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.
The Vector Map uses the Autoware Lanelet2 format. This format is the Lanelet2 format with extensions for Autoware. The package autoware_lanelet2_extension defines these extensions.
Web.Auto Docs - What is Lanelet2 explains the primitives (basic components) of a Vector Map. The following Vector Map creation requirement specifications assume that you know these primitives.
This specification is a set of requirements for the creation of Vector Maps, so that Autoware drives safely and autonomously as the user intends. To create a Lanelet2 format .osm file, refer to Creating a vector map.
Handling of the requirement specification#
Which requirements apply depends on the configuration of the Autoware system on the vehicle. Before you create a Vector Map, decide how the vehicle with the system must behave in each environment.
Next, you must comply with the laws of the country where the autonomous vehicle operates. It is your responsibility to choose which of the following requirements to apply according to these laws.
Caution#
- The examples of road signs and road surface markings are the ones used in Japan. Replace them with the ones used in your country.
- The values for ranges and distances are minimum values. Choose values that comply with the laws of your country. These minimum values can also change with the maximum velocity of the autonomous vehicle.
List of requirement specifications#
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vm-01-01 to vm-01-19: Lanelets, Linestrings, the centerline, speed limits, road shoulders, side strips, and walkways.
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vm-02-01 to vm-02-02: stop lines and stop signs.
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vm-03-01 to vm-03-15: Lanelets, areas, and right of way in intersections.
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vm-04-01 to vm-04-03: traffic lights and their lamps.
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vm-05-01 to vm-05-04: crosswalks, pedestrian signals, and fences.
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vm-06-01 to vm-06-05: buffer zones, no parking and no stopping areas, and detection areas.
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vm-07-01 to vm-07-04: creation range, pedestrian detection range, guardrails, and height.
| Category | ID | Requirements |
|---|---|---|
| Category Lane | vm-01-01 | Lanelet basics |
| vm-01-02 | Allowance for lane changes | |
| vm-01-03 | Linestring sharing | |
| vm-01-04 | Sharing of the centerline of lanes for opposing traffic | |
| vm-01-05 | Lane geometry | |
| vm-01-06 | Line position (1) | |
| vm-01-07 | Line position (2) | |
| vm-01-08 | Line position (3) | |
| vm-01-09 | Speed limits | |
| vm-01-10 | Centerline | |
| vm-01-11 | Centerline connection (1) | |
| vm-01-12 | Centerline connection (2) | |
| vm-01-13 | Roads with no centerline (1) | |
| vm-01-14 | Roads with no centerline (2) | |
| vm-01-15 | Road shoulder | |
| vm-01-16 | Road shoulder Linestring sharing | |
| vm-01-17 | Side strip | |
| vm-01-18 | Side strip Linestring sharing | |
| vm-01-19 | Walkway | |
| Category Stop Line | vm-02-01 | Stop line alignment |
| vm-02-02 | Stop sign | |
| Category Intersection | vm-03-01 | Intersection criteria |
| vm-03-02 | Lanelet's turn direction and virtual linestring | |
| vm-03-03 | Lanelet width in the intersection | |
| vm-03-04 | Lanelet creation in the intersection | |
| vm-03-05 | Lanelet division in the intersection | |
| vm-03-06 | Guide lines in the intersection | |
| vm-03-07 | Multiple lanelets in the intersection | |
| vm-03-08 | Intersection area range | |
| vm-03-09 | Range of Lanelet in the intersection | |
| vm-03-10 | Right of way (with signal) | |
| vm-03-11 | Right of way (without signal) | |
| vm-03-12 | Right of way supplements | |
| vm-03-13 | Merging from private area, sidewalk | |
| vm-03-14 | Road marking | |
| vm-03-15 | Exclusive bicycle lane | |
| Category Traffic Light | vm-04-01 | Traffic light basics |
| vm-04-02 | Traffic light position and size | |
| vm-04-03 | Traffic light lamps | |
| Category Crosswalk | vm-05-01 | Crosswalks across the road |
| vm-05-02 | Crosswalks with pedestrian signals | |
| vm-05-03 | Deceleration for safety at crosswalks | |
| vm-05-04 | Fences | |
| Category Area | vm-06-01 | Buffer Zone |
| vm-06-02 | No parking signs | |
| vm-06-03 | No stopping signs | |
| vm-06-04 | No stopping sections | |
| vm-06-05 | Detection area | |
| Category Others | vm-07-01 | Vector Map creation range |
| vm-07-02 | Range of detecting pedestrians who enter the road | |
| vm-07-03 | Guardrails, guard pipes, fences | |
| vm-07-04 | Ellipsoidal height |