Overview

Autoware.Auto uses the Lanelet2 format to define geometric and semantic information of lanes in the environment. For detailed information about the format, please refer to the official Lanelet2 documentation.

In general, Autoware expects Lanelet2 maps to be created according to the upstream definition, with some minor changes. The following sections explain how objects and tags should be defined for Autoware.Auto.

Note: The current explanation target the Autonomous Valet Parking Demonstration, and it could change with new ODDs.

Primitives

For the AVP task, Autoware supports the following Lanelet2 primitives:

Lanelet to to define driving lanes
Area to define parking spots and parking access area Note that regulatory elements (e.g. traffic lights, traffic signs, right of way, etc) are not used by Autoware.Auto as they are outside the AVP ODD.

Defining Lanes

Lanes should be defined by Lanelet primitives according to the Lanelet2 format. The following information is utilized by Autoware.

Information used in Autoware:

participants: Only lanes for vehicles are supported by Autoware.Auto. This can be defined indirectly by type and subtype of the lanelet according to the table in Lanelet2 documentation or directly by the participants tag.
speed_limit: Autoware will not drive with speed that exceeds the value defined by this tag.

Information that are <strong>not</strong> used by Autoware:

lane change: In Lanelet2 format, the possibility of lane changes is determined by the type of the lanelet boundary. Autoware, however, does not support lane-change maneuvers and therefore it is ignored.
bi-directional lanes: In the original Lanelet2 format, lanes can be defined as bi-directional lanes with the tag one_way=no. Instead, Autoware expects bidirectional lanes to be defined by two overlapping lanes with opposite directions. See the AutonomouStuff parking-lot map as an example.

Defining Parking Spots

Autoware expects parking spots to be defined as Area objects with the following tags:

subtype=parking_spot: Areas with this tag will be treated as parking spots.
parking_accesses=<list of parking access ids>: This defines the connected parking access areas that lead to the nearest lanes. The list of IDs should be separated by ,(comma)

Defining Parking Access Areas

Autoware expects the drivable region between lanes and parking spots to be defined as Area objects with the following tags:

subtype=parking_access: Areas with this tag will be treated as parking access areas
parking_spots=<list of parking spot ids>: This defines the connected parking spots to the parking access area. The list of IDs should be separated by ,(comma).
ref_lanelet=<list of lanelet ids>: This defines the connected lanes to the parking access area. The list of IDs should be separated by ,(comma).