Lanelet2 HD Map
Open BetaLanelet2는 자율 주행을 위한 HD 지도 형식입니다. 정밀한 경계 지오메트리, 규제 규칙, 위상 관계를 갖춘 차선(lanelet)을 기술합니다. Autoware와 AWSIM에서 사용됩니다.
주요 기능
Lanelet2 형식 소개
Lanelet2 is a high-definition map format for autonomous driving. It describes a road not as a line but as lanes: every lane has its own left and right borders, neighbors, direction and rules — a speed limit, for instance. The format is built on OSM XML syntax, so the file is human-readable and opens in JOSM.
Such maps are what a trajectory planner needs: so that the car or the simulator understands where exactly it may drive, where a lane leads and at what speed. Lanelet2 is the standard map format in Autoware and AWSIM, and it is also understood by the lanelet2 library and research tools.
Our export builds lanes from OSM road centerlines: the number of lanes is taken from the lanes tag or from the road type, the lane width is 3.5 meters, and the speed limit is derived from the maxspeed tag or from the same road type and written as a separate regulatory element. One-way streets are taken into account. The output is a single .osm file in Lanelet2 markup.
Honestly about its status: this is a map derived from centerlines, not the result of a mobile laser scanning survey. Real lane widths, road markings, stop lines, traffic lights and elevations are absent from OSM — and absent from the file. For research, simulation and prototypes that is enough; for driving on public roads an HD map is surveyed separately.
Lanelet2 파일을 여는 프로그램
다음 프로그램과 애플리케이션으로 OSM2CDR에서 내보낸 Lanelet2 HD Map(.osm) 파일을 열고 편집하고 작업할 수 있습니다:
Format specifications
- Open standard
- 3D coordinates supported
- Lossless (no quality loss)
- Stores feature attributes
- Output: 1 file
- Lanelet2 OSM-XML extension. HD-map representation for autonomous driving (Autoware, Apollo).
Lanelet2 지도 사용자
Lanelet2 내보내기 방법
내보낸 뒤 여는 방법
- JOSM — open the .osm and look at the lanes and links as ordinary ways and relations; this is also a convenient place to edit the geometry by hand.
- Autoware — put the file into the map set as the vector map (lanelet2_map.osm) and start the planner.
- AWSIM — attach the map to the simulator scene, with or without a point cloud.
- The lanelet2 library for C++ and Python — load the map with the projection you need and check lane connectivity programmatically.
- Before running — make sure the projection and the origin point in your stack match the coordinates of the file: a mismatched origin is the most common cause of an empty map.
Lanelet2 형식의 인기 지도
Lanelet2 HD Map 지도 내보내기 받기
OpenStreetMap에서 전문가용 Lanelet2 지도를 다운로드하세요. 즉시 생성, 모든 영역 지원.
자주 묻는 질문
관련 형식
함께 자주 내보내는 형식
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