@drawtonomy/sdk 0.9.0 → 0.10.0

package/dist/exporter/opendrive.js

@@ -2,18 +2,30 @@
 // No external library dependencies.
 //
 // Design:
-// - Each lane is emitted as an independent <road>
-// - Reference line is the midpoints of the left/right boundary samples
-// - Each segment is a <line> geometry; lane width is a per-sample <width>
-// - Lane connectivity (next/prev) is written into <link>; branch/merge edges
-//   that a single road link cannot express are synthesized into <junction>
-//   elements (see planJunctions)
-// - Lanelet-only lane tags are stashed in <userData code="laneAttributes">
-//   and restored on import; multi-road signal validity uses <signalReference>
+// - Laterally adjacent same-direction lanes (detected through shared boundary
+//   linestrings) are grouped into one road bundle and emitted as a single
+//   <road> with lanes -1, -2, ... (inner to outer)
+// - The road reference line is the bundle's leftmost boundary (the left edge
+//   in travel direction), so lane 0 sits on it and no laneOffset is needed
+// - The reference polyline is fitted into analytic primitives (<line>, <arc>,
+//   <paramPoly3>) by odrGeometryFit; lane widths are piecewise-linear <width>
+//   records measured along the fitted reference normals (the exact inverse of
+//   the importer's offset-along-normal reconstruction)
+// - Lane connectivity (next/prev) is written into road/lane <link> records;
+//   branch/merge edges that road links cannot express are synthesized into
+//   <junction> elements with short connecting roads (one per lane edge, each
+//   carrying predecessor/successor road links) so the standard
+//   incoming -> connecting -> outgoing structure holds (see planConnectivity)
+// - Lanelet-only lane tags are stashed per lane in
+//   <userData code="laneAttributes"> and restored on import; signal validity
+//   uses <validity fromLane toLane> lane ranges within a road and
+//   <signalReference> only when a signal spans several roads
 // - Coordinate frame: canvas (x right, y down) → ENU (x right, y up); y is flipped
-import { computeCenterlineWithWidth } from './laneCenterline';
+import { evalGeometry } from './odrGeometry';
+import { fitPlanView } from './odrGeometryFit';
 import { originToProjString } from './projection';
-import { escapeXml, fmt, pxToEnuX, pxToEnuY, pxToMeter } from './units';
+import { escapeXml, fmt, fmtPrecise, pxToEnuX, pxToEnuY, pxToMeter } from './units';
+import { extractOdrDocument, hashRoadState, rewriteRoadLinkTargets, } from './odrCarryThrough';
 /** O(1) shape lookup by id. */
 function buildShapeMap(shapes) {
     const map = new Map();
@@ -21,36 +33,6 @@ function buildShapeMap(shapes) {
         map.set(s.id, s);
     return map;
 }
-/**
- * Build the centerline + width samples for a lane from its two boundaries.
- * If pointOverrides is provided, those point ids are read from the override
- * map instead of from the shape map (used for boundary alignment snapping).
- */
-function buildRoadGeometry(shapeMap, lane, pointOverrides) {
-    const leftId = lane.props.leftBoundaryId;
-    const rightId = lane.props.rightBoundaryId;
-    if (!leftId || !rightId)
-        return null;
-    const left = shapeMap.get(leftId);
-    const right = shapeMap.get(rightId);
-    if (!left || !right)
-        return null;
-    const leftPts = collectPoints(shapeMap, left.props.pointIds, lane.props.invertLeft, pointOverrides);
-    const rightPts = collectPoints(shapeMap, right.props.pointIds, lane.props.invertRight, pointOverrides);
-    if (leftPts.length < 2 || rightPts.length < 2)
-        return null;
-    const samples = computeCenterlineWithWidth(leftPts, rightPts);
-    if (samples.length < 2)
-        return null;
-    const odrSamples = samples.map((s) => ({
-        x: pxToEnuX(s.x),
-        y: pxToEnuY(s.y),
-        width: pxToMeter(s.width),
-        s: pxToMeter(s.s),
-    }));
-    const length = odrSamples[odrSamples.length - 1].s;
-    return { laneId: lane.id, samples, odrSamples, length };
-}
 function collectPoints(shapeMap, pointIds, invert, pointOverrides) {
     const ids = invert ? [...pointIds].reverse() : pointIds;
     const pts = [];
@@ -66,6 +48,263 @@ function collectPoints(shapeMap, pointIds, invert, pointOverrides) {
     }
     return pts;
 }
+/** Boundary polyline of a linestring in travel order, or null when unusable. */
+function boundaryPointsOf(shapeMap, boundaryId, invert, pointOverrides) {
+    if (!boundaryId)
+        return null;
+    const ls = shapeMap.get(boundaryId);
+    if (!ls)
+        return null;
+    const pts = collectPoints(shapeMap, ls.props.pointIds, invert, pointOverrides);
+    return pts.length >= 2 ? pts : null;
+}
+/**
+ * Group lanes into road bundles by lateral adjacency.
+ *
+ * Lane B is the direct right neighbour of lane A when A's right boundary IS
+ * B's left boundary — the same linestring traversed in the same direction
+ * (`A.invertRight === B.invertLeft`); a direction mismatch means the
+ * neighbour travels the other way (e.g. the two sides of a two-way road) and
+ * belongs in its own bundle. The relation must be unique on both sides so
+ * pathological data (several lanes claiming one boundary side) degrades to
+ * separate bundles instead of guessing.
+ *
+ * Because adjacency requires sharing the whole linestring, every lane of a
+ * bundle spans the same longitudinal extent by construction.
+ */
+function detectBundles(lanes) {
+    const byLeft = new Map();
+    const byRight = new Map();
+    for (const lane of lanes) {
+        const l = lane.props.leftBoundaryId;
+        const r = lane.props.rightBoundaryId;
+        if (l)
+            byLeft.set(l, [...(byLeft.get(l) ?? []), lane]);
+        if (r)
+            byRight.set(r, [...(byRight.get(r) ?? []), lane]);
+    }
+    const rightNeighbor = new Map();
+    const hasLeftNeighbor = new Set();
+    for (const lane of lanes) {
+        const rb = lane.props.rightBoundaryId;
+        if (!rb)
+            continue;
+        const candidates = (byLeft.get(rb) ?? []).filter(b => b.id !== lane.id && b.props.invertLeft === lane.props.invertRight);
+        if (candidates.length !== 1)
+            continue;
+        const b = candidates[0];
+        const owners = (byRight.get(rb) ?? []).filter(a => a.props.invertRight === b.props.invertLeft);
+        if (owners.length !== 1 || owners[0].id !== lane.id)
+            continue;
+        rightNeighbor.set(lane.id, b);
+        hasLeftNeighbor.add(b.id);
+    }
+    const bundles = [];
+    const visited = new Set();
+    const walk = (start) => {
+        const bundle = [];
+        let cur = start;
+        while (cur && !visited.has(cur.id)) {
+            visited.add(cur.id);
+            bundle.push(cur);
+            cur = rightNeighbor.get(cur.id);
+        }
+        if (bundle.length > 0)
+            bundles.push(bundle);
+    };
+    // Start from the leftmost lane of each chain ...
+    for (const lane of lanes) {
+        if (!visited.has(lane.id) && !hasLeftNeighbor.has(lane.id))
+            walk(lane);
+    }
+    // ... and break adjacency cycles (degenerate ring data) deterministically.
+    for (const lane of lanes) {
+        if (!visited.has(lane.id))
+            walk(lane);
+    }
+    return bundles;
+}
+/** Distance from `p` to the polyline `pts` (projection onto each segment). */
+function distancePointToPolyline(p, pts) {
+    let best = Infinity;
+    for (let i = 0; i < pts.length - 1; i++) {
+        const a = pts[i];
+        const b = pts[i + 1];
+        const dx = b.x - a.x;
+        const dy = b.y - a.y;
+        const len2 = dx * dx + dy * dy;
+        let t = len2 > 1e-18 ? ((p.x - a.x) * dx + (p.y - a.y) * dy) / len2 : 0;
+        if (t < 0)
+            t = 0;
+        if (t > 1)
+            t = 1;
+        const d = Math.hypot(p.x - (a.x + t * dx), p.y - (a.y + t * dy));
+        if (d < best)
+            best = d;
+    }
+    return best;
+}
+/**
+ * Signed lateral offset (m, positive toward -t / the right of the travel
+ * direction) from each fitted reference pose to a boundary polyline, measured
+ * along the pose normal — the exact inverse of the importer's
+ * offset-along-normal boundary reconstruction. Among multiple normal/boundary
+ * intersections the one closest to the previous station's offset wins
+ * (continuity); stations whose normal misses the boundary entirely (e.g. the
+ * very ends, where boundary extents differ slightly) fall back to the
+ * closest-point distance.
+ */
+/**
+ * Largest believable offset change between neighbouring width stations (m).
+ * An intersection jumping further than this is the normal ray hitting a far
+ * branch of the boundary (e.g. the opposite end of a ~180° ramp), not the
+ * adjacent lane edge, and is discarded for the closest-point fallback.
+ */
+const OFFSET_JUMP_TOL_M = 5;
+function normalOffsets(poses, bnd) {
+    const out = [];
+    let prev = null;
+    for (const pose of poses) {
+        // Right normal of heading h in ENU: (sin h, -cos h).
+        const nx = Math.sin(pose.hdg);
+        const ny = -Math.cos(pose.hdg);
+        const fallback = distancePointToPolyline({ x: pose.x, y: pose.y }, bnd);
+        const refVal = prev ?? fallback;
+        let best = null;
+        for (let i = 0; i < bnd.length - 1; i++) {
+            const dx = bnd[i + 1].x - bnd[i].x;
+            const dy = bnd[i + 1].y - bnd[i].y;
+            // Solve pose + t·n = bnd[i] + w·(bnd[i+1]-bnd[i]) for (t, w).
+            const det = dx * ny - dy * nx;
+            if (Math.abs(det) < 1e-12)
+                continue;
+            const rx = bnd[i].x - pose.x;
+            const ry = bnd[i].y - pose.y;
+            const w = (nx * ry - ny * rx) / det;
+            if (w < -1e-9 || w > 1 + 1e-9)
+                continue;
+            const t = (dx * ry - dy * rx) / det;
+            if (best === null || Math.abs(t - refVal) < Math.abs(best - refVal))
+                best = t;
+        }
+        if (best === null || Math.abs(best - refVal) > OFFSET_JUMP_TOL_M)
+            best = fallback;
+        prev = best;
+        out.push(best);
+    }
+    return out;
+}
+/**
+ * Build the bundle geometry: the fitted reference line (leftmost boundary)
+ * plus per-lane width samples.
+ *
+ * The reference polyline keeps the boundary's own vertices and is refined
+ * with uniform arc-length stations so the width grid is at least as dense as
+ * the densest boundary of the bundle. The polyline is then fitted into
+ * analytic plan-view primitives (line / arc / paramPoly3), and the width of
+ * lane i at station j is the gap between its inner and outer boundary
+ * measured along the fitted reference normal at that station, so the
+ * importer's offset-along-normal reconstruction reproduces the original
+ * boundaries with no longitudinal skew.
+ */
+function buildBundleGeometry(shapeMap, bundleLanes, pointOverrides) {
+    const first = bundleLanes[0];
+    const boundaries = [];
+    const left = boundaryPointsOf(shapeMap, first.props.leftBoundaryId, first.props.invertLeft, pointOverrides);
+    if (!left)
+        return null;
+    boundaries.push(left);
+    for (const lane of bundleLanes) {
+        const right = boundaryPointsOf(shapeMap, lane.props.rightBoundaryId, lane.props.invertRight, pointOverrides);
+        if (!right)
+            return null;
+        boundaries.push(right);
+    }
+    // Boundaries in OpenDRIVE meters (ENU).
+    const bndOdr = boundaries.map(b => b.map(p => ({ x: pxToEnuX(p.x), y: pxToEnuY(p.y) })));
+    // The plan view is fitted to the reference boundary's own vertices only:
+    // they are true samples of the drawn curve, so the fitter's tangent
+    // estimates are sound there. Densifying the polyline before the fit would
+    // insert points along its chords, whose collinear runs masquerade as
+    // straight stretches and corrupt the tangent estimates (worst at the road
+    // ends, where the start/end heading defines the contact cross-section
+    // shared with the neighbouring roads).
+    const ref = bndOdr[0];
+    const fit = fitPlanView(ref);
+    if (fit.geometries.length === 0 || !(fit.length > 0))
+        return null;
+    // Width stations: the reference vertices (corners must survive into the
+    // width records) merged with a uniform grid as dense as the densest
+    // boundary (inner-boundary detail must survive too). Grid stations are
+    // placed by chord-length interpolation between the fitted stations of the
+    // surrounding reference vertices and posed on the fitted curve.
+    let n = 2;
+    for (const b of bndOdr)
+        n = Math.max(n, b.length);
+    const cum = [0];
+    for (let i = 1; i < ref.length; i++) {
+        cum.push(cum[i - 1] + Math.hypot(ref[i].x - ref[i - 1].x, ref[i].y - ref[i - 1].y));
+    }
+    const total = cum[cum.length - 1];
+    if (!(total > 0))
+        return null;
+    const params = cum.map(c => c / total);
+    for (let j = 0; j < n; j++)
+        params.push(j / (n - 1));
+    params.sort((a, b) => a - b);
+    const stationOf = (t) => {
+        const target = t * total;
+        let i = 1;
+        while (i < cum.length - 1 && cum[i] < target)
+            i++;
+        const c0 = cum[i - 1];
+        const c1 = cum[i];
+        const s0 = fit.samplePoses[i - 1].s;
+        const s1 = fit.samplePoses[i].s;
+        const f = c1 > c0 ? (target - c0) / (c1 - c0) : 0;
+        return s0 + (s1 - s0) * f;
+    };
+    const poseAtStation = (s) => {
+        const clamped = Math.min(Math.max(s, 0), fit.length);
+        let g = fit.geometries[0];
+        for (const geom of fit.geometries) {
+            if (geom.s <= clamped + 1e-12)
+                g = geom;
+            else
+                break;
+        }
+        const p = evalGeometry(g, Math.min(Math.max(clamped - g.s, 0), g.length));
+        return { s: clamped, x: p.x, y: p.y, hdg: p.hdg };
+    };
+    const samplePoses = [];
+    for (const t of params) {
+        const pose = poseAtStation(stationOf(t));
+        const last = samplePoses[samplePoses.length - 1];
+        if (!last || pose.s > last.s + 1e-9 || samplePoses.length === 0)
+            samplePoses.push(pose);
+    }
+    if (samplePoses.length < 2)
+        return null;
+    const offsets = bndOdr.map(b => normalOffsets(samplePoses, b));
+    // Contact stations measure each boundary's own endpoint (projected onto
+    // the contact normal) instead of the ray/polyline crossing: the endpoints
+    // are the welded corners shared with the neighbouring road, so both sides
+    // of a contact derive their border positions from the same drawn points
+    // and meet without a lateral step. (The ray crossing drifts by up to a few
+    // centimeters when a boundary meets the contact at a skew.)
+    const projectEndpoint = (pose, p, fallback) => {
+        const t = (p.x - pose.x) * Math.sin(pose.hdg) - (p.y - pose.y) * Math.cos(pose.hdg);
+        return Math.abs(t - fallback) <= 0.5 ? t : fallback;
+    };
+    const lastIdx = samplePoses.length - 1;
+    for (let b = 0; b < bndOdr.length; b++) {
+        const bnd = bndOdr[b];
+        offsets[b][0] = projectEndpoint(samplePoses[0], bnd[0], offsets[b][0]);
+        offsets[b][lastIdx] = projectEndpoint(samplePoses[lastIdx], bnd[bnd.length - 1], offsets[b][lastIdx]);
+    }
+    const laneWidths = bundleLanes.map((_, i) => samplePoses.map((_, j) => Math.max(0, offsets[i + 1][j] - offsets[i][j])));
+    return { planView: fit.geometries, samplePoses, laneWidths, length: fit.length };
+}
 /**
  * Snap together boundary endpoints of connected lanes by clustering nearby
  * points and using the centroid as the canonical position.
@@ -96,7 +335,14 @@ function buildBoundaryAlignmentOverrides(shapeMap, lanes, epsilonPx = 30) {
             const pt = shapeMap.get(pid);
             if (!pt)
                 continue;
-            endpoints.push({ pointId: pid, laneId: lane.id, side, x: pt.x, y: pt.y });
+            endpoints.push({
+                pointId: pid,
+                laneId: lane.id,
+                side,
+                boundary: sideKey === 'leftBoundaryId' ? 'left' : 'right',
+                x: pt.x,
+                y: pt.y,
+            });
         }
     };
     // Restrict to lanes that participate in a next/prev relationship.
@@ -108,35 +354,91 @@ function buildBoundaryAlignmentOverrides(shapeMap, lanes, epsilonPx = 30) {
         if (hasPrev)
             collectEndpoints(lane, 'start');
     }
-    // Greedy clustering: group points within epsilon of each other, with two
+    // Forbidden point pairs: a lane's start-side and end-side endpoint Points
+    // must never land in the same cluster. A connecting lane shorter than
+    // epsilon would otherwise get its start and end merged into one cluster,
+    // collapsing its boundaries below the degenerate-road export guard and
+    // silently dropping the lane (and its next/prev chain). The constraint is
+    // tracked by point id — not by the owning lane entry — because boundary
+    // endpoints are often Point shapes shared with the neighbouring lanes, and
+    // a neighbour's entry could otherwise pull both of a short lane's end
+    // points into one cluster.
+    const sidePids = new Map();
+    for (const ep of endpoints) {
+        const entry = sidePids.get(ep.laneId) ?? { start: new Set(), end: new Set() };
+        entry[ep.side].add(ep.pointId);
+        sidePids.set(ep.laneId, entry);
+    }
+    const forbidden = new Map();
+    const forbid = (a, b) => {
+        forbidden.set(a, (forbidden.get(a) ?? new Set()).add(b));
+        forbidden.set(b, (forbidden.get(b) ?? new Set()).add(a));
+    };
+    for (const { start, end } of sidePids.values()) {
+        for (const s of start) {
+            for (const e of end) {
+                if (s !== e)
+                    forbid(s, e);
+            }
+        }
+    }
+    // A lane's left-boundary endpoint must never merge with its right-boundary
+    // endpoint on the same side: lanes narrower than epsilon would be pinched
+    // to zero width at the contact (and the welded neighbours dragged along).
+    // Tracked by point id like above, so a genuine zero-width taper — where
+    // left and right already share one Point — is unaffected.
+    const boundaryPids = new Map();
+    for (const ep of endpoints) {
+        const key = `${ep.laneId}|${ep.side}`;
+        const entry = boundaryPids.get(key) ?? { left: new Set(), right: new Set() };
+        entry[ep.boundary].add(ep.pointId);
+        boundaryPids.set(key, entry);
+    }
+    for (const { left, right } of boundaryPids.values()) {
+        for (const l of left) {
+            for (const r of right) {
+                if (l !== r)
+                    forbid(l, r);
+            }
+        }
+    }
+    // Greedy clustering: group points within epsilon of each other, with three
     // refinements over plain first-fit grouping:
-    // 1. An endpoint never joins a cluster that already holds the opposite end
-    //    of the same lane. A connecting lane shorter than epsilon would
-    //    otherwise get its start and end merged into one cluster, collapsing
-    //    its centerline below the degenerate-road export guard and silently
-    //    dropping the lane (and its next/prev chain).
+    // 1. An endpoint never joins a cluster holding a point its point id is
+    //    forbidden against (see above).
     // 2. Among the eligible clusters the nearest one wins, so the far end of a
     //    short lane clusters with its true counterpart rather than with the
     //    first cluster found within epsilon.
+    // 3. An endpoint whose nearest in-range cluster is a forbidden one never
+    //    hops to a farther eligible cluster: the forbidden cluster marks a
+    //    neighbouring corner of the same contact (narrow lane / short lane),
+    //    so anything beyond it belongs to a different corner entirely and
+    //    merging would drag the contact sideways. It opens its own cluster.
     const clusters = [];
     const eps2 = epsilonPx * epsilonPx;
     for (const ep of endpoints) {
         let best = null;
         let bestD2 = Infinity;
+        let blockedD2 = Infinity;
+        const epForbidden = forbidden.get(ep.pointId);
         for (const cluster of clusters) {
             const c0 = cluster[0];
             const dx = ep.x - c0.x;
             const dy = ep.y - c0.y;
             const d2 = dx * dx + dy * dy;
-            if (d2 > eps2 || d2 >= bestD2)
+            if (d2 > eps2)
+                continue;
+            if (epForbidden && cluster.some((m) => epForbidden.has(m.pointId))) {
+                if (d2 < blockedD2)
+                    blockedD2 = d2;
                 continue;
-            const conflictsOwnLane = cluster.some((m) => m.laneId === ep.laneId && m.side !== ep.side);
-            if (conflictsOwnLane)
+            }
+            if (d2 >= bestD2)
                 continue;
             best = cluster;
             bestD2 = d2;
         }
-        if (best)
+        if (best && bestD2 <= blockedD2)
             best.push(ep);
         else
             clusters.push([ep]);
@@ -164,17 +466,20 @@ function buildBoundaryAlignmentOverrides(shapeMap, lanes, epsilonPx = 30) {
 function emitPlanView(geom) {
     const lines = [];
     lines.push(`    <planView>`);
-    for (let i = 0; i < geom.odrSamples.length - 1; i++) {
-        const a = geom.odrSamples[i];
-        const b = geom.odrSamples[i + 1];
-        const dx = b.x - a.x;
-        const dy = b.y - a.y;
-        const segLen = Math.hypot(dx, dy);
-        if (segLen < 1e-9)
+    for (const g of geom.planView) {
+        if (g.length < 1e-9)
             continue;
-        const hdg = Math.atan2(dy, dx);
-        lines.push(`      <geometry s="${fmt(a.s)}" x="${fmt(a.x)}" y="${fmt(a.y)}" hdg="${fmt(hdg)}" length="${fmt(segLen)}">`);
-        lines.push(`        <line/>`);
+        lines.push(`      <geometry s="${fmt(g.s)}" x="${fmt(g.x)}" y="${fmt(g.y)}" hdg="${fmt(g.hdg)}" length="${fmt(g.length)}">`);
+        if (g.kind === 'arc') {
+            lines.push(`        <arc curvature="${fmtPrecise(g.curvature)}"/>`);
+        }
+        else if (g.kind === 'paramPoly3') {
+            lines.push(`        <paramPoly3 aU="${fmtPrecise(g.aU)}" bU="${fmtPrecise(g.bU)}" cU="${fmtPrecise(g.cU)}" dU="${fmtPrecise(g.dU)}" ` +
+                `aV="${fmtPrecise(g.aV)}" bV="${fmtPrecise(g.bV)}" cV="${fmtPrecise(g.cV)}" dV="${fmtPrecise(g.dV)}" pRange="arcLength"/>`);
+        }
+        else {
+            lines.push(`        <line/>`);
+        }
         lines.push(`      </geometry>`);
     }
     lines.push(`    </planView>`);
@@ -211,93 +516,240 @@ function roadMarkTypeFor(shapeMap, boundaryId) {
     const ls = shapeMap.get(boundaryId);
     return ls?.props?.attributes?.subtype === 'dashed' ? 'broken' : 'solid';
 }
-function emitLanes(geom, hasPrev, hasNext, laneType, centerMark, outerMark) {
+function emitLanes(bundle, plan, shapeMap) {
+    const geom = bundle.geom;
     const lines = [];
     lines.push(`    <lanes>`);
-    // The plan view follows the lane centerline; shifting the lane reference by
-    // +width/2 puts center lane 0 on the lane's left boundary, so a single
-    // right lane (-1) spans the full lane width. One drawtonomy lane therefore
-    // maps to exactly one OpenDRIVE driving lane (not two half-width lanes).
-    emitLaneOffsetEntries(geom, lines);
+    // The plan view follows the bundle's leftmost boundary, so lane 0 (center)
+    // lies on the left edge of lane -1 and no laneOffset is required. Lanes are
+    // emitted -1, -2, ... from the reference line outward (left→right in travel
+    // direction), each spanning its full drawn width.
     lines.push(`      <laneSection s="0">`);
-    // Center reference line (= left boundary after the laneOffset shift).
     lines.push(`        <center>`);
     lines.push(`          <lane id="0" type="none" level="false">`);
     lines.push(`            <link/>`);
+    const centerMark = roadMarkTypeFor(shapeMap, bundle.lanes[0].props.leftBoundaryId);
     lines.push(`            <roadMark sOffset="0" type="${centerMark}" weight="standard" color="white" width="0.13"/>`);
     lines.push(`          </lane>`);
     lines.push(`        </center>`);
     lines.push(`        <right>`);
-    lines.push(`          <lane id="-1" type="${laneType}" level="false">`);
-    emitLaneLink(lines, hasPrev, hasNext, -1);
-    emitWidthEntries(geom, lines);
-    lines.push(`            <roadMark sOffset="0" type="${outerMark}" weight="standard" color="white" width="0.13"/>`);
-    lines.push(`          </lane>`);
+    bundle.lanes.forEach((lane, i) => {
+        const odrId = -(i + 1);
+        lines.push(`          <lane id="${odrId}" type="${odrLaneTypeFor(lane)}" level="false">`);
+        emitLaneLink(lines, plan.lanePredecessor.get(lane.id), plan.laneSuccessor.get(lane.id));
+        emitWidthEntries(geom, i, lines);
+        const outerMark = roadMarkTypeFor(shapeMap, lane.props.rightBoundaryId);
+        lines.push(`            <roadMark sOffset="0" type="${outerMark}" weight="standard" color="white" width="0.13"/>`);
+        lines.push(`          </lane>`);
+    });
     lines.push(`        </right>`);
     lines.push(`      </laneSection>`);
     lines.push(`    </lanes>`);
     return lines.join('\n');
 }
-function emitLaneLink(out, hasPrev, hasNext, laneId) {
-    if (!hasPrev && !hasNext) {
+function emitLaneLink(out, predId, succId) {
+    if (predId === undefined && succId === undefined) {
         out.push(`            <link/>`);
         return;
     }
     out.push(`            <link>`);
-    if (hasPrev) {
-        out.push(`              <predecessor id="${laneId}"/>`);
+    if (predId !== undefined) {
+        out.push(`              <predecessor id="${predId}"/>`);
     }
-    if (hasNext) {
-        out.push(`              <successor id="${laneId}"/>`);
+    if (succId !== undefined) {
+        out.push(`              <successor id="${succId}"/>`);
     }
     out.push(`            </link>`);
 }
-/** Piecewise-linear laneOffset records: +width/2 toward the left boundary. */
-function emitLaneOffsetEntries(geom, out) {
-    for (let i = 0; i < geom.odrSamples.length - 1; i++) {
-        const s = geom.odrSamples[i].s;
-        const halfA = geom.odrSamples[i].width / 2;
-        const halfB = geom.odrSamples[i + 1].width / 2;
-        const segLen = geom.odrSamples[i + 1].s - s;
-        const b = segLen > 1e-9 ? (halfB - halfA) / segLen : 0;
-        out.push(`      <laneOffset s="${fmt(s)}" a="${fmt(halfA)}" b="${fmt(b)}" c="0" d="0"/>`);
+/**
+ * Maximum width error (m) tolerated when folding stations into one record.
+ * Width samples carry chordal noise of the same order (the boundary polyline
+ * is a chordal approximation of the original curve), so a 1 cm band mostly
+ * absorbs that noise while staying far below the 5 cm position tolerance.
+ */
+const WIDTH_SIMPLIFY_TOL_M = 0.01;
+/**
+ * Piecewise-linear full lane width records: a + b*ds (c=d=0). Station runs
+ * are simplified greedily: a record absorbs every following station whose
+ * widths stay within WIDTH_SIMPLIFY_TOL_M of the straight ramp between the
+ * record start and the run end, so constant-width lanes collapse to a single
+ * record and smoothly varying lanes to a few.
+ */
+function emitWidthEntries(geom, laneIndex, out) {
+    const allWidths = geom.laneWidths[laneIndex];
+    const poses = geom.samplePoses;
+    // Strictly increasing stations (duplicates share one width sample).
+    const sArr = [];
+    const wArr = [];
+    for (let i = 0; i < poses.length; i++) {
+        if (sArr.length === 0 || poses[i].s > sArr[sArr.length - 1] + 1e-9) {
+            sArr.push(poses[i].s);
+            wArr.push(allWidths[i]);
+        }
     }
-}
-/** Piecewise-linear full lane width records: a + b*ds (c=d=0). */
-function emitWidthEntries(geom, out) {
-    for (let i = 0; i < geom.odrSamples.length - 1; i++) {
-        const s = geom.odrSamples[i].s;
-        const wA = geom.odrSamples[i].width;
-        const wB = geom.odrSamples[i + 1].width;
-        const segLen = geom.odrSamples[i + 1].s - s;
-        const b = segLen > 1e-9 ? (wB - wA) / segLen : 0;
-        out.push(`            <width sOffset="${fmt(s)}" a="${fmt(wA)}" b="${fmt(b)}" c="0" d="0"/>`);
+    const recs = [];
+    if (sArr.length < 2) {
+        recs.push({ s: 0, a: wArr[0] ?? 0, b: 0 });
     }
+    let i0 = 0;
+    while (i0 < sArr.length - 1) {
+        let end = i0 + 1;
+        for (let j = i0 + 2; j < sArr.length; j++) {
+            const slope = (wArr[j] - wArr[i0]) / (sArr[j] - sArr[i0]);
+            let ok = true;
+            for (let k = i0 + 1; k < j; k++) {
+                if (Math.abs(wArr[i0] + slope * (sArr[k] - sArr[i0]) - wArr[k]) > WIDTH_SIMPLIFY_TOL_M) {
+                    ok = false;
+                    break;
+                }
+            }
+            if (!ok)
+                break;
+            end = j;
+        }
+        recs.push({ s: sArr[i0], a: wArr[i0], b: (wArr[end] - wArr[i0]) / (sArr[end] - sArr[i0]) });
+        i0 = end;
+    }
+    for (const r of recs) {
+        out.push(`            <width sOffset="${fmt(r.s)}" a="${fmt(r.a)}" b="${fmtPrecise(r.b)}" c="0" d="0"/>`);
+    }
+}
+/** Length (m) of a synthesized junction connecting road. Kept below the
+ * importer's micro-section threshold so re-imports skip it and bridge the
+ * lane links across instead of materializing an extra sliver lane. Also kept
+ * below the 1 cm contact-point gap tolerance of ASAM quality checkers: the
+ * incoming lane end and the outgoing lane start coincide in the drawing, so
+ * the stub necessarily overlaps the outgoing road and its whole length shows
+ * up as a contact-point discontinuity to gap checks. */
+const CONNECTING_ROAD_LENGTH_M = 0.005;
+/**
+ * Contact widths below this (m) count as zero for lane linking: OpenDRIVE
+ * forbids predecessor/successor records on lanes that have zero width at the
+ * linked contact (zero-width / appearing-lane semantics). Welded taper lanes
+ * produce exact zeros; the epsilon also covers values that round to zero in
+ * the 6-decimal output.
+ */
+const ZERO_WIDTH_LINK_EPS_M = 1e-3;
+/** Wrap an angle to (-pi, pi]. */
+function wrapAngleRad(a) {
+    while (a > Math.PI)
+        a -= 2 * Math.PI;
+    while (a < -Math.PI)
+        a += 2 * Math.PI;
+    return a;
 }
 /**
- * Plan synthesized <junction> elements for branch / merge connectivity.
+ * Plan road links, lane links and synthesized <junction> elements.
  *
- * A road <link> can name only one predecessor and one successor, so an edge
- * is representable as plain road links only when it is its source's only
- * `next` AND its target's only `prev`. Every other edge (branching or
- * merging) is routed through a synthesized junction: the target roads become
- * connecting roads (their <road junction> attribute is set) and each edge is
- * emitted as a <connection incomingRoad connectingRoad contactPoint="start">
- * carrying a <laneLink from="-1" to="-1"/> (the exporter emits exactly one
- * driving lane -1 per road). Edges that share a lane collapse into the same
+ * A road <link> can name only one predecessor and one successor, so a road
+ * pair (P → Q) is representable as a plain road link only when Q is P's only
+ * successor road AND P is Q's only predecessor road AND every lane edge
+ * between them is 1:1 (its source's only `next` and its target's only
+ * `prev`). Every other lane edge is routed through a synthesized junction
+ * with the standard structure: a short connecting road (junction-stamped,
+ * with a guaranteed road-level predecessor=incoming / successor=outgoing
+ * link) is synthesized at the contact point for each lane edge, and the
+ * junction's <connection incomingRoad connectingRoad contactPoint="start">
+ * carries the per-lane <laneLink>. The mainline roads stay junction="-1" and
+ * link to the junction by id. Edges that share a road collapse into the same
  * junction (connected components), so a 2-in x 2-out diamond becomes one
  * junction with four connections.
+ *
+ * Right-of-way lane pairs (`yieldLaneIds`) whose two lanes both feed
+ * connecting roads of the same junction are emitted as standard
+ * <priority high low> records between those connecting roads.
  */
-function planJunctions(lanes, laneIdToRoadId, firstJunctionId) {
+function planConnectivity(exportBundles, roadIdOf, odrIdOf, firstJunctionId, connectingSourceFor, connectingTargetFor, contactWidth, externalLanes = new Map()) {
     const validNext = new Map();
     const validPrev = new Map();
-    for (const lane of lanes) {
-        if (!laneIdToRoadId.has(lane.id))
+    for (const bundle of exportBundles) {
+        for (const lane of bundle.lanes) {
+            validNext.set(lane.id, (lane.props.next ?? []).filter(id => roadIdOf.has(id)));
+            validPrev.set(lane.id, (lane.props.prev ?? []).filter(id => roadIdOf.has(id)));
+        }
+    }
+    // Carry-through: lanes of verbatim (unedited) roads participate as link
+    // endpoints — their roads are never re-emitted here, but regenerated roads
+    // must still link to / from them. Edges between two external lanes are
+    // covered by the verbatim XML and are skipped below.
+    for (const [id, lane] of externalLanes) {
+        validNext.set(id, (lane.props.next ?? []).filter(t => roadIdOf.has(t)));
+        validPrev.set(id, (lane.props.prev ?? []).filter(t => roadIdOf.has(t)));
+    }
+    // Lanes with (near) zero width at a linked contact must not carry standard
+    // link records there (zero-width / appearing-lane rules), so those edges
+    // are diverted into the hiddenLaneLinks userData stash. The stash lives on
+    // the `from` road when it is re-emitted in this export, else on the `to`
+    // road (one of the two always is: external-external edges stay verbatim).
+    const hiddenLaneEdges = [];
+    for (const [laneId, nexts] of validNext) {
+        if (nexts.length === 0)
             continue;
-        validNext.set(lane.id, (lane.props.next ?? []).filter((id) => laneIdToRoadId.has(id)));
-        validPrev.set(lane.id, (lane.props.prev ?? []).filter((id) => laneIdToRoadId.has(id)));
+        const kept = [];
+        for (const to of nexts) {
+            if (externalLanes.has(laneId) && externalLanes.has(to)) {
+                kept.push(to);
+                continue;
+            }
+            const wFrom = contactWidth(laneId, 'end');
+            const wTo = contactWidth(to, 'start');
+            if ((wFrom !== null && wFrom < ZERO_WIDTH_LINK_EPS_M) ||
+                (wTo !== null && wTo < ZERO_WIDTH_LINK_EPS_M)) {
+                hiddenLaneEdges.push({ from: laneId, to, home: externalLanes.has(laneId) ? to : laneId });
+                const prevs = validPrev.get(to);
+                if (prevs)
+                    validPrev.set(to, prevs.filter(p => p !== laneId));
+                continue;
+            }
+            kept.push(to);
+        }
+        if (kept.length !== nexts.length)
+            validNext.set(laneId, kept);
+    }
+    const succRoads = new Map();
+    const predRoads = new Map();
+    const edgesByPair = new Map();
+    for (const [laneId, nexts] of validNext) {
+        const fromRoad = roadIdOf.get(laneId);
+        for (const to of nexts) {
+            if (externalLanes.has(laneId) && externalLanes.has(to))
+                continue;
+            const toRoad = roadIdOf.get(to);
+            succRoads.set(fromRoad, (succRoads.get(fromRoad) ?? new Set()).add(toRoad));
+            predRoads.set(toRoad, (predRoads.get(toRoad) ?? new Set()).add(fromRoad));
+            const key = `${fromRoad}->${toRoad}`;
+            edgesByPair.set(key, [...(edgesByPair.get(key) ?? []), { from: laneId, to }]);
+        }
+    }
+    const plan = {
+        roadPredecessor: new Map(),
+        roadSuccessor: new Map(),
+        lanePredecessor: new Map(),
+        laneSuccessor: new Map(),
+        junctions: [],
+        connectingRoads: [],
+        handledYieldPairs: new Set(),
+        hiddenLaneEdges,
+    };
+    const junctionPairs = [];
+    for (const [key, laneEdges] of edgesByPair) {
+        const [fromRoad, toRoad] = key.split('->').map(Number);
+        const uniquePair = succRoads.get(fromRoad).size === 1 && predRoads.get(toRoad).size === 1;
+        const lanesOneToOne = laneEdges.every(e => (validNext.get(e.from) ?? []).length === 1 && (validPrev.get(e.to) ?? []).length === 1);
+        if (uniquePair && lanesOneToOne) {
+            plan.roadSuccessor.set(fromRoad, { kind: 'road', id: toRoad });
+            plan.roadPredecessor.set(toRoad, { kind: 'road', id: fromRoad });
+            for (const e of laneEdges) {
+                plan.laneSuccessor.set(e.from, odrIdOf.get(e.to));
+                plan.lanePredecessor.set(e.to, odrIdOf.get(e.from));
+            }
+        }
+        else {
+            junctionPairs.push({ incoming: fromRoad, outgoing: toRoad, laneEdges });
+        }
     }
-    // Union-find over the lanes participating in junction-routed edges.
+    // Union-find over road ids: junction-routed pairs sharing a road merge into
+    // one junction.
     const parent = new Map();
     const find = (x) => {
         let root = x;
@@ -325,66 +777,234 @@ function planJunctions(lanes, laneIdToRoadId, firstJunctionId) {
         if (ra !== rb)
             parent.set(rb, ra);
     };
-    const junctionEdges = [];
-    for (const [laneId, nexts] of validNext) {
-        for (const to of nexts) {
-            const prevsOfTarget = validPrev.get(to) ?? [];
-            if (nexts.length === 1 && prevsOfTarget.length === 1)
-                continue; // plain road link
-            junctionEdges.push({ from: laneId, to });
-            union(laneId, to);
-        }
-    }
-    const plan = {
-        nextJunction: new Map(),
-        prevJunction: new Map(),
-        roadJunction: new Map(),
-        junctions: [],
-    };
+    for (const pair of junctionPairs)
+        union(pair.incoming, pair.outgoing);
+    // Pass 1: one junction per connected component (ids first, so junction ids
+    // and connecting road ids stay sequential and collision-free).
     const junctionByRoot = new Map();
     let nextId = firstJunctionId;
-    for (const e of junctionEdges) {
-        const root = find(e.from);
-        let junction = junctionByRoot.get(root);
-        if (!junction) {
-            junction = { id: nextId++, connections: [] };
+    for (const pair of junctionPairs) {
+        const root = find(pair.incoming);
+        if (!junctionByRoot.has(root)) {
+            const junction = { id: nextId++, connections: [], priorities: [] };
             junctionByRoot.set(root, junction);
             plan.junctions.push(junction);
         }
-        junction.connections.push({
-            incoming: laneIdToRoadId.get(e.from),
-            connecting: laneIdToRoadId.get(e.to),
-        });
-        plan.nextJunction.set(e.from, junction.id);
-        plan.prevJunction.set(e.to, junction.id);
-        plan.roadJunction.set(e.to, junction.id);
+    }
+    // Pass 2: synthesize one short connecting road per junction-routed lane
+    // edge and register it as a <connection> of its junction.
+    const connectingByLane = new Map();
+    for (const pair of junctionPairs) {
+        const junction = junctionByRoot.get(find(pair.incoming));
+        for (const e of pair.laneEdges.slice().sort((a, b) => odrIdOf.get(b.from) - odrIdOf.get(a.from) || odrIdOf.get(b.to) - odrIdOf.get(a.to))) {
+            const source = connectingSourceFor(e.from);
+            if (!source)
+                continue;
+            const spec = {
+                roadId: nextId++,
+                junctionId: junction.id,
+                incomingRoadId: pair.incoming,
+                outgoingRoadId: pair.outgoing,
+                fromOdrLaneId: odrIdOf.get(e.from),
+                toOdrLaneId: odrIdOf.get(e.to),
+                source,
+                target: connectingTargetFor(e.to),
+            };
+            plan.connectingRoads.push(spec);
+            junction.connections.push({
+                incoming: pair.incoming,
+                connecting: spec.roadId,
+                laneLinks: [{ from: spec.fromOdrLaneId, to: -1 }],
+            });
+            const list = connectingByLane.get(e.from) ?? [];
+            list.push(spec);
+            connectingByLane.set(e.from, list);
+        }
+        plan.roadSuccessor.set(pair.incoming, { kind: 'junction', id: junction.id });
+        plan.roadPredecessor.set(pair.outgoing, { kind: 'junction', id: junction.id });
+    }
+    // Right-of-way: a lane pair (X has priority, Y yields) whose maneuvers both
+    // run through connecting roads of one junction becomes <priority high low>
+    // records between those connecting roads.
+    const junctionById = new Map(plan.junctions.map(j => [j.id, j]));
+    for (const bundle of exportBundles) {
+        for (const lane of bundle.lanes) {
+            const highSpecs = connectingByLane.get(lane.id);
+            if (!highSpecs?.length)
+                continue;
+            for (const yieldShapeId of lane.props.yieldLaneIds ?? []) {
+                const lowSpecs = connectingByLane.get(yieldShapeId);
+                if (!lowSpecs?.length)
+                    continue;
+                let expressed = false;
+                for (const hi of highSpecs) {
+                    for (const lo of lowSpecs) {
+                        if (hi.junctionId !== lo.junctionId)
+                            continue;
+                        const junction = junctionById.get(hi.junctionId);
+                        if (!junction.priorities.some(p => p.high === hi.roadId && p.low === lo.roadId)) {
+                            junction.priorities.push({ high: hi.roadId, low: lo.roadId });
+                        }
+                        expressed = true;
+                    }
+                }
+                if (expressed)
+                    plan.handledYieldPairs.add(`${lane.id}|${yieldShapeId}`);
+            }
+        }
     }
     return plan;
 }
-function emitLink(lane, laneIdToRoadId, junctionPlan) {
-    const lines = [];
-    lines.push(`    <link>`);
-    const prevJunction = junctionPlan.prevJunction.get(lane.id);
-    if (prevJunction !== undefined) {
-        lines.push(`      <predecessor elementType="junction" elementId="${prevJunction}"/>`);
-    }
-    else {
-        const prevLane = (lane.props.prev ?? []).find((id) => laneIdToRoadId.has(id));
-        if (prevLane) {
-            const rid = laneIdToRoadId.get(prevLane);
-            lines.push(`      <predecessor elementType="road" elementId="${rid}" contactPoint="end"/>`);
+/**
+ * Emit a synthesized junction connecting road: a single short segment
+ * starting at the incoming lane's inner-boundary endpoint, heading along the
+ * incoming road's end direction, carrying one right lane as wide as the
+ * source lane. When the outgoing lane starts with a different heading or
+ * width (drawn branch points may kink), the stub blends onto them — an <arc>
+ * sweeping the heading difference and a linear width ramp — so the borders
+ * meet both neighbours without a lateral step. The road always links
+ * predecessor=incoming(road, end) and successor=outgoing(road, start), so
+ * standard consumers can traverse incoming -> connecting -> outgoing without
+ * dead ends.
+ */
+function emitConnectingRoad(spec) {
+    const { x, y, hdg, width } = spec.source;
+    const dHdg = spec.target ? wrapAngleRad(spec.target.hdg - hdg) : 0;
+    // Target border point in the source frame: when the outgoing lane's
+    // emitted start sits measurably ahead of the source corner (drawn branch
+    // points stagger by centimeters), a cubic Hermite interpolates both end
+    // poses exactly; otherwise a minimum-length arc (or line) blends the
+    // heading in place.
+    let geometry = '';
+    let len = CONNECTING_ROAD_LENGTH_M;
+    if (spec.target) {
+        const cosH = Math.cos(hdg);
+        const sinH = Math.sin(hdg);
+        const ex = spec.target.x - x;
+        const ey = spec.target.y - y;
+        const u1 = ex * cosH + ey * sinH;
+        const v1 = -ex * sinH + ey * cosH;
+        const dist = Math.hypot(ex, ey);
+        // A target at or behind the source corner (the outgoing road's emitted
+        // start can sit a few millimeters behind the drawn weld) is unreachable
+        // by a forward curve; an in-place blend as short as representable keeps
+        // the leftover contact offset at the stagger itself.
+        if (u1 < CONNECTING_ROAD_LENGTH_M)
+            len = 0.001;
+        if (dist >= CONNECTING_ROAD_LENGTH_M && u1 >= 0.7 * dist && Math.abs(dHdg) <= 1.45) {
+            // Hermite with parameter domain [0, L]: u(0)=0,u'(0)=1,v(0)=0,v'(0)=0,
+            // u(L)=u1, u'(L)=cosθ, v(L)=v1, v'(L)=sinθ (same construction as the
+            // plan-view fitter, emitted as paramPoly3 pRange="arcLength").
+            let L = Math.max(dist, u1);
+            let cU = 0;
+            let dU = 0;
+            let cV = 0;
+            let dV = 0;
+            const cosT = Math.cos(dHdg);
+            const sinT = Math.sin(dHdg);
+            const solve = (dom) => {
+                const A = u1 - dom;
+                const B = cosT - 1;
+                cU = (3 * A - B * dom) / (dom * dom);
+                dU = (B * dom - 2 * A) / (dom * dom * dom);
+                cV = (3 * v1 - sinT * dom) / (dom * dom);
+                dV = (sinT * dom - 2 * v1) / (dom * dom * dom);
+            };
+            const arcLength = (dom) => {
+                const n = 32;
+                let acc = 0;
+                let px = 0;
+                let py = 0;
+                for (let k = 1; k <= n; k++) {
+                    const p = (dom * k) / n;
+                    const lu = p * (1 + p * (cU + p * dU));
+                    const lv = p * p * (cV + p * dV);
+                    acc += Math.hypot(lu - px, lv - py);
+                    px = lu;
+                    py = lv;
+                }
+                return acc;
+            };
+            for (let iter = 0; iter < 3; iter++) {
+                solve(L);
+                const actual = arcLength(L);
+                if (!(actual > 1e-6))
+                    break;
+                if (Math.abs(actual - L) < 1e-6)
+                    break;
+                L = actual;
+            }
+            solve(L);
+            // Stay below the importer's micro-section threshold (0.3 m) so the
+            // stub keeps being bridged on re-import instead of materializing as a
+            // sliver lane; larger staggers fall back to the in-place blend.
+            if (L > 1e-6 && L <= 0.25) {
+                len = L;
+                geometry = `        <paramPoly3 aU="0" bU="1" cU="${fmtPrecise(cU)}" dU="${fmtPrecise(dU)}" aV="0" bV="0" cV="${fmtPrecise(cV)}" dV="${fmtPrecise(dV)}" pRange="arcLength"/>`;
+            }
         }
     }
-    const nextJunction = junctionPlan.nextJunction.get(lane.id);
-    if (nextJunction !== undefined) {
-        lines.push(`      <successor elementType="junction" elementId="${nextJunction}"/>`);
+    if (!geometry) {
+        geometry =
+            Math.abs(dHdg) > 1e-4
+                ? `        <arc curvature="${fmtPrecise(dHdg / len)}"/>`
+                : `        <line/>`;
     }
-    else {
-        const nextLane = (lane.props.next ?? []).find((id) => laneIdToRoadId.has(id));
-        if (nextLane) {
-            const rid = laneIdToRoadId.get(nextLane);
-            lines.push(`      <successor elementType="road" elementId="${rid}" contactPoint="start"/>`);
-        }
+    const widthSlope = spec.target !== null && Math.abs(spec.target.width - width) > 1e-6
+        ? (spec.target.width - width) / len
+        : 0;
+    const lines = [];
+    lines.push(`  <road name="connecting" length="${fmt(len)}" id="${spec.roadId}" junction="${spec.junctionId}">`);
+    lines.push(`    <link>`);
+    lines.push(`      <predecessor elementType="road" elementId="${spec.incomingRoadId}" contactPoint="end"/>`);
+    lines.push(`      <successor elementType="road" elementId="${spec.outgoingRoadId}" contactPoint="start"/>`);
+    lines.push(`    </link>`);
+    lines.push(`    <planView>`);
+    lines.push(`      <geometry s="0" x="${fmt(x)}" y="${fmt(y)}" hdg="${fmt(hdg)}" length="${fmt(len)}">`);
+    lines.push(geometry);
+    lines.push(`      </geometry>`);
+    lines.push(`    </planView>`);
+    lines.push(`    <elevationProfile/>`);
+    lines.push(`    <lateralProfile/>`);
+    lines.push(`    <lanes>`);
+    lines.push(`      <laneSection s="0">`);
+    lines.push(`        <center>`);
+    lines.push(`          <lane id="0" type="none" level="false">`);
+    lines.push(`            <link/>`);
+    lines.push(`            <roadMark sOffset="0" type="none" weight="standard" color="white" width="0.13"/>`);
+    lines.push(`          </lane>`);
+    lines.push(`        </center>`);
+    lines.push(`        <right>`);
+    lines.push(`          <lane id="-1" type="${spec.source.laneType}" level="false">`);
+    lines.push(`            <link>`);
+    lines.push(`              <predecessor id="${spec.fromOdrLaneId}"/>`);
+    lines.push(`              <successor id="${spec.toOdrLaneId}"/>`);
+    lines.push(`            </link>`);
+    lines.push(`            <width sOffset="0" a="${fmt(width)}" b="${widthSlope === 0 ? '0' : fmtPrecise(widthSlope)}" c="0" d="0"/>`);
+    lines.push(`            <roadMark sOffset="0" type="none" weight="standard" color="white" width="0.13"/>`);
+    lines.push(`          </lane>`);
+    lines.push(`        </right>`);
+    lines.push(`      </laneSection>`);
+    lines.push(`    </lanes>`);
+    lines.push(`    <objects/>`);
+    lines.push(`    <signals/>`);
+    lines.push(`  </road>`);
+    return lines.join('\n');
+}
+function emitLink(roadId, plan) {
+    const lines = [];
+    lines.push(`    <link>`);
+    const pred = plan.roadPredecessor.get(roadId);
+    if (pred) {
+        lines.push(pred.kind === 'junction'
+            ? `      <predecessor elementType="junction" elementId="${pred.id}"/>`
+            : `      <predecessor elementType="road" elementId="${pred.id}" contactPoint="end"/>`);
+    }
+    const succ = plan.roadSuccessor.get(roadId);
+    if (succ) {
+        lines.push(succ.kind === 'junction'
+            ? `      <successor elementType="junction" elementId="${succ.id}"/>`
+            : `      <successor elementType="road" elementId="${succ.id}" contactPoint="start"/>`);
     }
     lines.push(`    </link>`);
     return lines.join('\n');
@@ -395,7 +1015,9 @@ function projectToRoad(geom, xG, yG) {
     let bestDist = Infinity;
     let bestHdg = 0;
     let bestClamped = false;
-    const samples = geom.odrSamples;
+    // The fitted sample poses lie on the analytic reference line, so chord
+    // projection between them yields stations directly in the emitted s domain.
+    const samples = geom.samplePoses;
     for (let i = 0; i < samples.length - 1; i++) {
         const a = samples[i];
         const b = samples[i + 1];
@@ -423,7 +1045,7 @@ function projectToRoad(geom, xG, yG) {
         const dist = Math.hypot(xG - projX, yG - projY);
         if (dist < bestDist) {
             bestDist = dist;
-            bestS = a.s + tNorm;
+            bestS = a.s + (tNorm / segLen) * (b.s - a.s);
             const nx = -uy;
             const ny = ux;
             bestT = px * nx + py * ny;
@@ -433,39 +1055,64 @@ function projectToRoad(geom, xG, yG) {
     }
     return { s: bestS, t: bestT, hdg: bestHdg, distance: bestDist, clampedAtEnd: bestClamped };
 }
-function attachShapesToRoads(shapeMap, trafficLights, crosswalks, polygons, laneToGeom, laneIdToRoadId, maxAttachDistanceMeter = 50) {
+/** Contiguous <validity> ranges from a set of ODR lane ids. */
+function laneIdRanges(ids) {
+    const sorted = [...new Set(ids)].sort((a, b) => a - b);
+    const ranges = [];
+    if (sorted.length === 0)
+        return ranges;
+    let start = sorted[0];
+    let prev = sorted[0];
+    for (let i = 1; i < sorted.length; i++) {
+        const v = sorted[i];
+        if (v === prev + 1) {
+            prev = v;
+            continue;
+        }
+        ranges.push({ fromLane: start, toLane: prev });
+        start = v;
+        prev = v;
+    }
+    ranges.push({ fromLane: start, toLane: prev });
+    return ranges;
+}
+function attachShapesToRoads(shapeMap, trafficLights, crosswalks, polygons, roads, laneIdToRoadId, laneIdToOdrLaneId, maxAttachDistanceMeter = 50, signalIdStart = 1) {
     const roadSignals = new Map();
     const roadObjects = new Map();
     const roadSignalRefs = new Map();
     const signalIdByShape = new Map();
-    let signalIdCounter = 1;
+    let signalIdCounter = signalIdStart;
     let objectIdCounter = 1;
-    const roads = [];
-    laneToGeom.forEach((geom, laneId) => {
-        const roadId = laneIdToRoadId.get(laneId);
-        if (roadId !== undefined)
-            roads.push({ laneId, geom, roadId });
-    });
     const geomByRoadId = new Map();
     for (const r of roads)
         geomByRoadId.set(r.roadId, r.geom);
+    /** Affected lanes grouped per road: road id -> ODR lane ids. */
+    const affectedLanesByRoad = (laneShapeIds) => {
+        const byRoad = new Map();
+        for (const laneShapeId of laneShapeIds ?? []) {
+            const rid = laneIdToRoadId.get(laneShapeId);
+            const oid = laneIdToOdrLaneId.get(laneShapeId);
+            if (rid === undefined || oid === undefined)
+                continue;
+            const list = byRoad.get(rid) ?? [];
+            if (!list.includes(oid))
+                list.push(oid);
+            byRoad.set(rid, list);
+        }
+        return byRoad;
+    };
     for (const tl of trafficLights) {
         const xG = pxToEnuX(tl.x);
         const yG = pxToEnuY(tl.y);
         // Regulatory layer: a signal that names affected lanes attaches to the
-        // nearest of those lanes' roads and carries a <validity> record for the
-        // road's single driving lane (-1). Distance gating does not apply — the
-        // assignment is explicit.
-        const affectedRoadIds = new Set();
-        for (const laneShapeId of tl.props.affectedLaneIds ?? []) {
-            const rid = laneIdToRoadId.get(laneShapeId);
-            if (rid !== undefined)
-                affectedRoadIds.add(rid);
-        }
+        // nearest of those lanes' roads and carries <validity> records for the
+        // affected lane range. Distance gating does not apply — the assignment is
+        // explicit.
+        const affectedByRoad = affectedLanesByRoad(tl.props.affectedLaneIds);
         let best = null;
-        if (affectedRoadIds.size > 0) {
+        if (affectedByRoad.size > 0) {
             for (const r of roads) {
-                if (!affectedRoadIds.has(r.roadId))
+                if (!affectedByRoad.has(r.roadId))
                     continue;
                 const proj = projectToRoad(r.geom, xG, yG);
                 if (!best || proj.distance < best.proj.distance)
@@ -504,20 +1151,19 @@ function attachShapesToRoads(shapeMap, trafficLights, crosswalks, polygons, lane
             dynamic: 'yes',
             orientation: best.proj.t >= 0 ? '+' : '-',
         };
-        if (affectedRoadIds.size > 0) {
-            // The exporter emits one driving lane (-1) per road.
-            entry.validity = { fromLane: -1, toLane: -1 };
+        if (affectedByRoad.size > 0) {
+            entry.validity = laneIdRanges(affectedByRoad.get(best.roadId));
         }
         list.push(entry);
         roadSignals.set(best.roadId, list);
         signalIdByShape.set(tl.id, entry.id);
-        // A signal controlling several lanes spans several roads in the
-        // 1-lane-per-road model. The remaining affected roads get a standard
-        // <signalReference> pointing back at the signal so the validity links
-        // survive a round trip (and ODR consumers see the full coverage).
-        if (affectedRoadIds.size > 1) {
+        // A signal controlling lanes in several road bundles cannot carry a
+        // single <validity> (it cannot cross roads); the remaining affected roads
+        // get a standard <signalReference> pointing back at the signal with their
+        // own lane ranges, so the validity links survive a round trip.
+        if (affectedByRoad.size > 1) {
             for (const r of roads) {
-                if (r.roadId === best.roadId || !affectedRoadIds.has(r.roadId))
+                if (r.roadId === best.roadId || !affectedByRoad.has(r.roadId))
                     continue;
                 const proj = projectToRoad(r.geom, xG, yG);
                 const refs = roadSignalRefs.get(r.roadId) ?? [];
@@ -526,6 +1172,7 @@ function attachShapesToRoads(shapeMap, trafficLights, crosswalks, polygons, lane
                     s: proj.s,
                     t: proj.t,
                     orientation: proj.t >= 0 ? '+' : '-',
+                    validity: laneIdRanges(affectedByRoad.get(r.roadId)),
                 });
                 roadSignalRefs.set(r.roadId, refs);
             }
@@ -581,16 +1228,11 @@ function attachShapesToRoads(shapeMap, trafficLights, crosswalks, polygons, lane
         // Regulatory layer: a crosswalk that names affected lanes attaches to the
         // nearest of those lanes' roads (no distance gate — the assignment is
         // explicit), mirroring the signal behavior above.
-        const affectedRoadIds = new Set();
-        for (const laneShapeId of cw.props.affectedLaneIds ?? []) {
-            const rid = laneIdToRoadId.get(laneShapeId);
-            if (rid !== undefined)
-                affectedRoadIds.add(rid);
-        }
+        const affectedByRoad = affectedLanesByRoad(cw.props.affectedLaneIds);
         let best = null;
-        if (affectedRoadIds.size > 0) {
+        if (affectedByRoad.size > 0) {
             for (const r of roads) {
-                if (!affectedRoadIds.has(r.roadId))
+                if (!affectedByRoad.has(r.roadId))
                     continue;
                 const proj = projectToRoad(r.geom, xG, yG);
                 if (!best || proj.distance < best.proj.distance)
@@ -628,13 +1270,19 @@ function attachShapesToRoads(shapeMap, trafficLights, crosswalks, polygons, lane
         // π/2 regardless of the user-drawn axis direction.
         void relativeHdg;
         const crosswalkHdg = Math.PI / 2;
-        // Regulatory links (affected roads + stop line polyline) ride along as
+        // Regulatory links (affected lanes + stop line polyline) ride along as
         // <userData> — OpenDRIVE's standard extension mechanism — so they survive
         // an .xodr round trip. Coordinates are ENU meters.
         const userData = [];
-        if (affectedRoadIds.size > 0) {
+        if (affectedByRoad.size > 0) {
+            const affectedLanes = [];
+            for (const [rid, ids] of [...affectedByRoad.entries()].sort((a, b) => a[0] - b[0])) {
+                for (const oid of [...ids].sort((a, b) => a - b)) {
+                    affectedLanes.push([String(rid), String(oid)]);
+                }
+            }
             const links = {
-                affectedRoads: [...affectedRoadIds].sort((a, b) => a - b).map(String),
+                affectedLanes,
             };
             if (cw.props.stopLineId) {
                 const stopLs = shapeMap.get(cw.props.stopLineId);
@@ -682,12 +1330,13 @@ function attachShapesToRoads(shapeMap, trafficLights, crosswalks, polygons, lane
         for (const r of roads) {
             const proj = projectToRoad(r.geom, xG, yG);
             if (proj.clampedAtEnd) {
-                if (!fallback || proj.distance < fallback.proj.distance)
-                    fallback = { roadId: r.roadId, proj };
+                if (!fallback || proj.distance < fallback.proj.distance) {
+                    fallback = { roadId: r.roadId, geom: r.geom, proj };
+                }
                 continue;
             }
             if (!best || proj.distance < best.proj.distance)
-                best = { roadId: r.roadId, proj };
+                best = { roadId: r.roadId, geom: r.geom, proj };
         }
         if (!best)
             best = fallback;
@@ -695,7 +1344,7 @@ function attachShapesToRoads(shapeMap, trafficLights, crosswalks, polygons, lane
             continue;
         const cosH = Math.cos(best.proj.hdg);
         const sinH = Math.sin(best.proj.hdg);
-        const samples = laneToGeom.get([...laneToGeom.keys()].find((k) => laneIdToRoadId.get(k) === best.roadId)).odrSamples;
+        const samples = best.geom.samplePoses;
         const anchorPoint = best.proj.clampedAtEnd && best.proj.s >= samples[samples.length - 1].s - 1e-6
             ? samples[samples.length - 1]
             : samples[0];
@@ -741,10 +1390,10 @@ function emitSignals(signals, references) {
     lines.push(`    <signals>`);
     for (const s of signals) {
         const attrs = `id="${s.id}" s="${fmt(s.s)}" t="${fmt(s.t)}" zOffset="${fmt(s.zOffset)}" name="${escapeXml(s.name)}" dynamic="${s.dynamic}" orientation="${s.orientation}" type="${s.type}" subtype="${s.subtype}" country="OpenDRIVE" value="0" height="${fmt(s.height)}" width="${fmt(s.width)}"`;
-        if (s.validity || s.stopLinePoints) {
+        if (s.validity?.length || s.stopLinePoints) {
             lines.push(`      <signal ${attrs}>`);
-            if (s.validity) {
-                lines.push(`        <validity fromLane="${s.validity.fromLane}" toLane="${s.validity.toLane}"/>`);
+            for (const v of s.validity ?? []) {
+                lines.push(`        <validity fromLane="${v.fromLane}" toLane="${v.toLane}"/>`);
             }
             if (s.stopLinePoints) {
                 const json = JSON.stringify(s.stopLinePoints.map((p) => [roundMm(p.x), roundMm(p.y)]));
@@ -758,7 +1407,9 @@ function emitSignals(signals, references) {
     }
     for (const ref of references) {
         lines.push(`      <signalReference s="${fmt(ref.s)}" t="${fmt(ref.t)}" id="${ref.id}" orientation="${ref.orientation}">`);
-        lines.push(`        <validity fromLane="-1" toLane="-1"/>`);
+        for (const v of ref.validity) {
+            lines.push(`        <validity fromLane="${v.fromLane}" toLane="${v.toLane}"/>`);
+        }
         lines.push(`      </signalReference>`);
     }
     lines.push(`    </signals>`);
@@ -807,40 +1458,86 @@ function emitObjects(objects) {
 /**
  * Lane attributes that have no OpenDRIVE representation (speed_limit only
  * partially maps, one_way / turn_direction / location and custom tags not at
- * all) are stashed verbatim as JSON in <userData code="laneAttributes"> —
- * OpenDRIVE's standard extension mechanism — and restored by the importer.
+ * all) are stashed as JSON in <userData code="laneAttributes"> — OpenDRIVE's
+ * standard extension mechanism — keyed by the lane's ODR id so per-lane
+ * attributes stay separate in multi-lane roads, and restored by the importer.
  * `odr_*` meta attributes are excluded: they are regenerated on import.
  */
-function emitLaneAttributesUserData(lane) {
-    const stash = {};
-    for (const [k, v] of Object.entries(lane.props.attributes ?? {})) {
-        if (k === 'type' || k.startsWith('odr_'))
-            continue;
-        if (v === undefined || v === null || v === '')
-            continue;
-        stash[k] = String(v);
-    }
-    if (Object.keys(stash).length === 0)
+function emitLaneAttributesUserData(bundleLanes) {
+    const byLane = {};
+    bundleLanes.forEach((lane, i) => {
+        const stash = {};
+        for (const [k, v] of Object.entries(lane.props.attributes ?? {})) {
+            if (k === 'type' || k.startsWith('odr_'))
+                continue;
+            if (v === undefined || v === null || v === '')
+                continue;
+            stash[k] = String(v);
+        }
+        if (Object.keys(stash).length > 0)
+            byLane[String(-(i + 1))] = stash;
+    });
+    if (Object.keys(byLane).length === 0)
         return null;
-    return `    <userData code="laneAttributes" value="${escapeXml(JSON.stringify(stash))}"/>`;
+    return `    <userData code="laneAttributes" value="${escapeXml(JSON.stringify(byLane))}"/>`;
 }
 /**
- * Right-of-way links (`yieldLaneIds`) have no canonical OpenDRIVE road-level
- * representation in this exporter (junction <priority> mapping is out of
- * scope), so the yielding lanes' road ids are stashed in
- * <userData code="yieldRoads"> and restored by the importer.
+ * Right-of-way links (`yieldLaneIds`) between two lanes that both feed a
+ * connecting road of the same junction are expressed as standard junction
+ * <priority> records (see planConnectivity); every remaining link is stashed
+ * in <userData code="yieldLanes"> as { ownLaneId: [[roadId, laneId], ...] }
+ * and restored by the importer.
  */
-function emitYieldRoadsUserData(lane, laneIdToRoadId) {
-    const yieldRoadIds = [];
-    for (const yieldShapeId of lane.props.yieldLaneIds ?? []) {
-        const rid = laneIdToRoadId.get(yieldShapeId);
-        if (rid !== undefined && !yieldRoadIds.includes(rid))
-            yieldRoadIds.push(rid);
-    }
-    if (yieldRoadIds.length === 0)
+function emitYieldLanesUserData(bundleLanes, laneIdToRoadId, laneIdToOdrLaneId, handledYieldPairs) {
+    const byLane = {};
+    bundleLanes.forEach((lane, i) => {
+        const targets = [];
+        for (const yieldShapeId of lane.props.yieldLaneIds ?? []) {
+            if (handledYieldPairs.has(`${lane.id}|${yieldShapeId}`))
+                continue;
+            const rid = laneIdToRoadId.get(yieldShapeId);
+            const oid = laneIdToOdrLaneId.get(yieldShapeId);
+            if (rid === undefined || oid === undefined)
+                continue;
+            if (!targets.some(t => t[0] === String(rid) && t[1] === String(oid))) {
+                targets.push([String(rid), String(oid)]);
+            }
+        }
+        if (targets.length > 0) {
+            targets.sort((a, b) => Number(a[0]) - Number(b[0]) || Number(a[1]) - Number(b[1]));
+            byLane[String(-(i + 1))] = targets;
+        }
+    });
+    if (Object.keys(byLane).length === 0)
         return null;
-    const json = JSON.stringify(yieldRoadIds.sort((a, b) => a - b).map(String));
-    return `    <userData code="yieldRoads" value="${escapeXml(json)}"/>`;
+    return `    <userData code="yieldLanes" value="${escapeXml(JSON.stringify(byLane))}"/>`;
+}
+/**
+ * Zero-width-contact lane edges homed on this road (see
+ * ConnectivityPlan.hiddenLaneEdges), stashed as
+ * <userData code="hiddenLaneLinks"> records of
+ * { fr, fl, tr, tl } = from road id / from ODR lane id / to road id /
+ * to ODR lane id (from end -> to start in travel direction), and restored
+ * into next/prev by the importer.
+ */
+function emitHiddenLinksUserData(bundleLanes, plan, laneIdToRoadId, laneIdToOdrLaneId) {
+    const inBundle = new Set(bundleLanes.map(l => l.id));
+    const recs = [];
+    for (const e of plan.hiddenLaneEdges) {
+        if (!inBundle.has(e.home))
+            continue;
+        const fr = laneIdToRoadId.get(e.from);
+        const fl = laneIdToOdrLaneId.get(e.from);
+        const tr = laneIdToRoadId.get(e.to);
+        const tl = laneIdToOdrLaneId.get(e.to);
+        if (fr === undefined || fl === undefined || tr === undefined || tl === undefined)
+            continue;
+        recs.push({ fr, fl, tr, tl });
+    }
+    if (recs.length === 0)
+        return null;
+    recs.sort((a, b) => a.fr - b.fr || a.fl - b.fl || a.tr - b.tr || a.tl - b.tl);
+    return `    <userData code="hiddenLaneLinks" value="${escapeXml(JSON.stringify(recs))}"/>`;
 }
 /**
  * Road length attribute. The plan-view geometries are emitted with rounded
@@ -850,51 +1547,327 @@ function emitYieldRoadsUserData(lane, laneIdToRoadId) {
  */
 function emittedRoadLength(geom) {
     let extent = geom.length;
-    for (let i = 0; i < geom.odrSamples.length - 1; i++) {
-        const a = geom.odrSamples[i];
-        const b = geom.odrSamples[i + 1];
-        const segLen = Math.hypot(b.x - a.x, b.y - a.y);
-        if (segLen < 1e-9)
-            continue;
-        const end = parseFloat(fmt(a.s)) + parseFloat(fmt(segLen));
+    for (const g of geom.planView) {
+        const end = parseFloat(fmt(g.s)) + parseFloat(fmt(g.length));
         if (end > extent)
             extent = end;
     }
     return extent + 1e-4;
 }
-function emitRoad(lane, geom, roadId, laneIdToRoadId, junctionPlan, signals, signalRefs, objects, shapeMap) {
-    const speed = lane.props.attributes?.speed_limit;
-    const name = escapeXml(lane.props.attributes?.subtype || 'road');
-    const hasPrev = (lane.props.prev ?? []).some((id) => laneIdToRoadId.has(id));
-    const hasNext = (lane.props.next ?? []).some((id) => laneIdToRoadId.has(id));
-    const junctionAttr = junctionPlan.roadJunction.get(lane.id) ?? -1;
+function emitRoad(bundle, roadId, plan, signals, signalRefs, objects, shapeMap, laneIdToRoadId, laneIdToOdrLaneId) {
+    const first = bundle.lanes[0];
+    const speed = bundle.lanes.find(l => l.props.attributes?.speed_limit)?.props.attributes?.speed_limit;
+    const name = escapeXml(first.props.attributes?.subtype || 'road');
     const lines = [];
-    lines.push(`  <road name="${name}" length="${fmt(emittedRoadLength(geom))}" id="${roadId}" junction="${junctionAttr}">`);
-    lines.push(emitLink(lane, laneIdToRoadId, junctionPlan));
+    // Mainline (bundle) roads never belong to a junction; junction membership
+    // is carried by the synthesized connecting roads (emitConnectingRoad).
+    lines.push(`  <road name="${name}" length="${fmt(emittedRoadLength(bundle.geom))}" id="${roadId}" junction="-1">`);
+    lines.push(emitLink(roadId, plan));
     if (speed) {
         lines.push(`    <type s="0" type="town">`);
         lines.push(`      <speed max="${escapeXml(speed)}" unit="km/h"/>`);
         lines.push(`    </type>`);
     }
-    lines.push(emitPlanView(geom));
+    lines.push(emitPlanView(bundle.geom));
     lines.push(`    <elevationProfile/>`);
     lines.push(`    <lateralProfile/>`);
-    lines.push(emitLanes(geom, hasPrev, hasNext, odrLaneTypeFor(lane), roadMarkTypeFor(shapeMap, lane.props.leftBoundaryId), roadMarkTypeFor(shapeMap, lane.props.rightBoundaryId)));
+    lines.push(emitLanes(bundle, plan, shapeMap));
     lines.push(emitObjects(objects));
     lines.push(emitSignals(signals, signalRefs));
-    const userData = emitLaneAttributesUserData(lane);
+    const userData = emitLaneAttributesUserData(bundle.lanes);
     if (userData)
         lines.push(userData);
-    const yieldUserData = emitYieldRoadsUserData(lane, laneIdToRoadId);
+    const yieldUserData = emitYieldLanesUserData(bundle.lanes, laneIdToRoadId, laneIdToOdrLaneId, plan.handledYieldPairs);
     if (yieldUserData)
         lines.push(yieldUserData);
+    const hiddenLinksUserData = emitHiddenLinksUserData(bundle.lanes, plan, laneIdToRoadId, laneIdToOdrLaneId);
+    if (hiddenLinksUserData)
+        lines.push(hiddenLinksUserData);
     lines.push(`  </road>`);
     return lines.join('\n');
 }
+/** Empty point-override map (raw stored coordinates). */
+const NO_OVERRIDES = new Map();
+/**
+ * Decide which original roads can be re-emitted verbatim.
+ *
+ * A recorded road is clean when every lane shape it produced still exists and
+ * the state hash recomputed from the live shapes equals the import-time hash
+ * (geometry, attributes, connectivity, right-of-way, and the regulatory
+ * shapes touching the road — see odrCarryThrough.ts).
+ *
+ * Dirtiness then propagates until stable:
+ * - A junction is dirty when any member road (connecting roads, incoming /
+ *   outgoing roads, roads linking to the junction) is dirty or unrecorded.
+ *   A dirty junction regenerates together with its CONNECTING
+ *   (junction-stamped) roads, whose connection table it replaces; clean
+ *   incoming / outgoing roads stay verbatim and their junction link
+ *   elementIds are re-pointed at the regenerated junction on emission.
+ * - Regulatory shapes are atomic: a traffic light / crosswalk touching a
+ *   dirty road dirties every road it touches, so its signal + references are
+ *   either all verbatim or all regenerated.
+ *
+ * Roads referencing unrecorded elements (e.g. a selective import) are never
+ * carried verbatim, so verbatim output cannot dangle into missing roads.
+ */
+function planCarryThrough(sidecar, shapeMap, trafficLights, crosswalks) {
+    const records = sidecar?.roadRecords;
+    if (!sidecar || !records || Object.keys(records).length === 0)
+        return null;
+    const doc = extractOdrDocument(sidecar.rawXml);
+    if (!doc)
+        return null;
+    const docRoadById = new Map(doc.roads.map(r => [r.id, r]));
+    const docJunctionById = new Map(doc.junctions.map(j => [j.id, j]));
+    // laneShapeId -> recorded road id (over every record).
+    const laneRoadOf = new Map();
+    for (const [rid, rec] of Object.entries(records)) {
+        for (const lid of rec.laneShapeIds)
+            laneRoadOf.set(lid, rid);
+    }
+    const stopLinePts = (lsId) => {
+        if (!lsId)
+            return null;
+        const ls = shapeMap.get(lsId);
+        if (!ls)
+            return null;
+        const pts = collectPoints(shapeMap, ls.props.pointIds, false, NO_OVERRIDES);
+        return pts.length >= 2 ? pts : null;
+    };
+    // Regulatory shapes: state + the set of recorded roads each one touches
+    // (mirrors the importer's record builder).
+    const regStatesByRoad = new Map();
+    const regShapes = [];
+    const addRegState = (state, affected, own) => {
+        const touching = new Set();
+        if (own && records[own])
+            touching.add(own);
+        for (const lid of affected) {
+            const rid = laneRoadOf.get(lid);
+            if (rid)
+                touching.add(rid);
+        }
+        for (const rid of touching) {
+            const list = regStatesByRoad.get(rid) ?? [];
+            list.push(state);
+            regStatesByRoad.set(rid, list);
+        }
+        regShapes.push({ shapeId: state.shapeId, touching });
+    };
+    for (const tl of trafficLights) {
+        addRegState({
+            kind: 'traffic_light',
+            shapeId: tl.id,
+            numbers: [tl.x, tl.y, tl.props.w, tl.props.h, tl.rotation || 0],
+            attributes: tl.props.attributes ?? {},
+            affectedLaneIds: tl.props.affectedLaneIds ?? [],
+            stopLinePts: stopLinePts(tl.props.stopLineId),
+            controllerId: tl.props.controllerId ?? '',
+        }, tl.props.affectedLaneIds ?? [], tl.props.attributes?.odr_road_id);
+    }
+    for (const cw of crosswalks) {
+        addRegState({
+            kind: 'crosswalk',
+            shapeId: cw.id,
+            numbers: [
+                cw.x,
+                cw.y,
+                cw.props.startX,
+                cw.props.startY,
+                cw.props.endX,
+                cw.props.endY,
+                cw.props.crosswalkWidth,
+                cw.rotation || 0,
+            ],
+            attributes: cw.props.attributes ?? {},
+            affectedLaneIds: cw.props.affectedLaneIds ?? [],
+            stopLinePts: stopLinePts(cw.props.stopLineId),
+            controllerId: '',
+        }, cw.props.affectedLaneIds ?? [], cw.props.attributes?.odr_road_id);
+    }
+    // Export-side lane states (null when any recorded lane shape is missing).
+    const exportLaneStates = (rec) => {
+        const states = [];
+        for (const lid of rec.laneShapeIds) {
+            const shape = shapeMap.get(lid);
+            if (!shape || shape.type !== 'lane')
+                return null;
+            const lane = shape;
+            states.push({
+                leftPts: boundaryPointsOf(shapeMap, lane.props.leftBoundaryId, lane.props.invertLeft, NO_OVERRIDES),
+                rightPts: boundaryPointsOf(shapeMap, lane.props.rightBoundaryId, lane.props.invertRight, NO_OVERRIDES),
+                attributes: lane.props.attributes ?? {},
+                next: lane.props.next ?? [],
+                prev: lane.props.prev ?? [],
+                yieldLaneIds: lane.props.yieldLaneIds ?? [],
+            });
+        }
+        return states;
+    };
+    // Seed dirtiness: hash mismatch, missing shapes, or references that leave
+    // the recorded set.
+    const dirty = new Set();
+    for (const [rid, rec] of Object.entries(records)) {
+        const docRoad = docRoadById.get(rid);
+        if (!docRoad) {
+            dirty.add(rid);
+            continue;
+        }
+        if (docRoad.linkRoadRefs.some(ref => !records[ref]) ||
+            docRoad.linkJunctionRefs.some(ref => !docJunctionById.has(ref))) {
+            dirty.add(rid);
+            continue;
+        }
+        const laneStates = exportLaneStates(rec);
+        if (!laneStates || hashRoadState(laneStates, regStatesByRoad.get(rid) ?? []) !== rec.stateHash) {
+            dirty.add(rid);
+        }
+    }
+    // Junction membership: connection roads, junction-stamped roads (plus
+    // their link targets — the maneuver's incoming/outgoing roads), and roads
+    // whose link references the junction.
+    const members = new Map();
+    const junctionStamped = new Map();
+    for (const j of doc.junctions) {
+        members.set(j.id, new Set(j.memberRoadIds));
+        junctionStamped.set(j.id, new Set());
+    }
+    for (const r of doc.roads) {
+        if (r.junction !== '-1') {
+            const set = members.get(r.junction);
+            if (set) {
+                set.add(r.id);
+                for (const ref of r.linkRoadRefs)
+                    set.add(ref);
+                junctionStamped.get(r.junction).add(r.id);
+            }
+        }
+        for (const jref of r.linkJunctionRefs)
+            members.get(jref)?.add(r.id);
+    }
+    // Propagate to a fixpoint. A dirty junction drags only its connecting
+    // (junction-stamped) roads into regeneration — clean incoming / outgoing
+    // roads keep their verbatim text (with the junction link id rewritten) —
+    // so a single edited road regenerates its own junctions, not the whole
+    // junction graph. Regulatory shapes are atomic across the roads they touch.
+    const dirtyJunctionIds = new Set();
+    let changed = true;
+    while (changed) {
+        changed = false;
+        for (const [jid, memberSet] of members) {
+            let bad = false;
+            for (const m of memberSet) {
+                if (!records[m] || dirty.has(m)) {
+                    bad = true;
+                    break;
+                }
+            }
+            if (!bad)
+                continue;
+            if (!dirtyJunctionIds.has(jid)) {
+                dirtyJunctionIds.add(jid);
+                changed = true;
+            }
+            for (const m of junctionStamped.get(jid) ?? []) {
+                if (records[m] && !dirty.has(m)) {
+                    dirty.add(m);
+                    changed = true;
+                }
+            }
+        }
+        for (const reg of regShapes) {
+            let bad = false;
+            for (const rid of reg.touching) {
+                if (dirty.has(rid)) {
+                    bad = true;
+                    break;
+                }
+            }
+            if (!bad)
+                continue;
+            for (const rid of reg.touching) {
+                if (!dirty.has(rid)) {
+                    dirty.add(rid);
+                    changed = true;
+                }
+            }
+        }
+    }
+    const cleanRoadIds = new Set();
+    for (const rid of Object.keys(records)) {
+        if (!dirty.has(rid) && docRoadById.has(rid))
+            cleanRoadIds.add(rid);
+    }
+    const verbatimLaneIds = new Set();
+    for (const rid of cleanRoadIds) {
+        for (const lid of records[rid].laneShapeIds)
+            verbatimLaneIds.add(lid);
+    }
+    const consumedShapeIds = new Set();
+    for (const reg of regShapes) {
+        if (reg.touching.size === 0)
+            continue;
+        let allClean = true;
+        for (const rid of reg.touching) {
+            if (!cleanRoadIds.has(rid)) {
+                allClean = false;
+                break;
+            }
+        }
+        if (allClean)
+            consumedShapeIds.add(reg.shapeId);
+    }
+    const verbatimRoads = [];
+    for (const r of doc.roads) {
+        if (cleanRoadIds.has(r.id))
+            verbatimRoads.push(r);
+    }
+    const verbatimJunctionTexts = [];
+    for (const j of doc.junctions) {
+        if (!dirtyJunctionIds.has(j.id))
+            verbatimJunctionTexts.push(j.text);
+    }
+    // A controller stays verbatim when every signal it controls is defined in
+    // a verbatim road.
+    const signalRoadOf = new Map();
+    for (const r of doc.roads) {
+        for (const sid of r.signalIds)
+            signalRoadOf.set(sid, r.id);
+    }
+    const verbatimControllerTexts = [];
+    for (const c of doc.controllers) {
+        const ok = c.signalIds.length > 0 &&
+            c.signalIds.every(sid => {
+                const rid = signalRoadOf.get(sid);
+                return rid !== undefined && cleanRoadIds.has(rid);
+            });
+        if (ok)
+            verbatimControllerTexts.push(c.text);
+    }
+    return {
+        doc,
+        records,
+        cleanRoadIds,
+        dirtyRecordedIds: dirty,
+        verbatimLaneIds,
+        consumedShapeIds,
+        headerText: doc.headerText,
+        verbatimRoads,
+        dirtyJunctionIds,
+        verbatimJunctionTexts,
+        verbatimControllerTexts,
+        idBase: Math.max(doc.maxNumericElementId, 0) + 1,
+        signalIdBase: Math.max(doc.maxNumericSignalId, 0) + 1,
+        controllerIdBase: Math.max(doc.maxNumericControllerId, 0) + 1,
+    };
+}
 /**
  * Build an OpenDRIVE 1.8 XML document from a snapshot.
+ *
+ * With `options.sidecar` (captured by the OpenDRIVE importer), unedited
+ * roads are re-emitted verbatim from the original XML; see planCarryThrough.
  */
-export function exportToOpenDrive(snapshot) {
+export function exportToOpenDrive(snapshot, options = {}) {
     const shapes = snapshot.shapes;
     const shapeMap = buildShapeMap(shapes);
     const lanes = [];
@@ -920,54 +1893,296 @@ export function exportToOpenDrive(snapshot) {
                 polygons.push({ shape: poly, vertices });
         }
     }
-    // Road ids are assigned after geometry construction so degenerate lanes
-    // (zero-length centerlines) neither emit empty roads nor occupy link ids.
-    const laneIdToRoadId = new Map();
+    // Carry-through: with an importer sidecar, unedited original roads are
+    // re-emitted verbatim and excluded from regeneration.
+    const carry = planCarryThrough(options.sidecar, shapeMap, trafficLights, crosswalks);
+    const regenLanes = carry ? lanes.filter(l => !carry.verbatimLaneIds.has(l.id)) : lanes;
+    const regenTrafficLights = carry
+        ? trafficLights.filter(t => !carry.consumedShapeIds.has(t.id))
+        : trafficLights;
+    const regenCrosswalks = carry
+        ? crosswalks.filter(c => !carry.consumedShapeIds.has(c.id))
+        : crosswalks;
     const dateStr = new Date().toISOString();
     const bbox = computeEnuBoundingBox(shapeMap);
     const geoRefProj = originToProjString(snapshot.origin);
     const lines = [];
     lines.push(`<?xml version="1.0" encoding="UTF-8"?>`);
     lines.push(`<OpenDRIVE>`);
-    // OpenDRIVE 1.8 expects <geoReference> inside <header>. We always emit one —
-    // tmerc-at-origin when snapshot.origin is set, WGS84 longlat as a fallback —
-    // so downstream tools (esmini, RoadRunner, asam-qc-opendrive) see a defined
-    // coordinate reference system rather than nothing. The N/S/E/W attributes
-    // are populated from the actual point cloud so the header bbox reflects the
-    // map extent in ENU metres.
-    lines.push(`  <header revMajor="1" revMinor="8" name="drawtonomy" version="1.0" date="${dateStr}" ` +
-        `north="${fmt(bbox.north)}" south="${fmt(bbox.south)}" east="${fmt(bbox.east)}" west="${fmt(bbox.west)}" vendor="drawtonomy">`);
-    lines.push(`    <geoReference><![CDATA[${escapeCdata(geoRefProj)}]]></geoReference>`);
-    lines.push(`  </header>`);
+    if (carry?.headerText) {
+        // Carry-through keeps the original header (geoReference, bbox, vendor)
+        // so an unedited round trip preserves the source coordinate frame.
+        lines.push(carry.headerText);
+    }
+    else {
+        // OpenDRIVE 1.8 expects <geoReference> inside <header>. We always emit one —
+        // tmerc-at-origin when snapshot.origin is set, WGS84 longlat as a fallback —
+        // so downstream tools (esmini, RoadRunner, asam-qc-opendrive) see a defined
+        // coordinate reference system rather than nothing. The N/S/E/W attributes
+        // are populated from the actual point cloud so the header bbox reflects the
+        // map extent in ENU metres.
+        lines.push(`  <header revMajor="1" revMinor="8" name="drawtonomy" version="1.0" date="${dateStr}" ` +
+            `north="${fmt(bbox.north)}" south="${fmt(bbox.south)}" east="${fmt(bbox.east)}" west="${fmt(bbox.west)}" vendor="drawtonomy">`);
+        lines.push(`    <geoReference><![CDATA[${escapeCdata(geoRefProj)}]]></geoReference>`);
+        lines.push(`  </header>`);
+    }
     const pointOverrides = buildBoundaryAlignmentOverrides(shapeMap, lanes);
-    const laneToGeom = new Map();
-    for (const lane of lanes) {
-        const geom = buildRoadGeometry(shapeMap, lane, pointOverrides);
-        if (geom && geom.length >= 0.01 && geom.odrSamples.length >= 2) {
-            laneToGeom.set(lane.id, geom);
+    // Group laterally adjacent lanes into road bundles and build their
+    // geometry. Degenerate bundles (zero-length reference lines) are dropped;
+    // a multi-lane bundle whose geometry cannot be built (broken boundary
+    // references) degrades to per-lane bundles so one bad lane does not drop
+    // its neighbours.
+    const exportBundles = [];
+    for (const bundleLanes of detectBundles(regenLanes)) {
+        const geom = buildBundleGeometry(shapeMap, bundleLanes, pointOverrides);
+        if (geom && geom.length >= 0.01) {
+            exportBundles.push({ lanes: bundleLanes, geom });
+        }
+        else if (bundleLanes.length > 1) {
+            for (const lane of bundleLanes) {
+                const g = buildBundleGeometry(shapeMap, [lane], pointOverrides);
+                if (g && g.length >= 0.01)
+                    exportBundles.push({ lanes: [lane], geom: g });
+            }
         }
     }
-    let nextRoadId = 1;
-    for (const lane of lanes) {
-        if (laneToGeom.has(lane.id))
-            laneIdToRoadId.set(lane.id, nextRoadId++);
+    // Stable road id assignment: bundles ordered by their first lane's position
+    // in the snapshot. Lane ids count -1, -2, ... left→right within a bundle.
+    // Carry-through: a regenerated bundle covering exactly the lane set of a
+    // dirty original road keeps that road's id, so links inside verbatim
+    // neighbours stay valid without rewriting; other bundles take fresh ids
+    // above every original id.
+    const laneOrder = new Map();
+    lanes.forEach((lane, i) => laneOrder.set(lane.id, i));
+    exportBundles.sort((a, b) => Math.min(...a.lanes.map(l => laneOrder.get(l.id))) - Math.min(...b.lanes.map(l => laneOrder.get(l.id))));
+    const reuseKey = (ids) => [...ids].sort().join('\n');
+    const reusableRoadIds = new Map();
+    if (carry) {
+        for (const rid of carry.dirtyRecordedIds) {
+            const rec = carry.records[rid];
+            if (!rec || rec.laneShapeIds.length === 0 || !/^\d+$/.test(rid))
+                continue;
+            reusableRoadIds.set(reuseKey(rec.laneShapeIds), parseInt(rid, 10));
+        }
     }
-    const junctionPlan = planJunctions(lanes, laneIdToRoadId, nextRoadId);
-    const { roadSignals, roadObjects, roadSignalRefs, signalIdByShape } = attachShapesToRoads(shapeMap, trafficLights, crosswalks, polygons, laneToGeom, laneIdToRoadId);
-    for (const lane of lanes) {
-        const geom = laneToGeom.get(lane.id);
-        if (!geom)
-            continue;
-        const roadId = laneIdToRoadId.get(lane.id);
-        const signals = roadSignals.get(roadId) ?? [];
-        const signalRefs = roadSignalRefs.get(roadId) ?? [];
-        const objects = roadObjects.get(roadId) ?? [];
-        lines.push(emitRoad(lane, geom, roadId, laneIdToRoadId, junctionPlan, signals, signalRefs, objects, shapeMap));
+    const laneIdToRoadId = new Map();
+    const laneIdToOdrLaneId = new Map();
+    const roadIdByBundle = new Map();
+    let nextRoadId = carry ? carry.idBase : 1;
+    for (const bundle of exportBundles) {
+        const key = reuseKey(bundle.lanes.map(l => l.id));
+        const reused = reusableRoadIds.get(key);
+        if (reused !== undefined)
+            reusableRoadIds.delete(key);
+        const roadId = reused ?? nextRoadId++;
+        roadIdByBundle.set(bundle, roadId);
+        bundle.lanes.forEach((lane, i) => {
+            laneIdToRoadId.set(lane.id, roadId);
+            laneIdToOdrLaneId.set(lane.id, -(i + 1));
+        });
+    }
+    // Carry-through: lanes of verbatim roads join the connectivity id maps as
+    // external endpoints, so regenerated roads link to / from them.
+    const externalLanes = new Map();
+    if (carry) {
+        for (const rid of carry.cleanRoadIds) {
+            if (!/^\d+$/.test(rid))
+                continue;
+            for (const lid of carry.records[rid].laneShapeIds) {
+                const shape = shapeMap.get(lid);
+                if (!shape)
+                    continue;
+                const odrLaneId = parseInt(shape.props.attributes?.odr_lane_id ?? '', 10);
+                if (!Number.isFinite(odrLaneId))
+                    continue;
+                laneIdToRoadId.set(lid, parseInt(rid, 10));
+                laneIdToOdrLaneId.set(lid, odrLaneId);
+                externalLanes.set(lid, shape);
+            }
+        }
+    }
+    // Geometry seed for synthesized connecting roads: bundle lanes read it off
+    // their fitted bundle geometry; external (verbatim) lanes off their drawn
+    // boundary endpoints.
+    const laneLocation = new Map();
+    for (const bundle of exportBundles) {
+        bundle.lanes.forEach((lane, index) => laneLocation.set(lane.id, { bundle, index }));
+    }
+    const connectingSourceFor = (laneShapeId) => {
+        const loc = laneLocation.get(laneShapeId);
+        if (loc) {
+            const geom = loc.bundle.geom;
+            const lastGeom = geom.planView[geom.planView.length - 1];
+            const endPose = evalGeometry(lastGeom, lastGeom.length);
+            // Lane boundaries sit toward -t (right of the reference direction): the
+            // inner boundary of lane -(i+1) is offset by the widths of lanes 0..i-1.
+            const lastIdx = geom.samplePoses.length - 1;
+            let offset = 0;
+            for (let m = 0; m < loc.index; m++)
+                offset += geom.laneWidths[m][lastIdx];
+            return {
+                x: endPose.x + Math.sin(endPose.hdg) * offset,
+                y: endPose.y - Math.cos(endPose.hdg) * offset,
+                hdg: endPose.hdg,
+                width: geom.laneWidths[loc.index][lastIdx],
+                laneType: odrLaneTypeFor(loc.bundle.lanes[loc.index]),
+            };
+        }
+        const lane = externalLanes.get(laneShapeId);
+        if (!lane)
+            return null;
+        const left = boundaryPointsOf(shapeMap, lane.props.leftBoundaryId, lane.props.invertLeft, NO_OVERRIDES);
+        const right = boundaryPointsOf(shapeMap, lane.props.rightBoundaryId, lane.props.invertRight, NO_OVERRIDES);
+        if (!left || !right)
+            return null;
+        const ex = pxToEnuX(left[left.length - 1].x);
+        const ey = pxToEnuY(left[left.length - 1].y);
+        const px = pxToEnuX(left[left.length - 2].x);
+        const py = pxToEnuY(left[left.length - 2].y);
+        const rx = pxToEnuX(right[right.length - 1].x);
+        const ry = pxToEnuY(right[right.length - 1].y);
+        return {
+            x: ex,
+            y: ey,
+            hdg: Math.atan2(ey - py, ex - px),
+            width: Math.hypot(rx - ex, ry - ey),
+            laneType: odrLaneTypeFor(lane),
+        };
+    };
+    // Travel heading / width of a connecting road's target lane at its start,
+    // for blending the stub onto the outgoing road (see ConnectingTarget).
+    const connectingTargetFor = (laneShapeId) => {
+        const loc = laneLocation.get(laneShapeId);
+        if (loc) {
+            const geom = loc.bundle.geom;
+            if (geom.samplePoses.length === 0)
+                return null;
+            const pose = geom.samplePoses[0];
+            // Lane boundaries sit toward -t (right of the reference direction).
+            let offset = 0;
+            for (let m = 0; m < loc.index; m++)
+                offset += geom.laneWidths[m][0];
+            return {
+                x: pose.x + Math.sin(pose.hdg) * offset,
+                y: pose.y - Math.cos(pose.hdg) * offset,
+                hdg: pose.hdg,
+                width: geom.laneWidths[loc.index][0],
+            };
+        }
+        const lane = externalLanes.get(laneShapeId);
+        if (!lane)
+            return null;
+        const left = boundaryPointsOf(shapeMap, lane.props.leftBoundaryId, lane.props.invertLeft, NO_OVERRIDES);
+        const right = boundaryPointsOf(shapeMap, lane.props.rightBoundaryId, lane.props.invertRight, NO_OVERRIDES);
+        if (!left || !right || left.length < 2 || right.length < 1)
+            return null;
+        const ax = pxToEnuX(left[0].x);
+        const ay = pxToEnuY(left[0].y);
+        const bx = pxToEnuX(left[1].x);
+        const by = pxToEnuY(left[1].y);
+        const rx = pxToEnuX(right[0].x);
+        const ry = pxToEnuY(right[0].y);
+        return {
+            x: ax,
+            y: ay,
+            hdg: Math.atan2(by - ay, bx - ax),
+            width: Math.hypot(rx - ax, ry - ay),
+        };
+    };
+    // Full lane width at a linked contact, for the zero-width link rules:
+    // bundle lanes read their fitted width samples, external (verbatim) lanes
+    // measure their drawn boundary endpoints.
+    const contactWidth = (laneShapeId, contact) => {
+        const loc = laneLocation.get(laneShapeId);
+        if (loc) {
+            const widths = loc.bundle.geom.laneWidths[loc.index];
+            if (!widths || widths.length === 0)
+                return null;
+            return contact === 'start' ? widths[0] : widths[widths.length - 1];
+        }
+        const lane = externalLanes.get(laneShapeId);
+        if (!lane)
+            return null;
+        const left = boundaryPointsOf(shapeMap, lane.props.leftBoundaryId, lane.props.invertLeft, NO_OVERRIDES);
+        const right = boundaryPointsOf(shapeMap, lane.props.rightBoundaryId, lane.props.invertRight, NO_OVERRIDES);
+        if (!left || !right || left.length === 0 || right.length === 0)
+            return null;
+        const li = contact === 'start' ? left[0] : left[left.length - 1];
+        const ri = contact === 'start' ? right[0] : right[right.length - 1];
+        return pxToMeter(Math.hypot(ri.x - li.x, ri.y - li.y));
+    };
+    const plan = planConnectivity(exportBundles, laneIdToRoadId, laneIdToOdrLaneId, nextRoadId, connectingSourceFor, connectingTargetFor, contactWidth, externalLanes);
+    const roads = exportBundles.map(b => ({ roadId: roadIdByBundle.get(b), geom: b.geom }));
+    const { roadSignals, roadObjects, roadSignalRefs, signalIdByShape } = attachShapesToRoads(shapeMap, regenTrafficLights, regenCrosswalks, polygons, roads, laneIdToRoadId, laneIdToOdrLaneId, undefined, carry?.signalIdBase);
+    // Verbatim road blocks first (original document order). Two minimal
+    // rewrites keep their links valid; nothing else is touched:
+    // - road links to a dirty road whose lanes regenerated into exactly one
+    //   bundle under a different id are re-pointed at that bundle;
+    // - junction links to a dirty (regenerated) junction are re-pointed at the
+    //   synthesized junction this road participates in (junction-routed pairs
+    //   sharing a road always merge, so the target is unique per road).
+    if (carry) {
+        const rewriteMap = new Map();
+        const bundleRoadOfLane = new Map();
+        for (const bundle of exportBundles) {
+            const rid = roadIdByBundle.get(bundle);
+            for (const l of bundle.lanes)
+                bundleRoadOfLane.set(l.id, rid);
+        }
+        for (const rid of carry.dirtyRecordedIds) {
+            const rec = carry.records[rid];
+            if (!rec)
+                continue;
+            const newIds = new Set();
+            for (const lid of rec.laneShapeIds) {
+                const nid = bundleRoadOfLane.get(lid);
+                if (nid !== undefined)
+                    newIds.add(nid);
+            }
+            if (newIds.size === 1) {
+                const nid = String([...newIds][0]);
+                if (nid !== rid)
+                    rewriteMap.set(rid, nid);
+            }
+        }
+        const newJunctionOfRoad = new Map();
+        for (const spec of plan.connectingRoads) {
+            newJunctionOfRoad.set(spec.incomingRoadId, spec.junctionId);
+            newJunctionOfRoad.set(spec.outgoingRoadId, spec.junctionId);
+        }
+        for (const r of carry.verbatimRoads) {
+            let junctionMap;
+            for (const jref of r.linkJunctionRefs) {
+                if (!carry.dirtyJunctionIds.has(jref))
+                    continue;
+                const exportedId = /^\d+$/.test(r.id) ? parseInt(r.id, 10) : NaN;
+                const replacement = newJunctionOfRoad.get(exportedId);
+                if (replacement !== undefined) {
+                    junctionMap = junctionMap ?? new Map();
+                    junctionMap.set(jref, String(replacement));
+                }
+            }
+            lines.push(rewriteRoadLinkTargets(r.text, rewriteMap, junctionMap ?? new Map()));
+        }
+    }
+    for (const bundle of exportBundles) {
+        const roadId = roadIdByBundle.get(bundle);
+        lines.push(emitRoad(bundle, roadId, plan, roadSignals.get(roadId) ?? [], roadSignalRefs.get(roadId) ?? [], roadObjects.get(roadId) ?? [], shapeMap, laneIdToRoadId, laneIdToOdrLaneId));
+    }
+    // Synthesized junction connecting roads (standard incoming -> connecting ->
+    // outgoing structure; see planConnectivity).
+    for (const spec of plan.connectingRoads) {
+        lines.push(emitConnectingRoad(spec));
+    }
+    // Verbatim controllers (every controlled signal lives in a verbatim road).
+    if (carry) {
+        for (const text of carry.verbatimControllerTexts)
+            lines.push(text);
     }
     // Signal groups: traffic lights sharing a controllerId (one intersection)
     // become a <controller> listing their emitted signals as <control> records.
     const controllerGroups = new Map();
-    for (const tl of trafficLights) {
+    for (const tl of regenTrafficLights) {
         const groupId = tl.props.controllerId;
         if (!groupId)
             continue;
@@ -978,7 +2193,7 @@ export function exportToOpenDrive(snapshot) {
         group.push(signalId);
         controllerGroups.set(groupId, group);
     }
-    let controllerIdCounter = 1;
+    let controllerIdCounter = carry ? carry.controllerIdBase : 1;
     for (const [groupId, signalIds] of controllerGroups) {
         lines.push(`  <controller id="${controllerIdCounter++}" name="${escapeXml(groupId)}" sequence="0">`);
         for (const signalId of signalIds) {
@@ -986,14 +2201,24 @@ export function exportToOpenDrive(snapshot) {
         }
         lines.push(`  </controller>`);
     }
-    // Synthesized junctions for branch / merge connectivity (see planJunctions).
-    for (const junction of junctionPlan.junctions) {
+    // Verbatim junctions (all member roads verbatim).
+    if (carry) {
+        for (const text of carry.verbatimJunctionTexts)
+            lines.push(text);
+    }
+    // Synthesized junctions for branch / merge connectivity (see planConnectivity).
+    for (const junction of plan.junctions) {
         lines.push(`  <junction id="${junction.id}" name="junction${junction.id}">`);
         junction.connections.forEach((conn, idx) => {
             lines.push(`    <connection id="${idx}" incomingRoad="${conn.incoming}" connectingRoad="${conn.connecting}" contactPoint="start">`);
-            lines.push(`      <laneLink from="-1" to="-1"/>`);
+            for (const ll of conn.laneLinks) {
+                lines.push(`      <laneLink from="${ll.from}" to="${ll.to}"/>`);
+            }
             lines.push(`    </connection>`);
         });
+        for (const pr of junction.priorities) {
+            lines.push(`    <priority high="${pr.high}" low="${pr.low}"/>`);
+        }
         lines.push(`  </junction>`);
     }
     lines.push(`</OpenDRIVE>`);