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Added doc about carla traffic rules.

doc/research/paf24/general/carla_traffic_rules.md

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+# Traffic Rules in CARLA
+
+## Introduction
+CARLA (Car Learning to Act) is an open-source simulator designed for the development, training, and validation of autonomous driving systems. While there isn't a specific set of traffic laws from any real-world jurisdiction strictly implemented in CARLA, the simulation emphasizes key traffic behaviors and principles essential for creating a realistic driving environment, particularly in urban settings.
+
+## Key Traffic Principles Emphasized in CARLA
+- **Traffic Signals**: 
+  - Vehicles must respond to traffic lights, stopping at red lights and proceeding on green.
+
+- **Stop Signs**: 
+  - Cars are required to stop at stop signs and yield to other vehicles and pedestrians.
+
+- **Lane Management**: 
+  - Vehicles should remain within their designated lanes, respecting lane markings.
+
+- **Speed Limits**: 
+  - Various areas within the simulation have established speed limits that vehicles must adhere to.
+
+- **Pedestrian Rights**: 
+  - Vehicles must yield to pedestrians at designated crossings.
+
+These principles are vital for developing and validating algorithms for autonomous vehicles, as they mimic the rules that drivers are expected to follow in real-world urban traffic scenarios.
+
+## Focus on Urban Environments
+CARLA is particularly designed to simulate urban scenarios, which are characterized by complex interactions among various traffic participants, including vehicles, pedestrians, and cyclists. The focus on urban environments makes it essential for testing systems under conditions that resemble real city driving dynamics.
+
+## Road Network Creation with ASAM OpenDRIVE®
+Road networks in CARLA are created using the **ASAM OpenDRIVE®** format, which provides a standardized method for describing road infrastructures. This standardization allows for:
+- **Hierarchical Structure**: Road networks are organized in nodes, facilitating specialized applications while ensuring interoperability.
+- **Reference Line**: The core of every road network is the reference line, which anchors the geometry of roads and lanes.
+- **Interconnectivity**: Roads can be interconnected, enabling realistic traffic behavior and routing.
+
+The integration of ASAM OpenDRIVE ensures that road networks can be efficiently modeled and shared across different simulation platforms, enhancing the realism of the driving scenarios.
+
+## Flexibility and Customization
+CARLA provides the flexibility for users to define or modify traffic rules based on specific research requirements, enabling a wide range of testing scenarios. This adaptability is crucial for the development and validation of autonomous driving technologies.
+
+## References
+- CARLA Documentation: [CARLA](https://carla.readthedocs.io/en/latest/)
+- ASAM OpenDRIVE® Standard: [ASAM OpenDRIVE](https://www.asam.net/standards/detail/opendrive/)