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Category lane

Category:Lane#

vm-01-01 Lanelet basics#

Detail of requirements #

The road's Lanelets must comply with the following requirements.

  • subtype:road
  • location:urban, for public roads
  • Align the Lanelet's direction with the direction of vehicle move. (You can visualize lanelet direction as arrows with Vector Map Builder)
  • Set lane change is allowed or not, according to vm-01-02.
  • Set the Linestring IDs for Lanelet's left_bound and right_bound respectively. See vm-01-03.
  • tag : one_way=yes. Autoware currently does not support no.
  • Connect the Lanelet to another Lanelet, except if it's at the start or end.
  • Position the points (x, y, z) within the Lanelet to align with the PCD Map, ensuring accuracy not only laterally but also in elevation. The height of a Point should be based on the ellipsoidal height (WGS84). Refer to vm-07-04.

Preferred vector map #

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vm-01-02 Allowance for lane changes#

Detail of requirements #

Add a tag to the Lanelet's Linestring indicating lane change permission or prohibition.

  • Permit lane_change=yes
  • Prohibit lane_change=no

Set the Linestring subtype according to the type of line.

  • solid
  • dashed
Referenced from Japan's Road Traffic Law #
  • White dashed lines : indicate that lane changes and overtaking are permitted.
  • White solid lines : indicate that changing lanes and overtaking are allowed.
  • Yellow solid lines : mean no lane changes are allowed.

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vm-01-03 Linestring sharing#

Detail of requirements #

Share the Linestring when creating Lanelets that are physically adjacent to others.

Behavior of Autoware #

If the Lanelet adjacent to the one the vehicle is driving on shares a Linestring, the following behaviors become possible:

  • The vehicle moves out of their lanes to avoid obstacles.
  • The vehicle turns a curve while slightly extending out of the lane.
  • Lane changes

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Preferred vector map #

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Incorrect vector map #

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vm-01-04 Sharing of the centerline of lanes for opposing traffic#

Detail of requirements #

When the vehicle's lanelet and the opposing lanelet physically touch, the road center line's Linestring ID must be shared between these two Lanelets. For that purpose, the lengths of those two Lanelets must match.

Behavior of Autoware：#

Obstacle avoidance across the opposing lane is possible.

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Preferred vector map #

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Incorrect vector map #

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vm-01-05 Lane geometry#

Detail of requirements #

The geometry of the road lanelet needs to comply with the following:

  • The left and right Linestrings must follow the road's boundary lines.
  • The lines of a Lanelet, which join with lanelets ahead and behind it, must form straight lines.
  • Ensure the outline is smooth and not jagged or bumpy, except for L-shaped cranks.

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Preferred vector map #

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Incorrect vector map #

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vm-01-06 Line position (1)#

Detail of requirements #

Ensure the road's center line Linestring is located in the exact middle of the road markings.

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Preferred vector map #

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Incorrect vector map #

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vm-01-07 Line position (2)#

Detail of requirements #

Place the Linestring at the center of the markings when lines exist outside the road.

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Preferred vector map #

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Incorrect vector map #

None in particular.

vm-01-08 Line position (3)#

Detail of requirements #

If there are no lines on the outer side within the road, position the Linestring 0.5 m from the road's edge.

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Caution#

The width depends on the laws of your country.

Preferred vector map #

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Incorrect vector map #

None in particular.

vm-01-09 Speed limits#

Detail of requirements #

In the following cases, add a speed limit (tag:speed_limit) to the Lanelet (subtype:road) the vehicle is driving on, in km/h.

  • A speed limit road sign exists.
  • You can add a speed limit, for example, on narrow roads.

Note that the following is achieved through Autoware's settings and behavior.

  • Vehicle's maximum velocity
  • Speed adjustment at places requiring deceleration, like curves and downhill areas.

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Preferred vector map #

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Incorrect vector map #

None in particular.

vm-01-10 Centerline#

Detail of requirements #

Autoware is designed to move through the midpoint calculated from a Lanelet's left and right Linestrings.

Create a centerline for the Lanelet when there is a need to shift the driving position to the left or right due to certain circumstances, ensuring the centerline has a smooth shape for drivability.

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Caution#

'Centerline' is a distinct concept from the central lane division line (centerline).

Preferred vector map #

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Incorrect vector map #

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vm-01-11 Centerline connection (1)#

Detail of requirements #

When center lines have been added to several Lanelets, they should be connected.

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Preferred vector map #

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Incorrect vector map #

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vm-01-12 Centerline connection (2)#

Detail of requirements #

If a Lanelet with an added centerline is connected to Lanelets without one, ensure the start and end points of the added centerline are positioned at the Lanelet's center. Ensure the centerline has a smooth shape for drivability.

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Preferred vector map #

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Incorrect vector map #

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vm-01-13 Roads with no centerline (1)#

Detail of requirements #

When a road lacks a central line but is wide enough for one's vehicle and oncoming vehicles to pass each other, Lanelets should be positioned next to each other at the center of the road.

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Preferred vector map #

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Incorrect vector map #

None in particular.

vm-01-14 Roads with no centerline (2)#

Detail of requirements #

Apply if all the next conditions are satisfied:

  • The road is a single lane without a central line and is too narrow for one's vehicle and an oncoming vehicle to pass each other.
  • It is an environment where no vehicles other than the autonomous vehicle enter this road.
  • The plan involves autonomous vehicles operating forth and back on this road.

Requirement for Vector Map creation:

  • Stack two Lanelets together.
Supplementary information#
  • The application of this case depends on local operational policies and vehicle specifications, and should be determined in discussion with the map requestor.
  • The current Autoware does not possess the capability to pass oncoming vehicles in shared lanes.

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Preferred vector map #

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Incorrect vector map #

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vm-01-15 Road Shoulder#

Detail of requirements #

If there is a shoulder next to the road, place the lanelet for the road shoulder (subtype:road_shoulder). However, it is not necessary to create this within intersections.

The road shoulder's Lanelet and sidewalk's Lanelet share the Linestring (subtype:road_border).

There must not be a road shoulder Lanelet next to another road shoulder Lanelet.

A road Lanelet must be next to the shoulder Lanelet.

Behavior of Autoware #
  • Autoware can start from the shoulder and also reach the shoulder.
  • The margin for moving to the edge upon arrival is determined by the Autoware parameter margin_from_boundary. It does not need to be considered when creating the Vector Map.
  • Autoware does not park on the road shoulder lanelet if it overlaps with any of the following:
    • A Polygon marked as no_parking_area
    • A Polygon marked as no_stopping_area
    • Areas near intersection and in the intersection
    • Crosswalk

tag:lane_change=yes is not required on the Linestring marking the boundary of the shoulder.

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Preferred vector map #

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Incorrect vector map #

Do not create a road shoulder Lanelet for roads without a shoulder.

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vm-01-16 Road shoulder Linestring sharing#

Detail of requirements #

The Lanelets for the road shoulder and the adjacent road should have a common Linestring.

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Preferred vector map #

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Incorrect vector map #

None in particular.

vm-01-17 Side strip#

Detail of requirements #

Place a Lanelet (subtype:pedestrian_lane) on the side strip. However, it is not necessary to create this within intersections.

The side strip's Lanelet must have the Linestring (subtype:road_border) outside.

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Preferred vector map #

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Incorrect vector map #

None in particular.

vm-01-18 Side strip Linestring sharing#

Detail of requirements #

The Lanelet for the side strip and the adjacent road Lanelet should have a common Linestring.

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Preferred vector map #

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Incorrect vector map #

None in particular.

vm-01-19 sidewalk#

Detail of requirements #

Place a sidewalk Lanelet (subtype:walkway) where necessary. However, install only when there is a crosswalk intersecting the vehicle's lane. Do not install if there is no intersection.

The length of the lanelet (subtype:walkway) should be the area intersecting with your lane and additional 3 meters before and after.

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Preferred vector map #

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Incorrect vector map #

None in particular.