.mSeverity), severityPrefix(other.mSeverity), other.mShouldLog)
+        , std::ostream(&mBuffer) // links the stream buffer with the stream
+        , mShouldLog(other.mShouldLog)
+        , mSeverity(other.mSeverity)
+    {
+    }
+
+    void setReportableSeverity(Severity reportableSeverity)
+    {
+        mShouldLog = mSeverity <= reportableSeverity;
+        mBuffer.setShouldLog(mShouldLog);
+    }
+
+private:
+    static std::ostream& severityOstream(Severity severity)
+    {
+        return severity >= Severity::kINFO ? std::cout : std::cerr;
+    }
+
+    static std::string severityPrefix(Severity severity)
+    {
+        switch (severity)
+        {
+        case Severity::kINTERNAL_ERROR: return "[F] ";
+        case Severity::kERROR: return "[E] ";
+        case Severity::kWARNING: return "[W] ";
+        case Severity::kINFO: return "[I] ";
+        case Severity::kVERBOSE: return "[V] ";
+        default: assert(0); return "";
+        }
+    }
+
+    bool mShouldLog;
+    Severity mSeverity;
+};
+
+//! \class Logger
+//!
+//! \brief Class which manages logging of TensorRT tools and samples
+//!
+//! \details This class provides a common interface for TensorRT tools and samples to log information to the console,
+//! and supports logging two types of messages:
+//!
+//! - Debugging messages with an associated severity (info, warning, error, or internal error/fatal)
+//! - Test pass/fail messages
+//!
+//! The advantage of having all samples use this class for logging as opposed to emitting directly to stdout/stderr is
+//! that the logic for controlling the verbosity and formatting of sample output is centralized in one location.
+//!
+//! In the future, this class could be extended to support dumping test results to a file in some standard format
+//! (for example, JUnit XML), and providing additional metadata (e.g. timing the duration of a test run).
+//!
+//! TODO: For backwards compatibility with existing samples, this class inherits directly from the nvinfer1::ILogger
+//! interface, which is problematic since there isn't a clean separation between messages coming from the TensorRT
+//! library and messages coming from the sample.
+//!
+//! In the future (once all samples are updated to use Logger::getTRTLogger() to access the ILogger) we can refactor the
+//! class to eliminate the inheritance and instead make the nvinfer1::ILogger implementation a member of the Logger
+//! object.
+
+class Logger : public nvinfer1::ILogger
+{
+public:
+    Logger(Severity severity = Severity::kWARNING)
+        : mReportableSeverity(severity)
+    {
+    }
+
+    //!
+    //! \enum TestResult
+    //! \brief Represents the state of a given test
+    //!
+    enum class TestResult
+    {
+        kRUNNING, //!< The test is running
+        kPASSED,  //!< The test passed
+        kFAILED,  //!< The test failed
+        kWAIVED   //!< The test was waived
+    };
+
+    //!
+    //! \brief Forward-compatible method for retrieving the nvinfer::ILogger associated with this Logger
+    //! \return The nvinfer1::ILogger associated with this Logger
+    //!
+    //! TODO Once all samples are updated to use this method to register the logger with TensorRT,
+    //! we can eliminate the inheritance of Logger from ILogger
+    //!
+    nvinfer1::ILogger& getTRTLogger()
+    {
+        return *this;
+    }
+
+    //!
+    //! \brief Implementation of the nvinfer1::ILogger::log() virtual method
+    //!
+    //! Note samples should not be calling this function directly; it will eventually go away once we eliminate the
+    //! inheritance from nvinfer1::ILogger
+    //!
+    void log(Severity severity, const char* msg) override
+    {
+        LogStreamConsumer(mReportableSeverity, severity) << "[TRT] " << std::string(msg) << std::endl;
+    }
+
+    //!
+    //! \brief Method for controlling the verbosity of logging output
+    //!
+    //! \param severity The logger will only emit messages that have severity of this level or higher.
+    //!
+    void setReportableSeverity(Severity severity)
+    {
+        mReportableSeverity = severity;
+    }
+
+    //!
+    //! \brief Opaque handle that holds logging information for a particular test
+    //!
+    //! This object is an opaque handle to information used by the Logger to print test results.
+    //! The sample must call Logger::defineTest() in order to obtain a TestAtom that can be used
+    //! with Logger::reportTest{Start,End}().
+    //!
+    class TestAtom
+    {
+    public:
+        TestAtom(TestAtom&&) = default;
+
+    private:
+        friend class Logger;
+
+        TestAtom(bool started, const std::string& name, const std::string& cmdline)
+            : mStarted(started)
+            , mName(name)
+            , mCmdline(cmdline)
+        {
+        }
+
+        bool mStarted;
+        std::string mName;
+        std::string mCmdline;
+    };
+
+    //!
+    //! \brief Define a test for logging
+    //!
+    //! \param[in] name The name of the test.  This should be a string starting with
+    //!                  "TensorRT" and containing dot-separated strings containing
+    //!                  the characters [A-Za-z0-9_].
+    //!                  For example, "TensorRT.sample_googlenet"
+    //! \param[in] cmdline The command line used to reproduce the test
+    //
+    //! \return a TestAtom that can be used in Logger::reportTest{Start,End}().
+    //!
+    static TestAtom defineTest(const std::string& name, const std::string& cmdline)
+    {
+        return TestAtom(false, name, cmdline);
+    }
+
+    //!
+    //! \brief A convenience overloaded version of defineTest() that accepts an array of command-line arguments
+    //!        as input
+    //!
+    //! \param[in] name The name of the test
+    //! \param[in] argc The number of command-line arguments
+    //! \param[in] argv The array of command-line arguments (given as C strings)
+    //!
+    //! \return a TestAtom that can be used in Logger::reportTest{Start,End}().
+    static TestAtom defineTest(const std::string& name, int argc, char const* const* argv)
+    {
+        auto cmdline = genCmdlineString(argc, argv);
+        return defineTest(name, cmdline);
+    }
+
+    //!
+    //! \brief Report that a test has started.
+    //!
+    //! \pre reportTestStart() has not been called yet for the given testAtom
+    //!
+    //! \param[in] testAtom The handle to the test that has started
+    //!
+    static void reportTestStart(TestAtom& testAtom)
+    {
+        reportTestResult(testAtom, TestResult::kRUNNING);
+        assert(!testAtom.mStarted);
+        testAtom.mStarted = true;
+    }
+
+    //!
+    //! \brief Report that a test has ended.
+    //!
+    //! \pre reportTestStart() has been called for the given testAtom
+    //!
+    //! \param[in] testAtom The handle to the test that has ended
+    //! \param[in] result The result of the test. Should be one of TestResult::kPASSED,
+    //!                   TestResult::kFAILED, TestResult::kWAIVED
+    //!
+    static void reportTestEnd(const TestAtom& testAtom, TestResult result)
+    {
+        assert(result != TestResult::kRUNNING);
+        assert(testAtom.mStarted);
+        reportTestResult(testAtom, result);
+    }
+
+    static int reportPass(const TestAtom& testAtom)
+    {
+        reportTestEnd(testAtom, TestResult::kPASSED);
+        return EXIT_SUCCESS;
+    }
+
+    static int reportFail(const TestAtom& testAtom)
+    {
+        reportTestEnd(testAtom, TestResult::kFAILED);
+        return EXIT_FAILURE;
+    }
+
+    static int reportWaive(const TestAtom& testAtom)
+    {
+        reportTestEnd(testAtom, TestResult::kWAIVED);
+        return EXIT_SUCCESS;
+    }
+
+    static int reportTest(const TestAtom& testAtom, bool pass)
+    {
+        return pass ? reportPass(testAtom) : reportFail(testAtom);
+    }
+
+    Severity getReportableSeverity() const
+    {
+        return mReportableSeverity;
+    }
+
+private:
+    //!
+    //! \brief returns an appropriate string for prefixing a log message with the given severity
+    //!
+    static const char* severityPrefix(Severity severity)
+    {
+        switch (severity)
+        {
+        case Severity::kINTERNAL_ERROR: return "[F] ";
+        case Severity::kERROR: return "[E] ";
+        case Severity::kWARNING: return "[W] ";
+        case Severity::kINFO: return "[I] ";
+        case Severity::kVERBOSE: return "[V] ";
+        default: assert(0); return "";
+        }
+    }
+
+    //!
+    //! \brief returns an appropriate string for prefixing a test result message with the given result
+    //!
+    static const char* testResultString(TestResult result)
+    {
+        switch (result)
+        {
+        case TestResult::kRUNNING: return "RUNNING";
+        case TestResult::kPASSED: return "PASSED";
+        case TestResult::kFAILED: return "FAILED";
+        case TestResult::kWAIVED: return "WAIVED";
+        default: assert(0); return "";
+        }
+    }
+
+    //!
+    //! \brief returns an appropriate output stream (cout or cerr) to use with the given severity
+    //!
+    static std::ostream& severityOstream(Severity severity)
+    {
+        return severity >= Severity::kINFO ? std::cout : std::cerr;
+    }
+
+    //!
+    //! \brief method that implements logging test results
+    //!
+    static void reportTestResult(const TestAtom& testAtom, TestResult result)
+    {
+        severityOstream(Severity::kINFO) << "&&&& " << testResultString(result) << " " << testAtom.mName << " # "
+                                         << testAtom.mCmdline << std::endl;
+    }
+
+    //!
+    //! \brief generate a command line string from the given (argc, argv) values
+    //!
+    static std::string genCmdlineString(int argc, char const* const* argv)
+    {
+        std::stringstream ss;
+        for (int i = 0; i < argc; i++)
+        {
+            if (i > 0)
+                ss << " ";
+            ss << argv[i];
+        }
+        return ss.str();
+    }
+
+    Severity mReportableSeverity;
+};
+
+namespace
+{
+
+//!
+//! \brief produces a LogStreamConsumer object that can be used to log messages of severity kVERBOSE
+//!
+//! Example usage:
+//!
+//!     LOG_VERBOSE(logger) << "hello world" << std::endl;
+//!
+inline LogStreamConsumer LOG_VERBOSE(const Logger& logger)
+{
+    return LogStreamConsumer(logger.getReportableSeverity(), Severity::kVERBOSE);
+}
+
+//!
+//! \brief produces a LogStreamConsumer object that can be used to log messages of severity kINFO
+//!
+//! Example usage:
+//!
+//!     LOG_INFO(logger) << "hello world" << std::endl;
+//!
+inline LogStreamConsumer LOG_INFO(const Logger& logger)
+{
+    return LogStreamConsumer(logger.getReportableSeverity(), Severity::kINFO);
+}
+
+//!
+//! \brief produces a LogStreamConsumer object that can be used to log messages of severity kWARNING
+//!
+//! Example usage:
+//!
+//!     LOG_WARN(logger) << "hello world" << std::endl;
+//!
+inline LogStreamConsumer LOG_WARN(const Logger& logger)
+{
+    return LogStreamConsumer(logger.getReportableSeverity(), Severity::kWARNING);
+}
+
+//!
+//! \brief produces a LogStreamConsumer object that can be used to log messages of severity kERROR
+//!
+//! Example usage:
+//!
+//!     LOG_ERROR(logger) << "hello world" << std::endl;
+//!
+inline LogStreamConsumer LOG_ERROR(const Logger& logger)
+{
+    return LogStreamConsumer(logger.getReportableSeverity(), Severity::kERROR);
+}
+
+//!
+//! \brief produces a LogStreamConsumer object that can be used to log messages of severity kINTERNAL_ERROR
+//         ("fatal" severity)
+//!
+//! Example usage:
+//!
+//!     LOG_FATAL(logger) << "hello world" << std::endl;
+//!
+inline LogStreamConsumer LOG_FATAL(const Logger& logger)
+{
+    return LogStreamConsumer(logger.getReportableSeverity(), Severity::kINTERNAL_ERROR);
+}
+
+} // anonymous namespace
+
+#endif // TENSORRT_LOGGING_H

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/detection_trt7/yolov4Tensorrt/include/mish.h

@@ -0,0 +1,106 @@
+#ifndef _MISH_PLUGIN_H
+#define _MISH_PLUGIN_H
+
+#include <string>
+#include <vector>
+#include "NvInfer.h"
+
+namespace nvinfer1
+{
+    class MishPlugin: public IPluginV2IOExt
+    {
+        public:
+            explicit MishPlugin();
+            MishPlugin(const void* data, size_t length);
+
+            ~MishPlugin();
+
+            int getNbOutputs() const override
+            {
+                return 1;
+            }
+
+            Dims getOutputDimensions(int index, const Dims* inputs, int nbInputDims) override;
+
+            int initialize() override;
+
+            virtual void terminate() override {};
+
+            virtual size_t getWorkspaceSize(int maxBatchSize) const override { return 0;}
+
+            virtual int enqueue(int batchSize, const void*const * inputs, void** outputs, void* workspace, cudaStream_t stream) override;
+
+            virtual size_t getSerializationSize() const override;
+
+            virtual void serialize(void* buffer) const override;
+
+            bool supportsFormatCombination(int pos, const PluginTensorDesc* inOut, int nbInputs, int nbOutputs) const override {
+                return inOut[pos].format == TensorFormat::kLINEAR && inOut[pos].type == DataType::kFLOAT;
+            }
+
+            const char* getPluginType() const override;
+
+            const char* getPluginVersion() const override;
+
+            void destroy() override;
+
+            IPluginV2IOExt* clone() const override;
+
+            void setPluginNamespace(const char* pluginNamespace) override;
+
+            const char* getPluginNamespace() const override;
+
+            DataType getOutputDataType(int index, const nvinfer1::DataType* inputTypes, int nbInputs) const override;
+
+            bool isOutputBroadcastAcrossBatch(int outputIndex, const bool* inputIsBroadcasted, int nbInputs) const override;
+
+            bool canBroadcastInputAcrossBatch(int inputIndex) const override;
+
+            void attachToContext(
+                    cudnnContext* cudnnContext, cublasContext* cublasContext, IGpuAllocator* gpuAllocator) override;
+
+            void configurePlugin(const PluginTensorDesc* in, int nbInput, const PluginTensorDesc* out, int nbOutput) override;
+
+            void detachFromContext() override;
+
+            int input_size_;
+        private:
+            void forwardGpu(const float *const * inputs, float* output, cudaStream_t stream, int batchSize = 1);
+            int thread_count_ = 256;
+            const char* mPluginNamespace;
+    };
+
+    class MishPluginCreator : public IPluginCreator
+    {
+        public:
+            MishPluginCreator();
+
+            ~MishPluginCreator() override = default;
+
+            const char* getPluginName() const override;
+
+            const char* getPluginVersion() const override;
+
+            const PluginFieldCollection* getFieldNames() override;
+
+            IPluginV2IOExt* createPlugin(const char* name, const PluginFieldCollection* fc) override;
+
+            IPluginV2IOExt* deserializePlugin(const char* name, const void* serialData, size_t serialLength) override;
+
+            void setPluginNamespace(const char* libNamespace) override
+            {
+                mNamespace = libNamespace;
+            }
+
+            const char* getPluginNamespace() const override
+            {
+                return mNamespace.c_str();
+            }
+
+        private:
+            std::string mNamespace;
+            static PluginFieldCollection mFC;
+            static std::vector<PluginField> mPluginAttributes;
+    };
+};
+#endif 

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/detection_trt7/yolov4Tensorrt/include/trt_utils.h

@@ -0,0 +1,70 @@
+/*
+ * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+
+
+#ifndef __TRT_UTILS_H__
+#define __TRT_UTILS_H__
+
+#include <set>
+#include <map>
+#include <string>
+#include <vector>
+#include <cassert>
+#include <iostream>
+#include <fstream>
+
+#include "NvInfer.h"
+#include "NvInferPlugin.h"
+
+#define UNUSED(expr) (void)(expr)
+#define DIVUP(n, d) ((n) + (d)-1) / (d)
+
+std::string trim(std::string s);
+float clamp(const float val, const float minVal, const float maxVal);
+bool fileExists(const std::string fileName, bool verbose = true);
+std::vector<float> loadWeights(const std::string weightsFilePath, const std::string& networkType);
+std::string dimsToString(const nvinfer1::Dims d);
+void displayDimType(const nvinfer1::Dims d);
+int getNumChannels(nvinfer1::ITensor* t);
+uint64_t get3DTensorVolume(nvinfer1::Dims inputDims);
+
+// Helper functions to create yolo engine
+nvinfer1::ILayer* netAddMaxpool(int layerIdx, std::map<std::string, std::string>& block,
+                                nvinfer1::ITensor* input, nvinfer1::INetworkDefinition* network);
+nvinfer1::ILayer* netAddConvLinear(int layerIdx, std::map<std::string, std::string>& block,
+                                   std::vector<float>& weights,
+                                   std::vector<nvinfer1::Weights>& trtWeights, int& weightPtr,
+                                   int& inputChannels, nvinfer1::ITensor* input,
+                                   nvinfer1::INetworkDefinition* network);
+nvinfer1::ILayer* netAddConvBNActive(int layerIdx, std::map<std::string, std::string>& block,
+                                    std::vector<float>& weights,
+                                    std::vector<nvinfer1::Weights>& trtWeights, int& weightPtr,
+                                    int& inputChannels, nvinfer1::ITensor* input,
+                                    nvinfer1::INetworkDefinition* network);
+nvinfer1::ILayer* netAddUpsample(int layerIdx, std::map<std::string, std::string>& block,
+                                 std::vector<float>& weights,
+                                 std::vector<nvinfer1::Weights>& trtWeights, int& inputChannels,
+                                 nvinfer1::ITensor* input, nvinfer1::INetworkDefinition* network);
+void printLayerInfo(std::string layerIndex, std::string layerName, std::string layerInput,
+                    std::string layerOutput, std::string weightPtr);
+
+#endif

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/detection_trt7/yolov4Tensorrt/include/yolo.h

@@ -0,0 +1,164 @@
+/*
+ * Copyright (c) 2019-2020, NVIDIA CORPORATION. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef _YOLO_H_
+#define _YOLO_H_
+
+#include <stdint.h>
+#include <string>
+#include <vector>
+#include <memory>
+
+#include "NvInfer.h"
+#include "detection_trt7/yolov4Tensorrt/include/trt_utils.h"
+#include "detection_trt7/yolov4Tensorrt/include/yololayer.h"
+#include "detection_trt7/yolov4Tensorrt/include/mish.h"
+
+typedef enum {
+    /** NvDsInferContext operation succeeded. */
+    NVDSINFER_SUCCESS = 0,
+    /** Failed to configure the NvDsInferContext instance possibly due to an
+     *  erroneous initialization property. */
+    NVDSINFER_CONFIG_FAILED,
+    /** Custom Library interface implementation failed. */
+    NVDSINFER_CUSTOM_LIB_FAILED,
+    /** Invalid parameters were supplied. */
+    NVDSINFER_INVALID_PARAMS,
+    /** Output parsing failed. */
+    NVDSINFER_OUTPUT_PARSING_FAILED,
+    /** CUDA error was encountered. */
+    NVDSINFER_CUDA_ERROR,
+    /** TensorRT interface failed. */
+    NVDSINFER_TENSORRT_ERROR,
+    /** Resource error was encountered. */
+    NVDSINFER_RESOURCE_ERROR,
+    /** TRT-IS error was encountered. */
+    NVDSINFER_TRTIS_ERROR,
+    /** Unknown error was encountered. */
+    NVDSINFER_UNKNOWN_ERROR
+} NvDsInferStatus;
+
+class IModelParser
+{
+public:
+    IModelParser() = default;
+    /**
+     * Destructor, make sure all external resource would be released here. */
+    virtual ~IModelParser() = default;
+
+    /**
+     * Function interface for parsing custom model and building tensorrt
+     * network.
+     *
+     * @param[in, out] network NvDsInfer will create the @a network and
+     *                 implementation can setup this network layer by layer.
+     * @return NvDsInferStatus indicating if model parsing was sucessful.
+     */
+    virtual NvDsInferStatus parseModel(
+        nvinfer1::INetworkDefinition& network) = 0;
+
+    /**
+     * Function interface to check if parser can support full-dimensions.
+     */
+    virtual bool hasFullDimsSupported() const = 0;
+
+    /**
+     * Function interface to get the new model name which is to be used for
+     * constructing the serialized engine file path.
+     */
+    virtual const char* getModelName() const = 0;
+};
+
+
+/**
+ * Holds all the file paths required to build a network.
+ */
+struct NetworkInfo
+{
+    std::string networkType;
+    std::string configFilePath;
+    std::string wtsFilePath;
+    std::string deviceType;
+    std::string inputBlobName;
+};
+
+/**
+ * Holds information about an output tensor of the yolo network.
+ */
+struct TensorInfo
+{
+    std::string blobName;
+    uint stride{0};
+    uint gridSize{0};
+    uint numClasses{0};
+    uint numBBoxes{0};
+    uint64_t volume{0};
+    std::vector<uint> masks;
+    std::vector<float> anchors;
+    int bindingIndex{-1};
+    float* hostBuffer{nullptr};
+};
+
+class Yolo : public IModelParser {
+public:
+    Yolo(const NetworkInfo& networkInfo);
+    ~Yolo() override;
+    bool hasFullDimsSupported() const override { return false; }
+    const char* getModelName() const override {
+        return m_ConfigFilePath.empty() ? m_NetworkType.c_str()
+                                        : m_ConfigFilePath.c_str();
+    }
+    NvDsInferStatus parseModel(nvinfer1::INetworkDefinition& network) override;
+
+    nvinfer1::ICudaEngine *createEngine (nvinfer1::IBuilder* builder);
+
+protected:
+    const std::string m_NetworkType;
+    const std::string m_ConfigFilePath;
+    const std::string m_WtsFilePath;
+    const std::string m_DeviceType;
+    const std::string m_InputBlobName;
+    const std::string m_OutputBlobName;
+    std::vector<TensorInfo> m_OutputTensors;
+    std::vector<std::map<std::string, std::string>> m_ConfigBlocks;
+    uint m_InputH;
+    uint m_InputW;
+    uint m_InputC;
+    uint64_t m_InputSize;
+
+    // TRT specific members
+    std::vector<nvinfer1::Weights> m_TrtWeights;
+    std::vector<nvinfer1::ITensor*> m_YoloTensor;
+
+    std::vector<YoloKernel> m_YoloKernel;
+
+
+private:
+    NvDsInferStatus buildYoloNetwork(
+        std::vector<float>& weights, nvinfer1::INetworkDefinition& network);
+    std::vector<std::map<std::string, std::string>> parseConfigFile(
+        const std::string cfgFilePath);
+    void parseConfigBlocks();
+    void destroyNetworkUtils();
+};
+
+#endif // _YOLO_H_

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/detection_trt7/yolov4Tensorrt/include/yolodetect.h

@@ -0,0 +1,52 @@
+#ifndef YOLODETECT_H
+#define YOLODETECT_H
+
+#include "opencv2/opencv.hpp"
+#include "NvInfer.h"
+#include "NvInferRuntime.h"
+#include "cuda_runtime_api.h"
+
+#include "detection_trt7/yolov4Tensorrt/include/logging.h"
+#include "detection_trt7/yolov4Tensorrt/include/yolo.h"
+#include "detection_trt7/yolov4Tensorrt/include/trt_utils.h"
+#include "detection_trt7/yolov4Tensorrt/include/yololayer.h"
+#include "detection_trt7/yolov4Tensorrt/include/mish.h"
+
+using namespace nvinfer1;
+REGISTER_TENSORRT_PLUGIN(MishPluginCreator);
+REGISTER_TENSORRT_PLUGIN(YoloPluginCreator);
+
+
+class YoloDetect
+{
+public:
+    YoloDetect(NetworkInfo &networkInfo, std::string &modelname):
+        m_networkInfo(networkInfo),m_modelname(modelname)
+    {
+
+    }
+    bool loadModel(IExecutionContext*& context);
+    void doInference(IExecutionContext& context,float* input, float* output, int batch_size);
+    bool process(IExecutionContext& context, cv::Mat &image, std::vector<Detection> &detect_result,float ignore_thresh=0.4,float nms_thresh = 0.4);
+    cv::Rect get_rect(cv::Mat& img, float bbox[4],int input_w,int input_h);
+private:
+    bool saveEngine();
+    ICudaEngine* loadEngine(IRuntime& runtime);
+    cv::Mat preprocess_img(cv::Mat& img,int input_w,int input_h);
+    float iou(float lbox[4], float rbox[4]);
+    static bool cmp(Detection& a, Detection& b);
+    void nms(std::vector<Detection>& res, float *output, float ignore_thresh=0.4,float nms_thresh = 0.4);
+
+public:
+    int m_input_h;
+    int m_input_w;
+    int m_output_size;
+
+private:
+    NetworkInfo m_networkInfo;
+    std::string m_modelname;
+    Logger gLogger;
+
+};
+
+#endif // YOLODETECT_H

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/detection_trt7/yolov4Tensorrt/include/yololayer.h

@@ -0,0 +1,126 @@
+#ifndef _YOLO_LAYER_H
+#define _YOLO_LAYER_H
+
+#include <assert.h>
+#include <cmath>
+#include <string.h>
+#include <cublas_v2.h>
+#include "NvInfer.h"
+#include "Utils.h"
+#include <iostream>
+#include "NvInferPlugin.h"
+
+struct YoloKernel
+{
+    int width;
+    int height;
+    int everyYoloAnchors;
+    float anchors[10];   // 一组yolo输出层中 anchors的数据个数 等于 3*2， 可以设置的更大一点，这个无所谓
+};
+
+struct alignas(float) Detection{
+    //x y w h
+    float bbox[4];
+    float det_confidence;
+    float class_id;
+    float class_confidence;
+};
+
+namespace nvinfer1
+{
+    class YoloLayerPlugin: public IPluginV2IOExt
+    {
+        public:
+            YoloLayerPlugin(const PluginFieldCollection& fc);
+            YoloLayerPlugin(const void* data, size_t length);
+
+            ~YoloLayerPlugin();
+
+            int getNbOutputs() const override
+            {
+                return 1;
+            }
+
+            Dims getOutputDimensions(int index, const Dims* inputs, int nbInputDims) override;
+
+            int initialize() override;
+
+            virtual void terminate() override {};
+
+            virtual size_t getWorkspaceSize(int maxBatchSize) const override { return 0;}
+
+            virtual int enqueue(int batchSize, const void*const * inputs, void** outputs, void* workspace, cudaStream_t stream) override;
+
+            virtual size_t getSerializationSize() const override;
+
+            virtual void serialize(void* buffer) const override;
+
+            bool supportsFormatCombination(int pos, const PluginTensorDesc* inOut, int nbInputs, int nbOutputs) const override {
+                return inOut[pos].format == TensorFormat::kLINEAR && inOut[pos].type == DataType::kFLOAT;
+            }
+
+            const char* getPluginType() const override;
+
+            const char* getPluginVersion() const override;
+
+            void destroy() override;
+
+            IPluginV2IOExt* clone() const override;
+
+            void setPluginNamespace(const char* pluginNamespace) override;
+
+            const char* getPluginNamespace() const override;
+
+            DataType getOutputDataType(int index, const nvinfer1::DataType* inputTypes, int nbInputs) const override;
+
+            bool isOutputBroadcastAcrossBatch(int outputIndex, const bool* inputIsBroadcasted, int nbInputs) const override;
+
+            bool canBroadcastInputAcrossBatch(int inputIndex) const override;
+
+            void attachToContext(
+                    cudnnContext* cudnnContext, cublasContext* cublasContext, IGpuAllocator* gpuAllocator) override;
+
+            void configurePlugin(const PluginTensorDesc* in, int nbInput, const PluginTensorDesc* out, int nbOutput) override;
+
+            void detachFromContext() override;
+
+        private:
+            void forwardGpu(const float *const * inputs,float * output, cudaStream_t stream,int batchSize = 1);
+            int mClassCount;        // 检测的目标的类别，从cfg文件获取，在cfg 设置
+            int mInput_w;           // 图像输入的尺寸，从cfg获取
+            int mInput_h;           // 由于umsample层的原因，宽度和高度要想等，TODO 调整
+            int mNumYoloLayers;     // yolo输出层的数量，从cfg获取，无需设置
+            std::vector<YoloKernel> mYoloKernel;
+
+            float mIgnore_thresh = 0.4;     // 置信度阈值，可以调整
+            int max_output_box = 1000;      // 最大输出数量
+            int mThreadCount = 256;         // cuda 内核函数，每一block中线程数量
+            const char* mPluginNamespace;   // 该插件名称
+
+    };
+    // 继承与IPluginCreator，重写虚函数
+    class YoloPluginCreator : public IPluginCreator
+    {
+        public:
+            YoloPluginCreator();
+
+            ~YoloPluginCreator() override = default;
+            const char* getPluginName() const override;
+            const char* getPluginVersion() const override;
+            const PluginFieldCollection* getFieldNames() override;
+            // 生成插件，这个是在 build network时调用
+            IPluginV2IOExt* createPlugin(const char* name, const PluginFieldCollection* fc) override;
+            // 反序列化，在读取保存的trt模型engine时调用，负责解析插件
+            IPluginV2IOExt* deserializePlugin(const char* name, const void* serialData, size_t serialLength) override;
+            void setPluginNamespace(const char* libNamespace) override{
+                mNamespace = libNamespace;
+            }
+            const char* getPluginNamespace() const override{
+                return mNamespace.c_str();
+            }
+        private:
+            std::string mNamespace;
+    };
+};
+
+#endif 

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/lane_detection/Hungarian.h

@@ -0,0 +1,38 @@
+///////////////////////////////////////////////////////////////////////////////
+// Hungarian.h: Header file for Class HungarianAlgorithm.
+
+#ifndef LANENET_TENSORFLOW_HUNGARIAN_H
+#define LANENET_TENSORFLOW_HUNGARIAN_H
+
+
+#include <iostream>
+#include <vector>
+
+using namespace std;
+
+
+class HungarianAlgorithm
+{
+public:
+	HungarianAlgorithm();
+	~HungarianAlgorithm();
+	double Solve(vector<vector<double>>& DistMatrix, vector<int>& Assignment);
+
+private:
+	void assignmentoptimal(int *assignment, double *cost, double *distMatrix, int nOfRows, int nOfColumns);
+	void buildassignmentvector(int *assignment, bool *starMatrix, int nOfRows, int nOfColumns);
+	void computeassignmentcost(int *assignment, double *cost, double *distMatrix, int nOfRows);
+	void step2a(int *assignment, double *distMatrix, bool *starMatrix, bool *newStarMatrix, bool *primeMatrix,
+				bool *coveredColumns, bool *coveredRows, int nOfRows, int nOfColumns, int minDim);
+	void step2b(int *assignment, double *distMatrix, bool *starMatrix, bool *newStarMatrix, bool *primeMatrix,
+				bool *coveredColumns, bool *coveredRows, int nOfRows, int nOfColumns, int minDim);
+	void step3(int *assignment, double *distMatrix, bool *starMatrix, bool *newStarMatrix, bool *primeMatrix,
+			   bool *coveredColumns, bool *coveredRows, int nOfRows, int nOfColumns, int minDim);
+	void step4(int *assignment, double *distMatrix, bool *starMatrix, bool *newStarMatrix, bool *primeMatrix,
+			   bool *coveredColumns, bool *coveredRows, int nOfRows, int nOfColumns, int minDim, int row, int col);
+	void step5(int *assignment, double *distMatrix, bool *starMatrix, bool *newStarMatrix, bool *primeMatrix,
+			   bool *coveredColumns, bool *coveredRows, int nOfRows, int nOfColumns, int minDim);
+};
+
+
+#endif

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/lane_detection/KalmanTracker.h

@@ -0,0 +1,72 @@
+///////////////////////////////////////////////////////////////////////////////
+// KalmanTracker.h: KalmanTracker Class Declaration
+
+#ifndef LANENET_TENSORFLOW_KALMAN_H
+#define LANENET_TENSORFLOW_KALMAN_H
+
+#include "opencv2/video/tracking.hpp"
+#include "opencv2/highgui/highgui.hpp"
+
+using namespace std;
+using namespace cv;
+
+#define StateType Mat
+
+
+// This class represents the internel state of individual tracked objects observed as bounding box.
+class KalmanTracker
+{
+public:
+	KalmanTracker()
+	{
+		init_kf(StateType());
+		m_time_since_update = 0;
+		m_hits = 0;
+		m_hit_streak = 0;
+		m_age = 0;
+		m_id = kf_count;
+		//kf_count++;
+	}
+    KalmanTracker(StateType initRect, int min_y, int max_y)
+	{
+		init_kf(initRect);
+		m_time_since_update = 0;
+		m_hits = 0;
+		m_hit_streak = 0;
+		m_age = 0;
+        m_id = kf_count;  //each tracker id=0
+		//kf_count++; 
+        m_min_y = min_y;
+        m_max_y = max_y;
+	}
+
+	~KalmanTracker()
+	{
+		m_history.clear();
+	}
+
+	StateType predict();
+    void update(StateType stateMat, int min_y, int max_y);
+	
+	StateType get_state();
+
+	static int kf_count;
+
+	int m_time_since_update;
+	int m_hits;
+	int m_hit_streak;
+	int m_age;
+	int m_id;
+        int m_min_y;
+        int m_max_y;
+
+private:
+	void init_kf(StateType stateMat);
+
+	cv::KalmanFilter kf;
+	cv::Mat measurement;
+
+	std::vector<StateType> m_history;
+};
+
+#endif

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/lane_detection/lanedetect.h

@@ -0,0 +1,101 @@
+#ifndef LANEDETECT_H
+#define LANEDETECT_H
+#include "lane_detection/tensorrt/tensorrt.h"
+#include "lane_detection/Hungarian.h"
+#include "lane_detection/KalmanTracker.h"
+
+using namespace cv;
+namespace ld{
+static const int N = 1;
+static const int INPUT_C = 3;
+static const int OUTPUT_C_BIN = 6;
+static const int OUTPUT_C_INS = 4;
+static const int INPUT_H = 256;
+static const int INPUT_W = 512;
+// static float mean[INPUT_C] = {0.485, 0.456, 0.406};//rgb
+// static float std[INPUT_C] = {0.229, 0.224, 0.225};
+const int COLOR_MAP[13][3]={{255, 0, 0},{0, 255, 0},{0, 0, 255},{125, 125, 0},{0,125,125},
+                           {125, 0, 125},{50, 100, 50},{100, 50, 100},{50, 50, 100},
+                           {255,255,0},{0,255,255},{255,0,255},{100,100,100}};
+
+const float KEEP_POINT = 0.2;  //用于聚类的点数 = 检测出的点 * KEEP_POINT
+const int MAX_NUM_CLUSTERS = 4; //最多检测的车道线数
+const float SORT_VALUE = 0.75;   //用于最后车道线id排序，比较y=SORT_VALUE * HEIGHT处的x值。
+
+const int RANSAC_ITERATIONS = 100; //ransac最大迭代次数
+const double RANSAC_MODEL_SIZE = 0.05;
+const int RANSAC_ERROR_THRESHOLD = 20;
+const double RANSAC_INLINERS = 0.5;
+const double STOP_ITERATION = 0.85; //内点所占比例大于此值，则停止迭代
+
+const int max_age = 1; //tracking
+const int min_hits = 3;
+const double distanceThreshold = 100.0;
+
+typedef struct lane_info
+{
+    int id;
+    int type;
+    int color;
+    Point2f sort_point;
+    Point2f world_point;
+    vector<Point2f> lane_point;
+    Mat para;
+    float min_y;
+    float max_y;
+    double curvature;
+}lane_info;
+
+typedef struct tracking_info
+{
+    int frame;
+    int id;
+    int min_y;
+    int max_y;
+    Mat para;
+}tracking_info;
+
+bool SortLaneBySampleNum(std::vector<Point2f> &lane1, std::vector<Point2f> &lane2);
+bool SortLaneByx(lane_info &lane1, lane_info &lane2);
+bool SortLaneByxDesc(lane_info &lane1, lane_info &lane2);
+bool SortPointByY(cv::Point2f &point1, cv::Point2f &point2);
+bool SortMatByX(std::vector<Mat> &mat1, std::vector<Mat> &mat2);
+bool isShortLane(vector<Point2f> &point);
+/* remove points set which is small in point num */
+int eliminate_fewer_points(vector<vector<Point2f>> &point);
+// Fisher - Yates shuffle
+template<class bidiiter>
+bidiiter random_unique(bidiiter begin, bidiiter end, size_t num_random);
+
+class LaneNet
+{
+public:
+    int IMAGE_WIDTH=640;
+    int IMAGE_HEIGHT=480;
+public:
+    void doInference(IExecutionContext& context, float* input, float* output_bin, float* output_ins, int batch_size, int input_size, int output_size_bin, int output_size_ins);
+    void morphological_process(Mat &input,float length_threshold, Mat &output);
+    bool get_lane_area(Mat &binary, Mat &instance, vector<vector<float> > &instance_feature,
+                       vector<Point2f> &instance_index);
+    int MaxMinCluster(std::vector<std::vector<float>> sample,float theta,int *clas);
+    void LaneFeatsCluster(std::vector<std::vector<float>> &features,std::vector<Point2f> &coordinates,float theta,
+                                       std::vector<std::vector<Point2f>> &lane_coords);
+    bool polyfit(vector<Point2f> &in_point,int n, Mat &fit);
+    //bool RANSAC_Para(int iterations, int samples_num, int inlier_threshold, double error_threshold,
+                               //vector<Point2f> &in_point,Mat &best_model);
+
+    bool delete_outliers(vector<vector<Point2f>> &src_lane_coords,vector<vector<Point2f>> &dst_lane_coords);
+    bool ransac_point(int iterations, int samples_num, int inlier_threshold,
+                                 double error_threshold, vector<Point2f> &in_point);
+    bool LaneFitImg(std::vector<std::vector<Point2f>> &lane_coords, int n, std::vector<Mat> &lanes_para,
+                    std::vector<std::vector<Point2f>> &lanes_point);
+    void preprocess(float* prob_bin, float*prob_ins,float* binary_p,float* instance_p);
+    bool convertToMat(float* binary_p,float* instance_p,Mat &type_mat,Mat &instance_mat,Mat &instance_mat_uchar);
+    bool track_lanes(bool fit_flag,std::vector<KalmanTracker> &trackers,std::vector<Mat> &lanes_para,
+                     std::vector<std::vector<Point2f>> &lanes_point,
+                     vector<ld::tracking_info> &tracking_result);
+    bool get_lane_info(Mat &type_img,vector<ld::tracking_info> &tracking_result,std::vector<ld::lane_info> &lanes);
+    bool process(IExecutionContext& context, float* input, std::vector<KalmanTracker> &trackers,std::vector<lane_info> &lanes);
+};
+}
+#endif // LANEDETECT_H

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/lane_detection/tensorrt/tensorrt.h

@@ -0,0 +1,78 @@
+#ifndef TENSORRT_H
+#define TENSORRT_H
+
+#include "common/cuda_utils.h"
+#include "NvInfer.h"
+#include "NvOnnxParser.h"
+#include <numeric>
+#include <cudnn.h>
+#include <thread>
+#include <algorithm>
+#include <assert.h>
+#include <cmath>
+#include <cuda_runtime_api.h>
+#include <fstream>
+#include <iomanip>
+#include <iostream>
+#include <sstream>
+#include <sys/stat.h>
+#include <time.h>
+#include <memory>
+#include <vector>
+#include <opencv2/opencv.hpp>
+
+using namespace nvinfer1;
+using namespace std;
+namespace ld
+{
+//Logger for TensorRT info/warning/errors
+class Logger : public nvinfer1::ILogger
+{
+public:
+
+    Logger(): Logger(Severity::kWARNING) {}
+
+    Logger(Severity severity): reportableSeverity(severity) {}
+
+    void log(Severity severity, const char* msg) override
+    {
+        // suppress messages with severity enum value greater than the reportable
+        if (severity > reportableSeverity) return;
+
+        switch (severity)
+        {
+            case Severity::kINTERNAL_ERROR: std::cerr << "INTERNAL_ERROR: "; break;
+            case Severity::kERROR: std::cerr << "ERROR: "; break;
+            case Severity::kWARNING: std::cerr << "WARNING: "; break;
+            case Severity::kINFO: std::cerr << "INFO: "; break;
+            default: std::cerr << "UNKNOWN: "; break;
+        }
+        std::cerr << msg << std::endl;
+    }
+
+    Severity reportableSeverity{Severity::kWARNING};
+};
+class TensorRT
+{
+private:
+    string ONNX_FILEPATH;
+    string ENGINE_FILEPATH;
+    Logger gLogger;
+
+private:
+    ICudaEngine* onnxToEngine(const std::string& modelFile, // name of the onnx model
+                          unsigned int maxBatchSize);
+    bool onnxToTRTModel(const std::string& modelFile, // name of the onnx model
+                    unsigned int maxBatchSize,    // batch size - NB must be at least as large as the batch we want to run with
+                    IHostMemory*& trtModelStream); // output buffer for the TensorRT model
+    void SaveEngine(const nvinfer1::IHostMemory& trtModelStream, const std::string& engine_filepath);
+    ICudaEngine* LoadEngine(IRuntime& runtime, const std::string& engine_filepath);
+    void demo_save_onnx_to_trt(const std::string& onnx_filepath, const std::string& engine_filepath);
+
+public:
+    void setPath(string onnx_filepath, string engine_filepath);
+    bool loadModel(IExecutionContext*& context);
+    void loadImg(cv::Mat &input, int re_width, int re_height, float *data, float *mean, float* std);
+};
+}
+#endif // TENSORRT_H

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/stereo_vision/common/impl/cxxopts.hpp

@@ -0,0 +1,2209 @@
+/*
+Copyright (c) 2014, 2015, 2016, 2017 Jarryd Beck
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+#ifndef CXXOPTS_HPP_INCLUDED
+#define CXXOPTS_HPP_INCLUDED
+
+#include <cstring>
+#include <cctype>
+#include <exception>
+#include <iostream>
+#include <limits>
+#include <map>
+#include <memory>
+#include <regex>
+#include <sstream>
+#include <string>
+#include <unordered_map>
+#include <unordered_set>
+#include <vector>
+
+#ifdef __cpp_lib_optional
+#include <optional>
+#define CXXOPTS_HAS_OPTIONAL
+#endif
+
+#ifndef CXXOPTS_VECTOR_DELIMITER
+#define CXXOPTS_VECTOR_DELIMITER ','
+#endif
+
+#define CXXOPTS__VERSION_MAJOR 2
+#define CXXOPTS__VERSION_MINOR 2
+#define CXXOPTS__VERSION_PATCH 0
+
+namespace cxxopts
+{
+  static constexpr struct {
+    uint8_t major, minor, patch;
+  } version = {
+    CXXOPTS__VERSION_MAJOR,
+    CXXOPTS__VERSION_MINOR,
+    CXXOPTS__VERSION_PATCH
+  };
+}
+
+//when we ask cxxopts to use Unicode, help strings are processed using ICU,
+//which results in the correct lengths being computed for strings when they
+//are formatted for the help output
+//it is necessary to make sure that <unicode/unistr.h> can be found by the
+//compiler, and that icu-uc is linked in to the binary.
+
+#ifdef CXXOPTS_USE_UNICODE
+#include <unicode/unistr.h>
+
+namespace cxxopts
+{
+  typedef icu::UnicodeString String;
+
+  inline
+  String
+  toLocalString(std::string s)
+  {
+    return icu::UnicodeString::fromUTF8(std::move(s));
+  }
+
+  class UnicodeStringIterator : public
+    std::iterator<std::forward_iterator_tag, int32_t>
+  {
+    public:
+
+    UnicodeStringIterator(const icu::UnicodeString* string, int32_t pos)
+    : s(string)
+    , i(pos)
+    {
+    }
+
+    value_type
+    operator*() const
+    {
+      return s->char32At(i);
+    }
+
+    bool
+    operator==(const UnicodeStringIterator& rhs) const
+    {
+      return s == rhs.s && i == rhs.i;
+    }
+
+    bool
+    operator!=(const UnicodeStringIterator& rhs) const
+    {
+      return !(*this == rhs);
+    }
+
+    UnicodeStringIterator&
+    operator++()
+    {
+      ++i;
+      return *this;
+    }
+
+    UnicodeStringIterator
+    operator+(int32_t v)
+    {
+      return UnicodeStringIterator(s, i + v);
+    }
+
+    private:
+    const icu::UnicodeString* s;
+    int32_t i;
+  };
+
+  inline
+  String&
+  stringAppend(String&s, String a)
+  {
+    return s.append(std::move(a));
+  }
+
+  inline
+  String&
+  stringAppend(String& s, int n, UChar32 c)
+  {
+    for (int i = 0; i != n; ++i)
+    {
+      s.append(c);
+    }
+
+    return s;
+  }
+
+  template <typename Iterator>
+  String&
+  stringAppend(String& s, Iterator begin, Iterator end)
+  {
+    while (begin != end)
+    {
+      s.append(*begin);
+      ++begin;
+    }
+
+    return s;
+  }
+
+  inline
+  size_t
+  stringLength(const String& s)
+  {
+    return s.length();
+  }
+
+  inline
+  std::string
+  toUTF8String(const String& s)
+  {
+    std::string result;
+    s.toUTF8String(result);
+
+    return result;
+  }
+
+  inline
+  bool
+  empty(const String& s)
+  {
+    return s.isEmpty();
+  }
+}
+
+namespace std
+{
+  inline
+  cxxopts::UnicodeStringIterator
+  begin(const icu::UnicodeString& s)
+  {
+    return cxxopts::UnicodeStringIterator(&s, 0);
+  }
+
+  inline
+  cxxopts::UnicodeStringIterator
+  end(const icu::UnicodeString& s)
+  {
+    return cxxopts::UnicodeStringIterator(&s, s.length());
+  }
+}
+
+//ifdef CXXOPTS_USE_UNICODE
+#else
+
+namespace cxxopts
+{
+  typedef std::string String;
+
+  template <typename T>
+  T
+  toLocalString(T&& t)
+  {
+    return std::forward<T>(t);
+  }
+
+  inline
+  size_t
+  stringLength(const String& s)
+  {
+    return s.length();
+  }
+
+  inline
+  String&
+  stringAppend(String&s, String a)
+  {
+    return s.append(std::move(a));
+  }
+
+  inline
+  String&
+  stringAppend(String& s, size_t n, char c)
+  {
+    return s.append(n, c);
+  }
+
+  template <typename Iterator>
+  String&
+  stringAppend(String& s, Iterator begin, Iterator end)
+  {
+    return s.append(begin, end);
+  }
+
+  template <typename T>
+  std::string
+  toUTF8String(T&& t)
+  {
+    return std::forward<T>(t);
+  }
+
+  inline
+  bool
+  empty(const std::string& s)
+  {
+    return s.empty();
+  }
+}
+
+//ifdef CXXOPTS_USE_UNICODE
+#endif
+
+namespace cxxopts
+{
+  namespace
+  {
+#ifdef _WIN32
+    const std::string LQUOTE("\'");
+    const std::string RQUOTE("\'");
+#else
+    const std::string LQUOTE("‘");
+    const std::string RQUOTE("’");
+#endif
+  }
+
+  class Value : public std::enable_shared_from_this<Value>
+  {
+    public:
+
+    virtual ~Value() = default;
+
+    virtual
+    std::shared_ptr<Value>
+    clone() const = 0;
+
+    virtual void
+    parse(const std::string& text) const = 0;
+
+    virtual void
+    parse() const = 0;
+
+    virtual bool
+    has_default() const = 0;
+
+    virtual bool
+    is_container() const = 0;
+
+    virtual bool
+    has_implicit() const = 0;
+
+    virtual std::string
+    get_default_value() const = 0;
+
+    virtual std::string
+    get_implicit_value() const = 0;
+
+    virtual std::shared_ptr<Value>
+    default_value(const std::string& value) = 0;
+
+    virtual std::shared_ptr<Value>
+    implicit_value(const std::string& value) = 0;
+
+    virtual std::shared_ptr<Value>
+    no_implicit_value() = 0;
+
+    virtual bool
+    is_boolean() const = 0;
+  };
+
+  class OptionException : public std::exception
+  {
+    public:
+    OptionException(const std::string& message)
+    : m_message(message)
+    {
+    }
+
+    virtual const char*
+    what() const noexcept
+    {
+      return m_message.c_str();
+    }
+
+    private:
+    std::string m_message;
+  };
+
+  class OptionSpecException : public OptionException
+  {
+    public:
+
+    OptionSpecException(const std::string& message)
+    : OptionException(message)
+    {
+    }
+  };
+
+  class OptionParseException : public OptionException
+  {
+    public:
+    OptionParseException(const std::string& message)
+    : OptionException(message)
+    {
+    }
+  };
+
+  class option_exists_error : public OptionSpecException
+  {
+    public:
+    option_exists_error(const std::string& option)
+    : OptionSpecException("Option " + LQUOTE + option + RQUOTE + " already exists")
+    {
+    }
+  };
+
+  class invalid_option_format_error : public OptionSpecException
+  {
+    public:
+    invalid_option_format_error(const std::string& format)
+    : OptionSpecException("Invalid option format " + LQUOTE + format + RQUOTE)
+    {
+    }
+  };
+
+  class option_syntax_exception : public OptionParseException {
+    public:
+    option_syntax_exception(const std::string& text)
+    : OptionParseException("Argument " + LQUOTE + text + RQUOTE +
+        " starts with a - but has incorrect syntax")
+    {
+    }
+  };
+
+  class option_not_exists_exception : public OptionParseException
+  {
+    public:
+    option_not_exists_exception(const std::string& option)
+    : OptionParseException("Option " + LQUOTE + option + RQUOTE + " does not exist")
+    {
+    }
+  };
+
+  class missing_argument_exception : public OptionParseException
+  {
+    public:
+    missing_argument_exception(const std::string& option)
+    : OptionParseException(
+        "Option " + LQUOTE + option + RQUOTE + " is missing an argument"
+      )
+    {
+    }
+  };
+
+  class option_requires_argument_exception : public OptionParseException
+  {
+    public:
+    option_requires_argument_exception(const std::string& option)
+    : OptionParseException(
+        "Option " + LQUOTE + option + RQUOTE + " requires an argument"
+      )
+    {
+    }
+  };
+
+  class option_not_has_argument_exception : public OptionParseException
+  {
+    public:
+    option_not_has_argument_exception
+    (
+      const std::string& option,
+      const std::string& arg
+    )
+    : OptionParseException(
+        "Option " + LQUOTE + option + RQUOTE +
+        " does not take an argument, but argument " +
+        LQUOTE + arg + RQUOTE + " given"
+      )
+    {
+    }
+  };
+
+  class option_not_present_exception : public OptionParseException
+  {
+    public:
+    option_not_present_exception(const std::string& option)
+    : OptionParseException("Option " + LQUOTE + option + RQUOTE + " not present")
+    {
+    }
+  };
+
+  class argument_incorrect_type : public OptionParseException
+  {
+    public:
+    argument_incorrect_type
+    (
+      const std::string& arg
+    )
+    : OptionParseException(
+        "Argument " + LQUOTE + arg + RQUOTE + " failed to parse"
+      )
+    {
+    }
+  };
+
+  class option_required_exception : public OptionParseException
+  {
+    public:
+    option_required_exception(const std::string& option)
+    : OptionParseException(
+        "Option " + LQUOTE + option + RQUOTE + " is required but not present"
+      )
+    {
+    }
+  };
+
+  template <typename T>
+  void throw_or_mimic(const std::string& text)
+  {
+    static_assert(std::is_base_of<std::exception, T>::value,
+                  "throw_or_mimic only works on std::exception and "
+                  "deriving classes");
+
+#ifndef CXXOPTS_NO_EXCEPTIONS
+    // If CXXOPTS_NO_EXCEPTIONS is not defined, just throw
+    throw T{text};
+#else
+    // Otherwise manually instantiate the exception, print what() to stderr,
+    // and abort
+    T exception{text};
+    std::cerr << exception.what() << std::endl;
+    std::cerr << "Aborting (exceptions disabled)..." << std::endl;
+    std::abort();
+#endif
+  }
+
+  namespace values
+  {
+    namespace
+    {
+      std::basic_regex<char> integer_pattern
+        ("(-)?(0x)?([0-9a-zA-Z]+)|((0x)?0)");
+      std::basic_regex<char> truthy_pattern
+        ("(t|T)(rue)?|1");
+      std::basic_regex<char> falsy_pattern
+        ("(f|F)(alse)?|0");
+    }
+
+    namespace detail
+    {
+      template <typename T, bool B>
+      struct SignedCheck;
+
+      template <typename T>
+      struct SignedCheck<T, true>
+      {
+        template <typename U>
+        void
+        operator()(bool negative, U u, const std::string& text)
+        {
+          if (negative)
+          {
+            if (u > static_cast<U>((std::numeric_limits<T>::min)()))
+            {
+              throw_or_mimic<argument_incorrect_type>(text);
+            }
+          }
+          else
+          {
+            if (u > static_cast<U>((std::numeric_limits<T>::max)()))
+            {
+              throw_or_mimic<argument_incorrect_type>(text);
+            }
+          }
+        }
+      };
+
+      template <typename T>
+      struct SignedCheck<T, false>
+      {
+        template <typename U>
+        void
+        operator()(bool, U, const std::string&) {}
+      };
+
+      template <typename T, typename U>
+      void
+      check_signed_range(bool negative, U value, const std::string& text)
+      {
+        SignedCheck<T, std::numeric_limits<T>::is_signed>()(negative, value, text);
+      }
+    }
+
+    template <typename R, typename T>
+    R
+    checked_negate(T&& t, const std::string&, std::true_type)
+    {
+      // if we got to here, then `t` is a positive number that fits into
+      // `R`. So to avoid MSVC C4146, we first cast it to `R`.
+      // See https://github.com/jarro2783/cxxopts/issues/62 for more details.
+      return -static_cast<R>(t-1)-1;
+    }
+
+    template <typename R, typename T>
+    T
+    checked_negate(T&& t, const std::string& text, std::false_type)
+    {
+      throw_or_mimic<argument_incorrect_type>(text);
+      return t;
+    }
+
+    template <typename T>
+    void
+    integer_parser(const std::string& text, T& value)
+    {
+      std::smatch match;
+      std::regex_match(text, match, integer_pattern);
+
+      if (match.length() == 0)
+      {
+        throw_or_mimic<argument_incorrect_type>(text);
+      }
+
+      if (match.length(4) > 0)
+      {
+        value = 0;
+        return;
+      }
+
+      using US = typename std::make_unsigned<T>::type;
+
+      constexpr bool is_signed = std::numeric_limits<T>::is_signed;
+      const bool negative = match.length(1) > 0;
+      const uint8_t base = match.length(2) > 0 ? 16 : 10;
+
+      auto value_match = match[3];
+
+      US result = 0;
+
+      for (auto iter = value_match.first; iter != value_match.second; ++iter)
+      {
+        US digit = 0;
+
+        if (*iter >= '0' && *iter <= '9')
+        {
+          digit = static_cast<US>(*iter - '0');
+        }
+        else if (base == 16 && *iter >= 'a' && *iter <= 'f')
+        {
+          digit = static_cast<US>(*iter - 'a' + 10);
+        }
+        else if (base == 16 && *iter >= 'A' && *iter <= 'F')
+        {
+          digit = static_cast<US>(*iter - 'A' + 10);
+        }
+        else
+        {
+          throw_or_mimic<argument_incorrect_type>(text);
+        }
+
+        US next = result * base + digit;
+        if (result > next)
+        {
+          throw_or_mimic<argument_incorrect_type>(text);
+        }
+
+        result = next;
+      }
+
+      detail::check_signed_range<T>(negative, result, text);
+
+      if (negative)
+      {
+        value = checked_negate<T>(result,
+          text,
+          std::integral_constant<bool, is_signed>());
+      }
+      else
+      {
+        value = static_cast<T>(result);
+      }
+    }
+
+    template <typename T>
+    void stringstream_parser(const std::string& text, T& value)
+    {
+      std::stringstream in(text);
+      in >> value;
+      if (!in) {
+        throw_or_mimic<argument_incorrect_type>(text);
+      }
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, uint8_t& value)
+    {
+      integer_parser(text, value);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, int8_t& value)
+    {
+      integer_parser(text, value);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, uint16_t& value)
+    {
+      integer_parser(text, value);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, int16_t& value)
+    {
+      integer_parser(text, value);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, uint32_t& value)
+    {
+      integer_parser(text, value);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, int32_t& value)
+    {
+      integer_parser(text, value);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, uint64_t& value)
+    {
+      integer_parser(text, value);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, int64_t& value)
+    {
+      integer_parser(text, value);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, bool& value)
+    {
+      std::smatch result;
+      std::regex_match(text, result, truthy_pattern);
+
+      if (!result.empty())
+      {
+        value = true;
+        return;
+      }
+
+      std::regex_match(text, result, falsy_pattern);
+      if (!result.empty())
+      {
+        value = false;
+        return;
+      }
+
+      throw_or_mimic<argument_incorrect_type>(text);
+    }
+
+    inline
+    void
+    parse_value(const std::string& text, std::string& value)
+    {
+      value = text;
+    }
+
+    // The fallback parser. It uses the stringstream parser to parse all types
+    // that have not been overloaded explicitly.  It has to be placed in the
+    // source code before all other more specialized templates.
+    template <typename T>
+    void
+    parse_value(const std::string& text, T& value) {
+      stringstream_parser(text, value);
+    }
+
+    template <typename T>
+    void
+    parse_value(const std::string& text, std::vector<T>& value)
+    {
+      std::stringstream in(text);
+      std::string token;
+      while(in.eof() == false && std::getline(in, token, CXXOPTS_VECTOR_DELIMITER)) {
+        T v;
+        parse_value(token, v);
+        value.emplace_back(std::move(v));
+      }
+    }
+
+#ifdef CXXOPTS_HAS_OPTIONAL
+    template <typename T>
+    void
+    parse_value(const std::string& text, std::optional<T>& value)
+    {
+      T result;
+      parse_value(text, result);
+      value = std::move(result);
+    }
+#endif
+
+    inline
+    void parse_value(const std::string& text, char& c)
+    {
+      if (text.length() != 1)
+      {
+        throw_or_mimic<argument_incorrect_type>(text);
+      }
+
+      c = text[0];
+    }
+
+    template <typename T>
+    struct type_is_container
+    {
+      static constexpr bool value = false;
+    };
+
+    template <typename T>
+    struct type_is_container<std::vector<T>>
+    {
+      static constexpr bool value = true;
+    };
+
+    template <typename T>
+    class abstract_value : public Value
+    {
+      using Self = abstract_value<T>;
+
+      public:
+      abstract_value()
+      : m_result(std::make_shared<T>())
+      , m_store(m_result.get())
+      {
+      }
+
+      abstract_value(T* t)
+      : m_store(t)
+      {
+      }
+
+      virtual ~abstract_value() = default;
+
+      abstract_value(const abstract_value& rhs)
+      {
+        if (rhs.m_result)
+        {
+          m_result = std::make_shared<T>();
+          m_store = m_result.get();
+        }
+        else
+        {
+          m_store = rhs.m_store;
+        }
+
+        m_default = rhs.m_default;
+        m_implicit = rhs.m_implicit;
+        m_default_value = rhs.m_default_value;
+        m_implicit_value = rhs.m_implicit_value;
+      }
+
+      void
+      parse(const std::string& text) const
+      {
+        parse_value(text, *m_store);
+      }
+
+      bool
+      is_container() const
+      {
+        return type_is_container<T>::value;
+      }
+
+      void
+      parse() const
+      {
+        parse_value(m_default_value, *m_store);
+      }
+
+      bool
+      has_default() const
+      {
+        return m_default;
+      }
+
+      bool
+      has_implicit() const
+      {
+        return m_implicit;
+      }
+
+      std::shared_ptr<Value>
+      default_value(const std::string& value)
+      {
+        m_default = true;
+        m_default_value = value;
+        return shared_from_this();
+      }
+
+      std::shared_ptr<Value>
+      implicit_value(const std::string& value)
+      {
+        m_implicit = true;
+        m_implicit_value = value;
+        return shared_from_this();
+      }
+
+      std::shared_ptr<Value>
+      no_implicit_value()
+      {
+        m_implicit = false;
+        return shared_from_this();
+      }
+
+      std::string
+      get_default_value() const
+      {
+        return m_default_value;
+      }
+
+      std::string
+      get_implicit_value() const
+      {
+        return m_implicit_value;
+      }
+
+      bool
+      is_boolean() const
+      {
+        return std::is_same<T, bool>::value;
+      }
+
+      const T&
+      get() const
+      {
+        if (m_store == nullptr)
+        {
+          return *m_result;
+        }
+        else
+        {
+          return *m_store;
+        }
+      }
+
+      protected:
+      std::shared_ptr<T> m_result;
+      T* m_store;
+
+      bool m_default = false;
+      bool m_implicit = false;
+
+      std::string m_default_value;
+      std::string m_implicit_value;
+    };
+
+    template <typename T>
+    class standard_value : public abstract_value<T>
+    {
+      public:
+      using abstract_value<T>::abstract_value;
+
+      std::shared_ptr<Value>
+      clone() const
+      {
+        return std::make_shared<standard_value<T>>(*this);
+      }
+    };
+
+    template <>
+    class standard_value<bool> : public abstract_value<bool>
+    {
+      public:
+      ~standard_value() = default;
+
+      standard_value()
+      {
+        set_default_and_implicit();
+      }
+
+      standard_value(bool* b)
+      : abstract_value(b)
+      {
+        set_default_and_implicit();
+      }
+
+      std::shared_ptr<Value>
+      clone() const
+      {
+        return std::make_shared<standard_value<bool>>(*this);
+      }
+
+      private:
+
+      void
+      set_default_and_implicit()
+      {
+        m_default = true;
+        m_default_value = "false";
+        m_implicit = true;
+        m_implicit_value = "true";
+      }
+    };
+  }
+
+  template <typename T>
+  std::shared_ptr<Value>
+  value()
+  {
+    return std::make_shared<values::standard_value<T>>();
+  }
+
+  template <typename T>
+  std::shared_ptr<Value>
+  value(T& t)
+  {
+    return std::make_shared<values::standard_value<T>>(&t);
+  }
+
+  class OptionAdder;
+
+  class OptionDetails
+  {
+    public:
+    OptionDetails
+    (
+      const std::string& short_,
+      const std::string& long_,
+      const String& desc,
+      std::shared_ptr<const Value> val
+    )
+    : m_short(short_)
+    , m_long(long_)
+    , m_desc(desc)
+    , m_value(val)
+    , m_count(0)
+    {
+    }
+
+    OptionDetails(const OptionDetails& rhs)
+    : m_desc(rhs.m_desc)
+    , m_count(rhs.m_count)
+    {
+      m_value = rhs.m_value->clone();
+    }
+
+    OptionDetails(OptionDetails&& rhs) = default;
+
+    const String&
+    description() const
+    {
+      return m_desc;
+    }
+
+    const Value& value() const {
+        return *m_value;
+    }
+
+    std::shared_ptr<Value>
+    make_storage() const
+    {
+      return m_value->clone();
+    }
+
+    const std::string&
+    short_name() const
+    {
+      return m_short;
+    }
+
+    const std::string&
+    long_name() const
+    {
+      return m_long;
+    }
+
+    private:
+    std::string m_short;
+    std::string m_long;
+    String m_desc;
+    std::shared_ptr<const Value> m_value;
+    int m_count;
+  };
+
+  struct HelpOptionDetails
+  {
+    std::string s;
+    std::string l;
+    String desc;
+    bool has_default;
+    std::string default_value;
+    bool has_implicit;
+    std::string implicit_value;
+    std::string arg_help;
+    bool is_container;
+    bool is_boolean;
+  };
+
+  struct HelpGroupDetails
+  {
+    std::string name;
+    std::string description;
+    std::vector<HelpOptionDetails> options;
+  };
+
+  class OptionValue
+  {
+    public:
+    void
+    parse
+    (
+      std::shared_ptr<const OptionDetails> details,
+      const std::string& text
+    )
+    {
+      ensure_value(details);
+      ++m_count;
+      m_value->parse(text);
+    }
+
+    void
+    parse_default(std::shared_ptr<const OptionDetails> details)
+    {
+      ensure_value(details);
+      m_default = true;
+      m_value->parse();
+    }
+
+    size_t
+    count() const noexcept
+    {
+      return m_count;
+    }
+
+    // TODO: maybe default options should count towards the number of arguments
+    bool
+    has_default() const noexcept
+    {
+      return m_default;
+    }
+
+    template <typename T>
+    const T&
+    as() const
+    {
+      if (m_value == nullptr) {
+        throw_or_mimic<std::domain_error>("No value");
+      }
+
+#ifdef CXXOPTS_NO_RTTI
+      return static_cast<const values::standard_value<T>&>(*m_value).get();
+#else
+      return dynamic_cast<const values::standard_value<T>&>(*m_value).get();
+#endif
+    }
+
+    private:
+    void
+    ensure_value(std::shared_ptr<const OptionDetails> details)
+    {
+      if (m_value == nullptr)
+      {
+        m_value = details->make_storage();
+      }
+    }
+
+    std::shared_ptr<Value> m_value;
+    size_t m_count = 0;
+    bool m_default = false;
+  };
+
+  class KeyValue
+  {
+    public:
+    KeyValue(std::string key_, std::string value_)
+    : m_key(std::move(key_))
+    , m_value(std::move(value_))
+    {
+    }
+
+    const
+    std::string&
+    key() const
+    {
+      return m_key;
+    }
+
+    const
+    std::string&
+    value() const
+    {
+      return m_value;
+    }
+
+    template <typename T>
+    T
+    as() const
+    {
+      T result;
+      values::parse_value(m_value, result);
+      return result;
+    }
+
+    private:
+    std::string m_key;
+    std::string m_value;
+  };
+
+  class ParseResult
+  {
+    public:
+
+    ParseResult(
+      const std::shared_ptr<
+        std::unordered_map<std::string, std::shared_ptr<OptionDetails>>
+      >,
+      std::vector<std::string>,
+      bool allow_unrecognised,
+      int&, char**&);
+
+    size_t
+    count(const std::string& o) const
+    {
+      auto iter = m_options->find(o);
+      if (iter == m_options->end())
+      {
+        return 0;
+      }
+
+      auto riter = m_results.find(iter->second);
+
+      return riter->second.count();
+    }
+
+    const OptionValue&
+    operator[](const std::string& option) const
+    {
+      auto iter = m_options->find(option);
+
+      if (iter == m_options->end())
+      {
+        throw_or_mimic<option_not_present_exception>(option);
+      }
+
+      auto riter = m_results.find(iter->second);
+
+      return riter->second;
+    }
+
+    const std::vector<KeyValue>&
+    arguments() const
+    {
+      return m_sequential;
+    }
+
+    private:
+
+    void
+    parse(int& argc, char**& argv);
+
+    void
+    add_to_option(const std::string& option, const std::string& arg);
+
+    bool
+    consume_positional(std::string a);
+
+    void
+    parse_option
+    (
+      std::shared_ptr<OptionDetails> value,
+      const std::string& name,
+      const std::string& arg = ""
+    );
+
+    void
+    parse_default(std::shared_ptr<OptionDetails> details);
+
+    void
+    checked_parse_arg
+    (
+      int argc,
+      char* argv[],
+      int& current,
+      std::shared_ptr<OptionDetails> value,
+      const std::string& name
+    );
+
+    const std::shared_ptr<
+      std::unordered_map<std::string, std::shared_ptr<OptionDetails>>
+    > m_options;
+    std::vector<std::string> m_positional;
+    std::vector<std::string>::iterator m_next_positional;
+    std::unordered_set<std::string> m_positional_set;
+    std::unordered_map<std::shared_ptr<OptionDetails>, OptionValue> m_results;
+
+    bool m_allow_unrecognised;
+
+    std::vector<KeyValue> m_sequential;
+  };
+
+  struct Option
+  {
+    Option
+    (
+      const std::string& opts,
+      const std::string& desc,
+      const std::shared_ptr<const Value>& value = ::cxxopts::value<bool>(),
+      const std::string& arg_help = ""
+    )
+    : opts_(opts)
+    , desc_(desc)
+    , value_(value)
+    , arg_help_(arg_help)
+    {
+    }
+
+    std::string opts_;
+    std::string desc_;
+    std::shared_ptr<const Value> value_;
+    std::string arg_help_;
+  };
+
+  class Options
+  {
+    typedef std::unordered_map<std::string, std::shared_ptr<OptionDetails>>
+      OptionMap;
+    public:
+
+    Options(std::string program, std::string help_string = "")
+    : m_program(std::move(program))
+    , m_help_string(toLocalString(std::move(help_string)))
+    , m_custom_help("[OPTION...]")
+    , m_positional_help("positional parameters")
+    , m_show_positional(false)
+    , m_allow_unrecognised(false)
+    , m_options(std::make_shared<OptionMap>())
+    , m_next_positional(m_positional.end())
+    {
+    }
+
+    Options&
+    positional_help(std::string help_text)
+    {
+      m_positional_help = std::move(help_text);
+      return *this;
+    }
+
+    Options&
+    custom_help(std::string help_text)
+    {
+      m_custom_help = std::move(help_text);
+      return *this;
+    }
+
+    Options&
+    show_positional_help()
+    {
+      m_show_positional = true;
+      return *this;
+    }
+
+    Options&
+    allow_unrecognised_options()
+    {
+      m_allow_unrecognised = true;
+      return *this;
+    }
+
+    ParseResult
+    parse(int& argc, char**& argv);
+
+    OptionAdder
+    add_options(std::string group = "");
+
+    void
+    add_options
+    (
+      const std::string& group,
+      std::initializer_list<Option> options
+    );
+
+    void
+    add_option
+    (
+      const std::string& group,
+      const Option& option
+    );
+
+    void
+    add_option
+    (
+      const std::string& group,
+      const std::string& s,
+      const std::string& l,
+      std::string desc,
+      std::shared_ptr<const Value> value,
+      std::string arg_help
+    );
+
+    //parse positional arguments into the given option
+    void
+    parse_positional(std::string option);
+
+    void
+    parse_positional(std::vector<std::string> options);
+
+    void
+    parse_positional(std::initializer_list<std::string> options);
+
+    template <typename Iterator>
+    void
+    parse_positional(Iterator begin, Iterator end) {
+      parse_positional(std::vector<std::string>{begin, end});
+    }
+
+    std::string
+    help(const std::vector<std::string>& groups = {}) const;
+
+    const std::vector<std::string>
+    groups() const;
+
+    const HelpGroupDetails&
+    group_help(const std::string& group) const;
+
+    private:
+
+    void
+    add_one_option
+    (
+      const std::string& option,
+      std::shared_ptr<OptionDetails> details
+    );
+
+    String
+    help_one_group(const std::string& group) const;
+
+    void
+    generate_group_help
+    (
+      String& result,
+      const std::vector<std::string>& groups
+    ) const;
+
+    void
+    generate_all_groups_help(String& result) const;
+
+    std::string m_program;
+    String m_help_string;
+    std::string m_custom_help;
+    std::string m_positional_help;
+    bool m_show_positional;
+    bool m_allow_unrecognised;
+
+    std::shared_ptr<OptionMap> m_options;
+    std::vector<std::string> m_positional;
+    std::vector<std::string>::iterator m_next_positional;
+    std::unordered_set<std::string> m_positional_set;
+
+    //mapping from groups to help options
+    std::map<std::string, HelpGroupDetails> m_help;
+  };
+
+  class OptionAdder
+  {
+    public:
+
+    OptionAdder(Options& options, std::string group)
+    : m_options(options), m_group(std::move(group))
+    {
+    }
+
+    OptionAdder&
+    operator()
+    (
+      const std::string& opts,
+      const std::string& desc,
+      std::shared_ptr<const Value> value
+        = ::cxxopts::value<bool>(),
+      std::string arg_help = ""
+    );
+
+    private:
+    Options& m_options;
+    std::string m_group;
+  };
+
+  namespace
+  {
+    constexpr int OPTION_LONGEST = 30;
+    constexpr int OPTION_DESC_GAP = 2;
+
+    std::basic_regex<char> option_matcher
+      ("--([[:alnum:]][-_[:alnum:]]+)(=(.*))?|-([[:alnum:]]+)");
+
+    std::basic_regex<char> option_specifier
+      ("(([[:alnum:]]),)?[ ]*([[:alnum:]][-_[:alnum:]]*)?");
+
+    String
+    format_option
+    (
+      const HelpOptionDetails& o
+    )
+    {
+      auto& s = o.s;
+      auto& l = o.l;
+
+      String result = "  ";
+
+      if (s.size() > 0)
+      {
+        result += "-" + toLocalString(s) + ",";
+      }
+      else
+      {
+        result += "   ";
+      }
+
+      if (l.size() > 0)
+      {
+        result += " --" + toLocalString(l);
+      }
+
+      auto arg = o.arg_help.size() > 0 ? toLocalString(o.arg_help) : "arg";
+
+      if (!o.is_boolean)
+      {
+        if (o.has_implicit)
+        {
+          result += " [=" + arg + "(=" + toLocalString(o.implicit_value) + ")]";
+        }
+        else
+        {
+          result += " " + arg;
+        }
+      }
+
+      return result;
+    }
+
+    String
+    format_description
+    (
+      const HelpOptionDetails& o,
+      size_t start,
+      size_t width
+    )
+    {
+      auto desc = o.desc;
+
+      if (o.has_default && (!o.is_boolean || o.default_value != "false"))
+      {
+        if(o.default_value != "")
+        {
+          desc += toLocalString(" (default: " + o.default_value + ")");
+        }
+        else
+        {
+          desc += toLocalString(" (default: \"\")");
+        }
+      }
+
+      String result;
+
+      auto current = std::begin(desc);
+      auto startLine = current;
+      auto lastSpace = current;
+
+      auto size = size_t{};
+
+      while (current != std::end(desc))
+      {
+        if (*current == ' ')
+        {
+          lastSpace = current;
+        }
+
+        if (*current == '\n')
+        {
+          startLine = current + 1;
+          lastSpace = startLine;
+        }
+        else if (size > width)
+        {
+          if (lastSpace == startLine)
+          {
+            stringAppend(result, startLine, current + 1);
+            stringAppend(result, "\n");
+            stringAppend(result, start, ' ');
+            startLine = current + 1;
+            lastSpace = startLine;
+          }
+          else
+          {
+            stringAppend(result, startLine, lastSpace);
+            stringAppend(result, "\n");
+            stringAppend(result, start, ' ');
+            startLine = lastSpace + 1;
+          }
+          size = 0;
+        }
+        else
+        {
+          ++size;
+        }
+
+        ++current;
+      }
+
+      //append whatever is left
+      stringAppend(result, startLine, current);
+
+      return result;
+    }
+  }
+
+inline
+ParseResult::ParseResult
+(
+  const std::shared_ptr<
+    std::unordered_map<std::string, std::shared_ptr<OptionDetails>>
+  > options,
+  std::vector<std::string> positional,
+  bool allow_unrecognised,
+  int& argc, char**& argv
+)
+: m_options(options)
+, m_positional(std::move(positional))
+, m_next_positional(m_positional.begin())
+, m_allow_unrecognised(allow_unrecognised)
+{
+  parse(argc, argv);
+}
+
+inline
+void
+Options::add_options
+(
+  const std::string &group,
+  std::initializer_list<Option> options
+)
+{
+ OptionAdder option_adder(*this, group);
+ for (const auto &option: options)
+ {
+   option_adder(option.opts_, option.desc_, option.value_, option.arg_help_);
+ }
+}
+
+inline
+OptionAdder
+Options::add_options(std::string group)
+{
+  return OptionAdder(*this, std::move(group));
+}
+
+inline
+OptionAdder&
+OptionAdder::operator()
+(
+  const std::string& opts,
+  const std::string& desc,
+  std::shared_ptr<const Value> value,
+  std::string arg_help
+)
+{
+  std::match_results<const char*> result;
+  std::regex_match(opts.c_str(), result, option_specifier);
+
+  if (result.empty())
+  {
+    throw_or_mimic<invalid_option_format_error>(opts);
+  }
+
+  const auto& short_match = result[2];
+  const auto& long_match = result[3];
+
+  if (!short_match.length() && !long_match.length())
+  {
+    throw_or_mimic<invalid_option_format_error>(opts);
+  } else if (long_match.length() == 1 && short_match.length())
+  {
+    throw_or_mimic<invalid_option_format_error>(opts);
+  }
+
+  auto option_names = []
+  (
+    const std::sub_match<const char*>& short_,
+    const std::sub_match<const char*>& long_
+  )
+  {
+    if (long_.length() == 1)
+    {
+      return std::make_tuple(long_.str(), short_.str());
+    }
+    else
+    {
+      return std::make_tuple(short_.str(), long_.str());
+    }
+  }(short_match, long_match);
+
+  m_options.add_option
+  (
+    m_group,
+    std::get<0>(option_names),
+    std::get<1>(option_names),
+    desc,
+    value,
+    std::move(arg_help)
+  );
+
+  return *this;
+}
+
+inline
+void
+ParseResult::parse_default(std::shared_ptr<OptionDetails> details)
+{
+  m_results[details].parse_default(details);
+}
+
+inline
+void
+ParseResult::parse_option
+(
+  std::shared_ptr<OptionDetails> value,
+  const std::string& /*name*/,
+  const std::string& arg
+)
+{
+  auto& result = m_results[value];
+  result.parse(value, arg);
+
+  m_sequential.emplace_back(value->long_name(), arg);
+}
+
+inline
+void
+ParseResult::checked_parse_arg
+(
+  int argc,
+  char* argv[],
+  int& current,
+  std::shared_ptr<OptionDetails> value,
+  const std::string& name
+)
+{
+  if (current + 1 >= argc)
+  {
+    if (value->value().has_implicit())
+    {
+      parse_option(value, name, value->value().get_implicit_value());
+    }
+    else
+    {
+      throw_or_mimic<missing_argument_exception>(name);
+    }
+  }
+  else
+  {
+    if (value->value().has_implicit())
+    {
+      parse_option(value, name, value->value().get_implicit_value());
+    }
+    else
+    {
+      parse_option(value, name, argv[current + 1]);
+      ++current;
+    }
+  }
+}
+
+inline
+void
+ParseResult::add_to_option(const std::string& option, const std::string& arg)
+{
+  auto iter = m_options->find(option);
+
+  if (iter == m_options->end())
+  {
+    throw_or_mimic<option_not_exists_exception>(option);
+  }
+
+  parse_option(iter->second, option, arg);
+}
+
+inline
+bool
+ParseResult::consume_positional(std::string a)
+{
+  while (m_next_positional != m_positional.end())
+  {
+    auto iter = m_options->find(*m_next_positional);
+    if (iter != m_options->end())
+    {
+      auto& result = m_results[iter->second];
+      if (!iter->second->value().is_container())
+      {
+        if (result.count() == 0)
+        {
+          add_to_option(*m_next_positional, a);
+          ++m_next_positional;
+          return true;
+        }
+        else
+        {
+          ++m_next_positional;
+          continue;
+        }
+      }
+      else
+      {
+        add_to_option(*m_next_positional, a);
+        return true;
+      }
+    }
+    else
+    {
+      throw_or_mimic<option_not_exists_exception>(*m_next_positional);
+    }
+  }
+
+  return false;
+}
+
+inline
+void
+Options::parse_positional(std::string option)
+{
+  parse_positional(std::vector<std::string>{std::move(option)});
+}
+
+inline
+void
+Options::parse_positional(std::vector<std::string> options)
+{
+  m_positional = std::move(options);
+  m_next_positional = m_positional.begin();
+
+  m_positional_set.insert(m_positional.begin(), m_positional.end());
+}
+
+inline
+void
+Options::parse_positional(std::initializer_list<std::string> options)
+{
+  parse_positional(std::vector<std::string>(std::move(options)));
+}
+
+inline
+ParseResult
+Options::parse(int& argc, char**& argv)
+{
+  ParseResult result(m_options, m_positional, m_allow_unrecognised, argc, argv);
+  return result;
+}
+
+inline
+void
+ParseResult::parse(int& argc, char**& argv)
+{
+  int current = 1;
+
+  int nextKeep = 1;
+
+  bool consume_remaining = false;
+
+  while (current != argc)
+  {
+    if (strcmp(argv[current], "--") == 0)
+    {
+      consume_remaining = true;
+      ++current;
+      break;
+    }
+
+    std::match_results<const char*> result;
+    std::regex_match(argv[current], result, option_matcher);
+
+    if (result.empty())
+    {
+      //not a flag
+
+      // but if it starts with a `-`, then it's an error
+      if (argv[current][0] == '-' && argv[current][1] != '\0') {
+        if (!m_allow_unrecognised) {
+          throw_or_mimic<option_syntax_exception>(argv[current]);
+        }
+      }
+
+      //if true is returned here then it was consumed, otherwise it is
+      //ignored
+      if (consume_positional(argv[current]))
+      {
+      }
+      else
+      {
+        argv[nextKeep] = argv[current];
+        ++nextKeep;
+      }
+      //if we return from here then it was parsed successfully, so continue
+    }
+    else
+    {
+      //short or long option?
+      if (result[4].length() != 0)
+      {
+        const std::string& s = result[4];
+
+        for (std::size_t i = 0; i != s.size(); ++i)
+        {
+          std::string name(1, s[i]);
+          auto iter = m_options->find(name);
+
+          if (iter == m_options->end())
+          {
+            if (m_allow_unrecognised)
+            {
+              continue;
+            }
+            else
+            {
+              //error
+              throw_or_mimic<option_not_exists_exception>(name);
+            }
+          }
+
+          auto value = iter->second;
+
+          if (i + 1 == s.size())
+          {
+            //it must be the last argument
+            checked_parse_arg(argc, argv, current, value, name);
+          }
+          else if (value->value().has_implicit())
+          {
+            parse_option(value, name, value->value().get_implicit_value());
+          }
+          else
+          {
+            //error
+            throw_or_mimic<option_requires_argument_exception>(name);
+          }
+        }
+      }
+      else if (result[1].length() != 0)
+      {
+        const std::string& name = result[1];
+
+        auto iter = m_options->find(name);
+
+        if (iter == m_options->end())
+        {
+          if (m_allow_unrecognised)
+          {
+            // keep unrecognised options in argument list, skip to next argument
+            argv[nextKeep] = argv[current];
+            ++nextKeep;
+            ++current;
+            continue;
+          }
+          else
+          {
+            //error
+            throw_or_mimic<option_not_exists_exception>(name);
+          }
+        }
+
+        auto opt = iter->second;
+
+        //equals provided for long option?
+        if (result[2].length() != 0)
+        {
+          //parse the option given
+
+          parse_option(opt, name, result[3]);
+        }
+        else
+        {
+          //parse the next argument
+          checked_parse_arg(argc, argv, current, opt, name);
+        }
+      }
+
+    }
+
+    ++current;
+  }
+
+  for (auto& opt : *m_options)
+  {
+    auto& detail = opt.second;
+    auto& value = detail->value();
+
+    auto& store = m_results[detail];
+
+    if(value.has_default() && !store.count() && !store.has_default()){
+      parse_default(detail);
+    }
+  }
+
+  if (consume_remaining)
+  {
+    while (current < argc)
+    {
+      if (!consume_positional(argv[current])) {
+        break;
+      }
+      ++current;
+    }
+
+    //adjust argv for any that couldn't be swallowed
+    while (current != argc) {
+      argv[nextKeep] = argv[current];
+      ++nextKeep;
+      ++current;
+    }
+  }
+
+  argc = nextKeep;
+
+}
+
+inline
+void
+Options::add_option
+(
+  const std::string& group,
+  const Option& option
+)
+{
+    add_options(group, {option});
+}
+
+inline
+void
+Options::add_option
+(
+  const std::string& group,
+  const std::string& s,
+  const std::string& l,
+  std::string desc,
+  std::shared_ptr<const Value> value,
+  std::string arg_help
+)
+{
+  auto stringDesc = toLocalString(std::move(desc));
+  auto option = std::make_shared<OptionDetails>(s, l, stringDesc, value);
+
+  if (s.size() > 0)
+  {
+    add_one_option(s, option);
+  }
+
+  if (l.size() > 0)
+  {
+    add_one_option(l, option);
+  }
+
+  //add the help details
+  auto& options = m_help[group];
+
+  options.options.emplace_back(HelpOptionDetails{s, l, stringDesc,
+      value->has_default(), value->get_default_value(),
+      value->has_implicit(), value->get_implicit_value(),
+      std::move(arg_help),
+      value->is_container(),
+      value->is_boolean()});
+}
+
+inline
+void
+Options::add_one_option
+(
+  const std::string& option,
+  std::shared_ptr<OptionDetails> details
+)
+{
+  auto in = m_options->emplace(option, details);
+
+  if (!in.second)
+  {
+    throw_or_mimic<option_exists_error>(option);
+  }
+}
+
+inline
+String
+Options::help_one_group(const std::string& g) const
+{
+  typedef std::vector<std::pair<String, String>> OptionHelp;
+
+  auto group = m_help.find(g);
+  if (group == m_help.end())
+  {
+    return "";
+  }
+
+  OptionHelp format;
+
+  size_t longest = 0;
+
+  String result;
+
+  if (!g.empty())
+  {
+    result += toLocalString(" " + g + " options:\n");
+  }
+
+  for (const auto& o : group->second.options)
+  {
+    if (m_positional_set.find(o.l) != m_positional_set.end() &&
+        !m_show_positional)
+    {
+      continue;
+    }
+
+    auto s = format_option(o);
+    longest = (std::max)(longest, stringLength(s));
+    format.push_back(std::make_pair(s, String()));
+  }
+
+  longest = (std::min)(longest, static_cast<size_t>(OPTION_LONGEST));
+
+  //widest allowed description
+  auto allowed = size_t{76} - longest - OPTION_DESC_GAP;
+
+  auto fiter = format.begin();
+  for (const auto& o : group->second.options)
+  {
+    if (m_positional_set.find(o.l) != m_positional_set.end() &&
+        !m_show_positional)
+    {
+      continue;
+    }
+
+    auto d = format_description(o, longest + OPTION_DESC_GAP, allowed);
+
+    result += fiter->first;
+    if (stringLength(fiter->first) > longest)
+    {
+      result += '\n';
+      result += toLocalString(std::string(longest + OPTION_DESC_GAP, ' '));
+    }
+    else
+    {
+      result += toLocalString(std::string(longest + OPTION_DESC_GAP -
+        stringLength(fiter->first),
+        ' '));
+    }
+    result += d;
+    result += '\n';
+
+    ++fiter;
+  }
+
+  return result;
+}
+
+inline
+void
+Options::generate_group_help
+(
+  String& result,
+  const std::vector<std::string>& print_groups
+) const
+{
+  for (size_t i = 0; i != print_groups.size(); ++i)
+  {
+    const String& group_help_text = help_one_group(print_groups[i]);
+    if (empty(group_help_text))
+    {
+      continue;
+    }
+    result += group_help_text;
+    if (i < print_groups.size() - 1)
+    {
+      result += '\n';
+    }
+  }
+}
+
+inline
+void
+Options::generate_all_groups_help(String& result) const
+{
+  std::vector<std::string> all_groups;
+  all_groups.reserve(m_help.size());
+
+  for (auto& group : m_help)
+  {
+    all_groups.push_back(group.first);
+  }
+
+  generate_group_help(result, all_groups);
+}
+
+inline
+std::string
+Options::help(const std::vector<std::string>& help_groups) const
+{
+  String result = m_help_string + "\nUsage:\n  " +
+    toLocalString(m_program) + " " + toLocalString(m_custom_help);
+
+  if (m_positional.size() > 0 && m_positional_help.size() > 0) {
+    result += " " + toLocalString(m_positional_help);
+  }
+
+  result += "\n\n";
+
+  if (help_groups.size() == 0)
+  {
+    generate_all_groups_help(result);
+  }
+  else
+  {
+    generate_group_help(result, help_groups);
+  }
+
+  return toUTF8String(result);
+}
+
+inline
+const std::vector<std::string>
+Options::groups() const
+{
+  std::vector<std::string> g;
+
+  std::transform(
+    m_help.begin(),
+    m_help.end(),
+    std::back_inserter(g),
+    [] (const std::map<std::string, HelpGroupDetails>::value_type& pair)
+    {
+      return pair.first;
+    }
+  );
+
+  return g;
+}
+
+inline
+const HelpGroupDetails&
+Options::group_help(const std::string& group) const
+{
+  return m_help.at(group);
+}
+
+}
+
+#endif //CXXOPTS_HPP_INCLUDED

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/stereo_vision/impl/census_transform.hpp

@@ -0,0 +1,45 @@
+/**
+* \brief 
+* \author pengcheng (pengcheng@yslrpch@126.com)
+* \date 
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+
+
+#ifndef SGM_CENSUS_TRANSFORM_HPP
+#define SGM_CENSUS_TRANSFORM_HPP
+
+#include "stereo_vision/impl/device_buffer.hpp"
+#include "stereo_vision/impl/types.hpp"
+
+namespace adc {
+
+template <typename T>
+class CensusTransform {
+
+public:
+	using input_type = T;
+
+private:
+	DeviceBuffer<feature_type> m_feature_buffer;
+
+public:
+	CensusTransform();
+
+	const feature_type *get_output() const {
+		return m_feature_buffer.data();
+	}
+	
+	void enqueue(
+		const input_type *src,
+		int width,
+		int height,
+		int pitch,
+		cudaStream_t stream);
+
+};
+
+}
+
+#endif

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/stereo_vision/impl/device_buffer.hpp

@@ -0,0 +1,104 @@
+/**
+* \brief 
+* \author pengcheng (pengcheng@yslrpch@126.com)
+* \date 
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+
+#ifndef SGM_DEVICE_BUFFER_HPP
+#define SGM_DEVICE_BUFFER_HPP
+
+#include <cstddef>
+
+#include "stereo_vision/internal.h"
+
+namespace adc {
+
+template <typename T>
+class DeviceBuffer {
+
+public:
+	using value_type = T;
+
+private:
+	value_type *m_data;
+	size_t m_size;
+
+public:
+	DeviceBuffer()
+		: m_data(nullptr)
+		, m_size(0)
+	{ }
+
+	explicit DeviceBuffer(size_t n)
+		: m_data(nullptr)
+		, m_size(0)
+	{
+		allocate(n);
+	}
+
+	DeviceBuffer(const DeviceBuffer&) = delete;
+
+	DeviceBuffer(DeviceBuffer&& obj)
+		: m_data(obj.m_data)
+		, m_size(obj.m_size)
+	{
+		obj.m_data = nullptr;
+		obj.m_size = 0;
+	}
+
+	~DeviceBuffer(){
+		destroy();
+	}
+
+
+	void allocate(size_t n){
+		if(m_data && m_size >= n)
+			return;
+
+		destroy();
+		CudaSafeCall(cudaMalloc(reinterpret_cast<void **>(&m_data), sizeof(value_type) * n));
+		m_size = n;
+	}
+
+	void destroy(){
+		if(m_data)
+			CudaSafeCall(cudaFree(m_data));
+
+		m_data = nullptr;
+		m_size = 0;
+	}
+
+	void fillZero(){
+		CudaSafeCall(cudaMemset(m_data, 0, sizeof(value_type) * m_size));
+	}
+
+	DeviceBuffer& operator=(const DeviceBuffer&) = delete;
+
+	DeviceBuffer& operator=(DeviceBuffer&& obj){
+		m_data = obj.m_data;
+		m_size = obj.m_size;
+		obj.m_data = nullptr;
+		obj.m_size = 0;
+		return *this;
+	}
+
+
+	size_t size() const {
+		return m_size;
+	}
+
+	const value_type *data() const {
+		return m_data;
+	}
+
+	value_type *data(){
+		return m_data;
+	}
+
+};
+
+}
+
+#endif

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/stereo_vision/impl/horizontal_path_aggregation.hpp

@@ -0,0 +1,45 @@
+/**
+* \brief 
+* \author pengcheng (pengcheng@yslrpch@126.com)
+* \date 
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+
+
+#ifndef SGM_HORIZONTAL_PATH_AGGREGATION_HPP
+#define SGM_HORIZONTAL_PATH_AGGREGATION_HPP
+
+#include "stereo_vision/impl/types.hpp"
+
+namespace adc {
+namespace path_aggregation {
+
+template <unsigned int MAX_DISPARITY>
+void enqueue_aggregate_left2right_path(
+	cost_type *dest,
+	const feature_type *left,
+	const feature_type *right,
+	int width,
+	int height,
+	unsigned int p1,
+	unsigned int p2,
+	int min_disp,
+	cudaStream_t stream);
+
+template <unsigned int MAX_DISPARITY>
+void enqueue_aggregate_right2left_path(
+	cost_type *dest,
+	const feature_type *left,
+	const feature_type *right,
+	int width,
+	int height,
+	unsigned int p1,
+	unsigned int p2,
+	int min_disp,
+	cudaStream_t stream);
+
+}
+}
+
+#endif

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/stereo_vision/impl/oblique_path_aggregation.hpp

@@ -0,0 +1,69 @@
+/**
+* \brief 
+* \author pengcheng (pengcheng@yslrpch@126.com)
+* \date 
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+
+
+#ifndef SGM_OBLIQUE_PATH_AGGREGATION_HPP
+#define SGM_OBLIQUE_PATH_AGGREGATION_HPP
+
+#include "stereo_vision/impl/types.hpp"
+
+namespace adc {
+namespace path_aggregation {
+
+template <unsigned int MAX_DISPARITY>
+void enqueue_aggregate_upleft2downright_path(
+	cost_type *dest,
+	const feature_type *left,
+	const feature_type *right,
+	int width,
+	int height,
+	unsigned int p1,
+	unsigned int p2,
+	int min_disp,
+	cudaStream_t stream);
+
+template <unsigned int MAX_DISPARITY>
+void enqueue_aggregate_upright2downleft_path(
+	cost_type *dest,
+	const feature_type *left,
+	const feature_type *right,
+	int width,
+	int height,
+	unsigned int p1,
+	unsigned int p2,
+	int min_disp,
+	cudaStream_t stream);
+
+template <unsigned int MAX_DISPARITY>
+void enqueue_aggregate_downright2upleft_path(
+	cost_type *dest,
+	const feature_type *left,
+	const feature_type *right,
+	int width,
+	int height,
+	unsigned int p1,
+	unsigned int p2,
+	int min_disp,
+	cudaStream_t stream);
+
+template <unsigned int MAX_DISPARITY>
+void enqueue_aggregate_downleft2upright_path(
+	cost_type *dest,
+	const feature_type *left,
+	const feature_type *right,
+	int width,
+	int height,
+	unsigned int p1,
+	unsigned int p2,
+	int min_disp,
+	cudaStream_t stream);
+
+}
+}
+
+#endif

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/stereo_vision/impl/path_aggregation.hpp

@@ -0,0 +1,52 @@
+/**
+* \brief 
+* \author pengcheng (pengcheng@yslrpch@126.com)
+* \date 
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+
+
+#ifndef SGM_PATH_AGGREGATION_HPP
+#define SGM_PATH_AGGREGATION_HPP
+
+#include <stereo_vision/sgm.h>
+#include "stereo_vision/impl/device_buffer.hpp"
+#include "stereo_vision/impl/types.hpp"
+
+namespace adc {
+
+template <size_t MAX_DISPARITY>
+class PathAggregation {
+
+private:
+	static const unsigned int MAX_NUM_PATHS = 8;
+
+	DeviceBuffer<cost_type> m_cost_buffer;
+	cudaStream_t m_streams[MAX_NUM_PATHS];
+	cudaEvent_t m_events[MAX_NUM_PATHS];
+	
+public:
+	PathAggregation();
+	~PathAggregation();
+
+	const cost_type *get_output() const {
+		return m_cost_buffer.data();
+	}
+
+	void enqueue(
+		const feature_type *left,
+		const feature_type *right,
+		int width,
+		int height,
+		PathType path_type,
+		unsigned int p1,
+		unsigned int p2,
+		int min_disp,
+		cudaStream_t stream);
+
+};
+
+}
+
+#endif

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/stereo_vision/impl/path_aggregation_common.hpp

@@ -0,0 +1,98 @@
+/**
+* \brief 
+* \author pengcheng (pengcheng@yslrpch@126.com)
+* \date 
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+
+
+#ifndef SGM_PATH_AGGREGATION_COMMON_HPP
+#define SGM_PATH_AGGREGATION_COMMON_HPP
+
+#include <cstdint>
+#include <cuda.h>
+#include "stereo_vision/impl/utility.hpp"
+
+namespace adc {
+namespace path_aggregation {
+
+template <
+	unsigned int DP_BLOCK_SIZE,
+	unsigned int SUBGROUP_SIZE>
+struct DynamicProgramming {
+	static_assert(
+		DP_BLOCK_SIZE >= 2,
+		"DP_BLOCK_SIZE must be greater than or equal to 2");
+	static_assert(
+		(SUBGROUP_SIZE & (SUBGROUP_SIZE - 1)) == 0,	
+		"SUBGROUP_SIZE must be a power of 2");
+
+	uint32_t last_min;
+	uint32_t dp[DP_BLOCK_SIZE];
+
+	__device__ DynamicProgramming()
+		: last_min(0)
+	{
+		for(unsigned int i = 0; i < DP_BLOCK_SIZE; ++i){ dp[i] = 0; }
+	}
+
+	__device__ void update(
+		uint32_t *local_costs, uint32_t p1, uint32_t p2, uint32_t mask)
+	{
+		const unsigned int lane_id = threadIdx.x % SUBGROUP_SIZE;
+
+		const auto dp0 = dp[0];
+		uint32_t lazy_out = 0, local_min = 0;
+		{
+			const unsigned int k = 0;
+#if CUDA_VERSION >= 9000
+			const uint32_t prev =
+				__shfl_up_sync(mask, dp[DP_BLOCK_SIZE - 1], 1);
+#else
+			const uint32_t prev = __shfl_up(dp[DP_BLOCK_SIZE - 1], 1);
+#endif
+			uint32_t out = min(dp[k] - last_min, p2);
+			if(lane_id != 0){ out = min(out, prev - last_min + p1); }
+			out = min(out, dp[k + 1] - last_min + p1);
+			lazy_out = local_min = out + local_costs[k];
+		}
+		for(unsigned int k = 1; k + 1 < DP_BLOCK_SIZE; ++k){
+			uint32_t out = min(dp[k] - last_min, p2);
+			out = min(out, dp[k - 1] - last_min + p1);
+			out = min(out, dp[k + 1] - last_min + p1);
+			dp[k - 1] = lazy_out;
+			lazy_out = out + local_costs[k];
+			local_min = min(local_min, lazy_out);
+		}
+		{
+			const unsigned int k = DP_BLOCK_SIZE - 1;
+#if CUDA_VERSION >= 9000
+			const uint32_t next = __shfl_down_sync(mask, dp0, 1);
+#else
+			const uint32_t next = __shfl_down(dp0, 1);
+#endif
+			uint32_t out = min(dp[k] - last_min, p2);
+			out = min(out, dp[k - 1] - last_min + p1);
+			if(lane_id + 1 != SUBGROUP_SIZE){
+				out = min(out, next - last_min + p1);
+			}
+			dp[k - 1] = lazy_out;
+			dp[k] = out + local_costs[k];
+			local_min = min(local_min, dp[k]);
+		}
+		last_min = subgroup_min<SUBGROUP_SIZE>(local_min, mask);
+	}
+};
+
+template <unsigned int SIZE>
+__device__ unsigned int generate_mask()
+{
+	static_assert(SIZE <= 32, "SIZE must be less than or equal to 32");
+	return static_cast<unsigned int>((1ull << SIZE) - 1u);
+}
+
+}
+}
+
+#endif

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/stereo_vision/impl/sgm.hpp

@@ -0,0 +1,62 @@
+/**
+* \brief 
+* \author pengcheng (pengcheng@yslrpch@126.com)
+* \date 
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+
+
+#ifndef SGM_SGM_HPP
+#define SGM_SGM_HPP
+
+#include <memory>
+#include <cstdint>
+#include <stereo_vision/sgm.h>
+#include "stereo_vision/impl/types.hpp"
+
+namespace adc {
+
+template <typename T, size_t MAX_DISPARITY>
+class SemiGlobalMatching {
+
+public:
+	using input_type = T;
+	using output_type = adc::output_type;
+
+private:
+	class Impl;
+	std::unique_ptr<Impl> m_impl;
+
+public:
+	SemiGlobalMatching();
+	~SemiGlobalMatching();
+
+	void execute(
+		output_type *dest_left,
+		output_type *dest_right,
+		const input_type *src_left,
+		const input_type *src_right,
+		int width,
+		int height,
+		int src_pitch,
+		int dst_pitch,
+		const StereoSGM::Parameters& param);
+
+	void enqueue(
+		output_type *dest_left,
+		output_type *dest_right,
+		const input_type *src_left,
+		const input_type *src_right,
+		int width,
+		int height,
+		int src_pitch,
+		int dst_pitch,
+		const StereoSGM::Parameters& param,
+		cudaStream_t stream);
+
+};
+
+}
+
+#endif

src/detection/front_vision_ros_trt7/front_vison_ros/src/front_vision/include/stereo_vision/impl/types.hpp

@@ -0,0 +1,24 @@
+/**
+* \brief 
+* \author pengcheng (pengcheng@yslrpch@126.com)
+* \date
+* \attention Copyright©ADC Technology(tianjin)Co.Ltd
+* \attention Refer to COPYRIGHT.txt for complete terms of copyright notice
+*/
+
+
+#ifndef SGM_TYPES_HPP
+#define SGM_TYPES_HPP
+
+#include <cstdint>
+
+namespace adc {
+
+using feature_type = uint32_t;
+using cost_type = uint8_t;
+using cost_sum_type = uint16_t;
+using output_type = uint16_t;
+
+}
+
+#endif