carparkAreaIsNextToLane
type: ObjectProperty
sub property of: isNextTo
domain: CarparkArea
range: Lane
comment: Relation between map elements that are at most 4 meters apart.

connectsIncomingLane
type: ObjectProperty
sub property of: connectsLane
domain: LaneConnector
range: Lane
comment: Relates a LaneConnector with the incoming Lane.

connectsOutgoingLane
type: ObjectProperty
sub property of: connectsLane
domain: LaneConnector
range: Lane
comment: Relates a LaneConnector with the outgoing Lane.

fromRoadBlock
type: ObjectProperty
sub property of: topObjectProperty
domain: TrafficLight
range: RoadBlock
comment: Traffic lights in nuScenes have a "from_road_block_token".

hasLeftLane
type: ObjectProperty
sub property of: topObjectProperty
domain: Lane
range: Lane
comment: The Lane to its left, with respect to the direction of travel.

hasLeftLaneDivider
type: ObjectProperty
sub property of: hasDivider
domain: Lane
range: LaneDivider
comment: The LaneDivider that is to the left of the lane in driving direction.

hasRightLane
type: ObjectProperty
sub property of: topObjectProperty
domain: Lane
range: Lane
comment: The Lane to its right, with respect to the direction of travel.

hasRightLaneDivider
type: ObjectProperty
sub property of: hasDivider
domain: Lane
range: LaneDivider
comment: The LaneDivider that is to the right of the Lane in driving direction.

hasSegment
type: ObjectProperty
sub property of: topObjectProperty
domain: LaneDivider
range: LaneDividerSegment
comment: The LaneDividerSegments that the LaneDivider consists of.

intersects
type: ObjectProperty
sub property of: topObjectProperty
domain: MapElement
range: MapElement
comment: Analagous to isOn for SceneParticipants on maps. Since isOn is already taken as a name for this, I'm using intersects (which is the OGS formal naming for isOn).

laneSliceHasPose
type: ObjectProperty
sub property of: topObjectProperty
domain: LaneSlice
range: Pose
comment: The pose at the LaneSlices center. The pose here means the point on the start of the centerline plus an orientation indicating the direction of travel at that point.

pedCrossingCausesStopAt
type: ObjectProperty
sub property of: causesStopAt
domain: PedCrossing
range: PedCrossingStopArea
comment: This relates a PedCrossing to the StopArea that is causes in front of it.

pedCrossingCrossesRoadSegment
type: ObjectProperty
sub property of: isPartOf
domain: PedCrossing
range: RoadSegment
comment: The RoadSegment that a PedCrossing allows pedestrians to cross.

trafficLightHasPose
type: ObjectProperty
sub property of: topObjectProperty
domain: TrafficLight
range: Pose
comment: The direction in which the traffic light is pointing.

trafficLightHasShape
type: ObjectProperty
sub property of: hasShape
domain: TrafficLight
range: LineString
comment: This is the TrafficLight's LineString generated from a line_token. It specifies where the traffic light stands (first point) and where it points to (second point).

hasTrafficLightType
type: DatatypeProperty
sub property of: topDataProperty
domain: TrafficLight
range: Datatype
  one of: HORIZONTAL
  one of: VERTICAL

poseHasOrientation
type: DatatypeProperty
sub property of: topDataProperty
domain: Pose
range: double
comment: Gives a Pose its orientation. Orientation is given as an angle with respect to the positive x-axis. For example, the angle for an orientation along the positive y-axis would be 90 degrees. An orientation along the negative y-axis would be 270 degrees.

hasLaneDividerSegmentType
type: DatatypeProperty
sub property of: topDataProperty
domain: LaneDividerSegment
range: Datatype
  one of: DOUBLE_DASHED_WHITE
  one of: DOUBLE_SOLID_WHITE
  one of: SINGLE_SOLID_WHITE
  one of: SINGLE_SOLID_YELLOW
  one of: SINGLE_ZIGZAG_WHITE
comment: The type of a lane divider segment.

laneHasToken
type: DatatypeProperty
sub property of: hasToken
domain: Lane
range: token
comment: The nuScenes identifier for this Lane.

laneSliceHasWidth
type: DatatypeProperty
domain: LaneSlice
range: double
comment: The pose of the LaneSnippet at its beginning. The pose here means the point on the start of the centerline plus an orientation indicating the direction of travel at that point.

roadBlockHasToken
type: DatatypeProperty
sub property of: hasToken
domain: RoadBlock
range: token
comment: The nuScenes identifier for this RoadBlock.

roadSegmentHasToken
type: DatatypeProperty
sub property of: hasToken
domain: RoadSegment
range: token
comment: The nuScenes identifier for this RoadSegment.

LaneConnector
type: Class
subclass of: RoadTraversalElement
comment: This is a connection between lanes. For example, vehicles travel across junctions to go from one (incoming) Lane to the next one (outgoing) on their path. This is not via a typical Lane, however. Rather this path through the junction that the Vehicle traverses is defined to be a LaneConnector. LaneConnectors also appear e.g. at places where the number of Lanes along a road is reduced.

LaneDivider
type: Class
subclass of: RoadElement
comment: A divider between lanes.

Pose
type: Class
subclass of: Geometry
comment: A Pose is a Point that, in addition to x/y coordinates, also has a direction.

RoadTraversalElement
type: Class
subclass of: RoadElement
comment: Elements of the road that determine how the road can be traversed. Vehicles travel along RoadTraversalElements. Each RoadTraversalElement has a CenterLine which vehicles tend to follow most of the time.