Lanelet2 HD Map
Open BetaLanelet2 är ett HD-kartformat för autonom körning. Det beskriver körfält (lanelets) med exakt gränsgeometri, regulatoriska regler och topologiska relationer. Används i Autoware och AWSIM.
Viktiga funktioner
Om formatet Lanelet2
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.
Vilket program öppnar Lanelet2-filer
Följande program och applikationer kan öppna, redigera och arbeta med Lanelet2 HD Map-filer (.osm) som exporterats från OSM2CDR:
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).
Vem använder Lanelet2-kartor
Så exporterar du Lanelet2
Så öppnar du filen efter exporten
- 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.
Populära kartor i Lanelet2
Hämta kartexporter i Lanelet2 HD Map
Ladda ner professionella Lanelet2-kartor från OpenStreetMap. Direktgenerering, valfritt område.
Vanliga frågor
Relaterade format
Ofta exporterade tillsammans
Related Articles
Lanelet2 — HD Maps for Autonomous Vehicles from KIT and Autoware
Lanelet2 is an HD map format from KIT and Autoware based on OSM XML: lane-level topology, 3D geometry, traffic rules; us
usecaseTransport Simulation Formats: OpenDRIVE, SUMO, Lanelet2
OpenDRIVE, SUMO, Lanelet2 and ROS for transport simulation and autonomous driving. Export from OpenStreetMap.