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The drawings on this page use left-hand traffic, as in Japan: vehicles drive on the left side of the road, and a right turn crosses the opposing lane. For right-hand traffic, swap left and right. In the map drawings, a colored area is a Lanelet, and a line with dots is a Linestring and its points.

Requirements#

vm-07-01 Vector Map creation range#

Detail of requirements #

Create all Lanelets within the sensor range of the vehicle. This includes the Lanelets on roads that the vehicle does not drive on, and the Lanelets that intersect with the Lanelet of the vehicle.

But if one of the following conditions is true, you must create the lanelets for a range of at least 10 meters:

  • The vehicle drives on the priority lane through an intersection without traffic lights.
  • The vehicle drives straight or turns left through an intersection with traffic lights.

Refer to vm-03-04 for more about intersection requirements.

The minimum of 10 meters is a requirement of this map specification. No Autoware parameter uses this value. The intersection module looks for vehicles only on the attention lanes in the map: the lanes that conflict with the path of the vehicle, and their preceding lanes up to common.attention_area_length (200 m by default). If the Lanelets on the crossing road are short, the attention area is also short.

Behavior of Autoware #

Autoware detects approaching vehicles and plans a route to avoid collisions.

Caution#

Check the range of the sensors on your vehicle.

Preferred vector map #

Preferred: the map has lanelets for all the lanes in the sensor range of the vehicle, also on the roads that the vehicle does not drive on.Sensor rangeLanelets on all the lanes in the sensor range
Lanelets on all the lanes in the sensor range, also on the crossing road.

Incorrect vector map #

Incorrect: the map has lanelets only on the route of the vehicle. The lanes that cross the route have no lanelets.Sensor rangeLanelets only on the route of the vehicle
Lanelets only on the route of the vehicle.

vm-07-02 Range of detecting pedestrians who enter the road#

Detail of requirements #

Autoware has a feature that detects sudden entries from the roadside. It tracks pedestrians and cyclists outside the road boundaries. When they are likely to enter the road, the vehicle slows down to prevent collisions.

A Linestring of one of the following types tells Autoware that the objects on the other side of the line cannot jump out into the road:

  • guard_rail
  • wall
  • fence
Supplemental information #

With the default parameters of autoware_launch, the run out module cuts the predicted paths of objects at guard_rail and fence Linestrings (cut_predicted_paths.strict_linestring_types). map_based_prediction cuts the predicted paths of crosswalk users at fence Linestrings.

Preferred vector map #

A fence linestring separates a kindergarten or playground from a road with a crosswalk. The fence linestring is not linked to anything.Kindergarten or playgroundLinestringtype: fence
A fence Linestring between the road and the area next to it.

Incorrect vector map #

None in particular.

vm-07-03 Guardrails, guard pipes, fences#

Detail of requirements #

When you create a Linestring for guardrails or guard pipes (type: guard_rail), put it where the part that sticks out most on the road side meets the ground, measured straight down.

Use the same position rules for Linestrings of fences (type:fence).

Supplemental information #

With the default parameters of autoware_launch, the obstacle velocity limiter uses guard_rail Linestrings as static obstacles (obstacles.static_map_tags). It decreases the velocity of the vehicle when the vehicle drives close to a guardrail, for example in a curve. The run out module cuts the predicted paths of objects at guard_rail and fence Linestrings (see vm-07-02). The drivable area expansion does not use these Linestrings by default. Its parameter avoid_linestring.types contains only road_border and curbstone.

Preferred vector map #

The guard_rail Linestring runs on the ground under the outer edge of the rail, which is the part of the guardrail that sticks out most toward the road. The rail hangs out over the road, so the Linestring is on the road surface.Top viewLinestringtype: guard_railPostRailCross-sectionOuter edgeof the railLinestringSidewalkRoadMeasure straight down from the edge
The guard_rail Linestring is under the part of the guardrail that sticks out most toward the road.

Incorrect vector map #

Incorrect: the guard_rail Linestring runs along the posts of the guardrail, not under the outer edge of the rail.Top viewLinestringtype: guard_railPostRailCross-sectionOuter edgeof the railLinestringSidewalkRoadDo not put it at the posts
The guard_rail Linestring is at the posts of the guardrail, not under its outer edge.

vm-07-04 Ellipsoidal height#

Detail of requirements #

The height of a Point must be the ellipsoidal height (WGS84), in meters.

A point on the terrain surface. Its ellipsoidal height is the distance down to the WGS84 ellipsoid surface. Its orthometric height is the distance down to the geoid.Terrain surfaceGeoidEllipsoid surface (WGS84)PointEllipsoidal height (use this)Orthometric height (do not use)
Ellipsoidal height and orthometric height of a point.

Preferred vector map #

The height of a Point is the distance from the ellipsoid surface to the ground.

Incorrect vector map #

The height of a Point is the orthometric height, the distance from the geoid to the ground.

Supplemental information #

The vertical_datum field of map_projector_info.yaml tells Autoware the height reference of the map. Set it to WGS84 for a map that meets this requirement. autoware_gnss_poser converts the GNSS height into this datum. For the file format, see the map component design.