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Vector Map creation requirement specifications#

Overview#

Autoware relies on high-definition point cloud maps and vector maps of the driving environment to perform various tasks such as localization, route planning, traffic light detection, and predicting the trajectories of pedestrians and other vehicles.

A vector map contains highly accurate information about a road network, lane geometry, and traffic lights. It is required for route planning, traffic light detection, and predicting the trajectories of other vehicles and pedestrians.

Vector Map uses lanelet2_extension, which is based on the lanelet2 format and extended for Autoware.

The primitives (basic components) used in Vector Map are explained in Web.Auto Docs - What is Lanelet2. The following Vector Map creation requirement specifications are written on the premise of these knowledge.

This specification is a set of requirements for the creation of Vector Map(s) to ensure that Autoware drives safely and autonomously as intended by the user. To Create a Lanelet2 format .osm file, please refer to Creating a vector map.

Handling of the Requirement Specification#

Which requirements apply entirely depends on the configuration of the Autoware system on a vehicle. Before creating a Vector Map, it is necessary to clearly determine in advance how you want the vehicle with the implemented system to behave in various environments.

Next, you must comply with the laws of the country where the autonomous driving vehicle will be operating. It is your responsibility to choose which of the following requirements to apply according to the laws.

Caution#

  • The examples of the road signs and road surface markings are used in Japan. Please replace them with those used in your respective countries.
  • The values for range and distance indicated are minimum values. Please determine values that comply with the laws of your country. Furthermore, these minimum values may change depending on the maximum velocity of the autonomous driving vehicle.

List of Requirement Specifications#

CategoryIDRequirements
Category Lanevm-01-01Lanelet basics
vm-01-02Allowance for lane changes
vm-01-03Linestring sharing
vm-01-04Sharing of the centerline of lanes for opposing traffic
vm-01-05Lane geometry
vm-01-06Line position (1)
vm-01-07Line position (2)
vm-01-08Line position (3)
vm-01-09Speed limits
vm-01-10Centerline
vm-01-11Centerline connection (1)
vm-01-12Centerline connection (2)
vm-01-13Roads with no centerline (1)
vm-01-14Roads with no centerline (2)
vm-01-15Road shoulder
vm-01-16Road shoulder Linestring sharing
vm-01-17Side strip
vm-01-18Side strip Linestring sharing
vm-01-19Walkway
Category Stop Linevm-02-01Stop line alignment
vm-02-02Stop sign
Category Intersectionvm-03-01Intersection criteria
vm-03-02Lanelet's turn direction and virtual
vm-03-03Lanelet width in the intersection
vm-03-04Lanelet creation in the intersection
vm-03-05Lanelet division in the intersection
vm-03-06Guide lines in the intersection
vm-03-07Multiple lanelets in the intersection
vm-03-08Intersection Area range
vm-03-09Range of Lanelet in the intersection
vm-03-10Right of way (with signal)
vm-03-11Right of way (without signal)
vm-03-12Right of way supplements
vm-03-13Merging from private area, sidewalk
vm-03-14Road marking
vm-03-15Exclusive bicycle lane
Category Traffic Lightvm-04-01Traffic light basics
vm-04-02Traffic light position and size
vm-04-03Traffic light lamps
Category Crosswalkvm-05-01Crosswalks across the road
vm-05-02Crosswalks with pedestrian signals
vm-05-03Deceleration for safety at crosswalks
vm-05-04Fences
Category Areavm-06-01Buffer Zone
vm-06-02No parking signs
vm-06-03No stopping signs
vm-06-04No stopping sections
vm-06-05Detection area
Category Othersvm-07-01Vector Map creation range
vm-07-02Range of detecting pedestrians who enter the road
vm-07-03Guardrails, guard pipes, fences
vm-07-04Ellipsoidal height