diff --git a/.cspell.json b/.cspell.json index 0cd761eb370..3ea0e5c9222 100644 --- a/.cspell.json +++ b/.cspell.json @@ -1,3 +1,3 @@ { - "words": ["ISCLOAM"] + "words": ["ISCLOAM", "georeferenced", "MGRS"] } diff --git a/docs/design/autoware-architecture/map/index.md b/docs/design/autoware-architecture/map/index.md index b5607e5196d..f75dd804b21 100644 --- a/docs/design/autoware-architecture/map/index.md +++ b/docs/design/autoware-architecture/map/index.md @@ -87,9 +87,7 @@ The vector cloud map must be supplied as a file with the following requirements: - Each lanelet in the map must contain traffic rule information including its speed limit, right of way, traffic direction, associated traffic lights, stop lines, and traffic signs. - It must cover the entire operational area of the vehicle. -!!! warning - - Under Construction +For detailed specifications on Vector Map creation, please refer to [Vector Map Creation Requirement Specification document](./map-requirements/vector-map-requirements-overview/index.md). ### Projection Information diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-01.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-01.svg new file mode 100644 index 00000000000..420a99ff4c3 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-01.svg @@ -0,0 +1,168 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + left_bound + + right_bound + + + + Lanelet + subtype:road + location:urban + one_way=yes + + + + + direction + + + + + + + + + + + + \ No newline at end of file diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-02.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-02.svg new file mode 100644 index 00000000000..1c86539a065 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-02.svg @@ -0,0 +1,194 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-03_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-03_1.svg new file mode 100644 index 00000000000..ad6166ab74b --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-03_1.svg @@ -0,0 +1,265 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-03_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-03_2.svg new file mode 100644 index 00000000000..6f5b77e1a5b --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-03_2.svg @@ -0,0 +1,257 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Linestring is sharedamong Lanelets + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-03_3.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-03_3.svg new file mode 100644 index 00000000000..23742b69f78 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-03_3.svg @@ -0,0 +1,318 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Linestring is NOT sharedamong Lanelets + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-04_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-04_1.svg new file mode 100644 index 00000000000..bfdf2fd503b --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-04_1.svg @@ -0,0 +1,631 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + road centerline + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-04_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-04_2.svg new file mode 100644 index 00000000000..0027d0ae60f --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-04_2.svg @@ -0,0 +1,246 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Linestring:Two lanelets refer tothe same linestring. + + + + + + + + Two Lanelets are the same length. + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-04_3.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-04_3.svg new file mode 100644 index 00000000000..25936cebff2 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-04_3.svg @@ -0,0 +1,314 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + Linestring:Two lanelets do NOT referto the same linestring. + + + + + + + + + + + + + + + + + + + + + + + + Two Lanelets are NOT the samelength. + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-05_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-05_1.svg new file mode 100644 index 00000000000..3c07776215a --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-05_1.svg @@ -0,0 +1,415 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + road + + road shoulder + + + + + + + + road centerline + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-05_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-05_2.svg new file mode 100644 index 00000000000..419f06f9c26 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-05_2.svg @@ -0,0 +1,178 @@ + + + + + + + + + + + + + + lanelet + subtype: road + tag: oneway = yes + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-05_3.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-05_3.svg new file mode 100644 index 00000000000..f9a375b4bfd --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-05_3.svg @@ -0,0 +1,282 @@ + + + + + + + + + + + + + + + + + + + + The connection to otherlanelets is not straight-line. + + + + uneven and not smooth + + + + + Line does not followthe road boundary. + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-06_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-06_1.svg new file mode 100644 index 00000000000..6b910f8031f --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-06_1.svg @@ -0,0 +1,454 @@ + + + + + + + + + + + + + + + + + + + + + + road centerline + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-06_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-06_2.svg new file mode 100644 index 00000000000..5b1752ae7cc --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-06_2.svg @@ -0,0 +1,109 @@ + + + + + + + + + + + + + + + + + + Linestring + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-06_3.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-06_3.svg new file mode 100644 index 00000000000..ac0736e3a7d --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-06_3.svg @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-07_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-07_1.svg new file mode 100644 index 00000000000..d8d3a6fa3e7 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-07_1.svg @@ -0,0 +1,249 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-07_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-07_2.svg new file mode 100644 index 00000000000..34d54f03a3e --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-07_2.svg @@ -0,0 +1,142 @@ + + + + + + + + + + + + + + + + + Linestring + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-08_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-08_1.svg new file mode 100644 index 00000000000..c7997874bc3 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-08_1.svg @@ -0,0 +1,416 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-08_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-08_2.svg new file mode 100644 index 00000000000..163bab78da4 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-08_2.svg @@ -0,0 +1,197 @@ + + + + + + + + + + + + + + + + + + Linestring + + + + + + + + + + + + + 0.5 m + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-09_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-09_1.svg new file mode 100644 index 00000000000..bee3a0ddd71 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-09_1.svg @@ -0,0 +1,100 @@ + + + + + + + + + + + + + Speed limit road sign + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-09_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-09_2.svg new file mode 100644 index 00000000000..fa4f5589ed8 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-09_2.svg @@ -0,0 +1,213 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + lanelet + subtype: road + tag: speed_limit = 20 + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-10_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-10_1.svg new file mode 100644 index 00000000000..e71aaa32f67 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-10_1.svg @@ -0,0 +1,410 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-10_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-10_2.svg new file mode 100644 index 00000000000..3ca962b6ac7 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-10_2.svg @@ -0,0 +1,405 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Linestring + + + + Lanelet + centerline + + + + + + + + + + Smooth shape that vehiclescan drive on + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-10_3.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-10_3.svg new file mode 100644 index 00000000000..a0e4e2f8761 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-10_3.svg @@ -0,0 +1,302 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Not smooth + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-11_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-11_1.svg new file mode 100644 index 00000000000..9c663f2a3cf --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-11_1.svg @@ -0,0 +1,455 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-11_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-11_2.svg new file mode 100644 index 00000000000..38a3823f059 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-11_2.svg @@ -0,0 +1,554 @@ + + + + + + + + + + + + + + Linestrings connected + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-11_3.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-11_3.svg new file mode 100644 index 00000000000..391e1f0b5c4 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-11_3.svg @@ -0,0 +1,545 @@ + + + + + + + + + + + + + Not connected + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-12_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-12_1.svg new file mode 100644 index 00000000000..78c737c54cc --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-12_1.svg @@ -0,0 +1,466 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-12_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-12_2.svg new file mode 100644 index 00000000000..dffeaaa089e --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-12_2.svg @@ -0,0 +1,457 @@ + + + + + + + + + + + + + + + + + The start and end of the linestring (centerline)are placed in the center of the lanelet. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Lanelet + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-12_3.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-12_3.svg new file mode 100644 index 00000000000..0705ba1ab09 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-12_3.svg @@ -0,0 +1,387 @@ + + + + + + + + + + + + + The start and end of the linestring (centerline)are NOT placed in the center of the lanelet. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-13_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-13_1.svg new file mode 100644 index 00000000000..c7034fb085d --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-13_1.svg @@ -0,0 +1,452 @@ + + + + + + + + + + + + + Single lane road + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-13_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-13_2.svg new file mode 100644 index 00000000000..1af07b0c4fb --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-13_2.svg @@ -0,0 +1,272 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + lanelet + subtype: road + tag: oneway = yes + + + + + + + + + + + Two Lanelets include thesame Linestring. + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-14_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-14_1.svg new file mode 100644 index 00000000000..981bdddf1a1 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-14_1.svg @@ -0,0 +1,468 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + outward + + return + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-14_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-14_2.svg new file mode 100644 index 00000000000..5f292a9536f --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-14_2.svg @@ -0,0 +1,260 @@ + + + + + + + + + + + + + + + + + + + + + + Lanelet (outward) + + + + subtype: road + tag: oneway = yes + + + + + + + + + Lanelet (return) + + + + subtype: road + tag: oneway = yes + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-14_3.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-14_3.svg new file mode 100644 index 00000000000..43e30448184 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-14_3.svg @@ -0,0 +1,191 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + Example of incorrect:The area is divided into two parts,left and right, and Lanelets areplaced side by side. + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-15_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-15_1.svg new file mode 100644 index 00000000000..a7a5bcf4249 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-15_1.svg @@ -0,0 +1,297 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + off road + + sidewalk + + road shoulder + + road + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-15_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-15_2.svg new file mode 100644 index 00000000000..0fce0e76ab8 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-15_2.svg @@ -0,0 +1,431 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + lanelet + subtype: road_shoulder + tag: oneway = yes + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Linestring between roadshoulder and sidewalk + subtype: road_border + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-15_3.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-15_3.svg new file mode 100644 index 00000000000..49979516c84 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-15_3.svg @@ -0,0 +1,239 @@ + + + + + + + + + + + + + + + + + + Example of noroad shoulder + + + + + + + + + + + + + + + + + + + + + + side strip + + off road + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-16_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-16_2.svg new file mode 100644 index 00000000000..317338965a4 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-16_2.svg @@ -0,0 +1,333 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + lanelet + subtype: road_shoulder + tag: oneway = yes + + + + + + + + + + + + + + lanelet + subtype: road + tag: oneway = yes + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-17_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-17_1.svg new file mode 100644 index 00000000000..e1a2d8bc768 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-17_1.svg @@ -0,0 +1,217 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + side strip + + off road + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-17_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-17_2.svg new file mode 100644 index 00000000000..0ca124b39b7 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-17_2.svg @@ -0,0 +1,408 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Lanelet + subtype:pedestrian_lane + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Linestring between side stripand off road + subtype: road_border + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-18_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-18_2.svg new file mode 100644 index 00000000000..3bfb23eef5c --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-18_2.svg @@ -0,0 +1,316 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + lanelet + subtype: road_shoulder + tag: oneway = yes + + + + + + lanelet + subtype: road + tag: oneway = yes + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-19_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-19_1.svg new file mode 100644 index 00000000000..62a0c090a07 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-19_1.svg @@ -0,0 +1,542 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + off road + + + intersecting walkway + + + + + + road shoulder + + road + + + + + + + + + + + + + + private area + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-19_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-19_2.svg new file mode 100644 index 00000000000..06304425cc5 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-19_2.svg @@ -0,0 +1,302 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Lanelet + subtype:walkway + + + + private area + + + + + + + + + + + + + + + + + + ３ｍ + ３ｍ + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-02-01_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-02-01_1.svg new file mode 100644 index 00000000000..3eedd1c8545 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-02-01_1.svg @@ -0,0 +1,281 @@ + + + + + + + + + + + + + + + + + + + + stop line + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-02-01_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-02-01_2.svg new file mode 100644 index 00000000000..680360977fc --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-02-01_2.svg @@ -0,0 +1,141 @@ + + + + + + + + + + + + + + + + + + + + + + + Linestring + type:stop_line + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-02-01_3.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-02-01_3.svg new file mode 100644 index 00000000000..b92df0ea685 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-02-01_3.svg @@ -0,0 +1,93 @@ + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-02-02_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-02-02_1.svg new file mode 100644 index 00000000000..c7aed19e0e2 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-02-02_1.svg @@ -0,0 +1,142 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-02-02_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-02-02_2.svg new file mode 100644 index 00000000000..80056d5e9fc --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-02-02_2.svg @@ -0,0 +1,315 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Linestring + type:stop_line + + + + + + + + + Linestring + type:traffic_signsubtype: stop_sign + + + + + + + type: regulatory_element + subtype: traffic_sign + + + + + Lanelet + subtype:road + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-02_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-02_1.svg new file mode 100644 index 00000000000..590157232eb --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-02_1.svg @@ -0,0 +1,222 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-02_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-02_2.svg new file mode 100644 index 00000000000..dad73e0b69d --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-02_2.svg @@ -0,0 +1,674 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Lanelet + tag: + turn_direction:left + + + + Lanelet + tag: + turn_direction:straight + + + + Lanelet + + + + + + + + + + + + + + + + + + + + + + + + + + + + Linestring + type: virtual + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-03_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-03_1.svg new file mode 100644 index 00000000000..372e8d25ecb --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-03_1.svg @@ -0,0 +1,789 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-03_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-03_2.svg new file mode 100644 index 00000000000..f69a2156004 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-03_2.svg @@ -0,0 +1,689 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + The lanelet has a constantwidth and the linestring has a smooth curve + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-03_3.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-03_3.svg new file mode 100644 index 00000000000..1ef5cf7ddc3 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-03_3.svg @@ -0,0 +1,699 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + The lanelet doesn't havea constant width and thelinestring doesn't have asmooth curve + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-04_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-04_1.svg new file mode 100644 index 00000000000..beddf486f07 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-04_1.svg @@ -0,0 +1,898 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-04_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-04_2.svg new file mode 100644 index 00000000000..25aecd81648 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-04_2.svg @@ -0,0 +1,777 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + You must create all laneletswithin the intersection + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-04_3.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-04_3.svg new file mode 100644 index 00000000000..91c9a8a4a15 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-04_3.svg @@ -0,0 +1,661 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Your creation is incomplete. + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-05_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-05_1.svg new file mode 100644 index 00000000000..cedeb38ef70 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-05_1.svg @@ -0,0 +1,777 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-05_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-05_2.svg new file mode 100644 index 00000000000..5940dfb1364 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-05_2.svg @@ -0,0 +1,699 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + The lane consists of asingle lanelet from theentrance to the exit ofthe intersection. + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-05_3.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-05_3.svg new file mode 100644 index 00000000000..8db46e89b61 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-05_3.svg @@ -0,0 +1,722 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + The Lane consists ofseveral lanelets from theentrance to the exit ofthe intersection. + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-06_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-06_1.svg new file mode 100644 index 00000000000..7ae4d8eb19f --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-06_1.svg @@ -0,0 +1,2472 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + guide line + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-06_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-06_2.svg new file mode 100644 index 00000000000..0b6d23adfc0 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-06_2.svg @@ -0,0 +1,2329 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Linestring + type:virtual + + + + + + + + + + + + + + + + + + + + + + + + + Linestring + type:virtual + + + + + + + + + + + + When diverging a Lanelet, the divergenceshall begin at the end of the guide line. + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-03-07_1.svg 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+ + + + + + + + + +
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+ + + refers +
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+ + + + \ No newline at end of file diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-05-04_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-05-04_1.svg new file mode 100644 index 00000000000..2ad07439658 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-05-04_1.svg @@ -0,0 +1,181 @@ + + + + + + + + + + + + + + + + + + + + + + + + + linestring + type:fence + + + + + + Kindergartens orplaygrounds + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-01_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-01_1.svg new file mode 100644 index 00000000000..142575bbf81 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-01_1.svg @@ -0,0 +1,405 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Buffer zone + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-01_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-01_2.svg new file mode 100644 index 00000000000..b85f9b42d8e --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-01_2.svg @@ -0,0 +1,132 @@ + + + + + + + + + + + + + + + + + + + + + + + Safety zone + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-01_3.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-01_3.svg new file mode 100644 index 00000000000..dac2ea04b0c --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-01_3.svg @@ -0,0 +1,1236 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Polygon + type:hatched_road_markings + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Polygon + type:intersection_area + + + + + median strip + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-02_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-02_1.svg new file mode 100644 index 00000000000..a2bd09b4949 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-02_1.svg @@ -0,0 +1,168 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + No parkng + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-02_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-02_2.svg new file mode 100644 index 00000000000..4840b6a34e5 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-02_2.svg @@ -0,0 +1,236 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + Lanelet + subtype: road + + + + + + regulatory_element + subtype: no_parking_area + + + + + + + Polygon + type:no_parking_area + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-03_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-03_1.svg new file mode 100644 index 00000000000..dfadfd3a4cd --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-03_1.svg @@ -0,0 +1,156 @@ + + + + + + + + + + + + + No parking and stopping + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-03_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-03_2.svg new file mode 100644 index 00000000000..ab4931b65b0 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-03_2.svg @@ -0,0 +1,236 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + Lanelet + subtype: road + + + + + + regulatory_element + subtype: no_parking_area + + + + + + + Polygon + type:no_parking_area + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-04_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-04_1.svg new file mode 100644 index 00000000000..34760374631 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-04_1.svg @@ -0,0 +1,320 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + No stopping zone + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-04_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-04_2.svg new file mode 100644 index 00000000000..75574069ffb --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-04_2.svg @@ -0,0 +1,383 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Lanelet + subtype: road + + + + + + type: regulatory_element + subtype: no_stopping_area + + + + + + + Polygon + stype:no_stopping_area + + + + Linestring + type:stop_line + (optional) + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-05_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-05_1.svg new file mode 100644 index 00000000000..61afb686f87 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-06-05_1.svg @@ -0,0 +1,657 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Lanelet + + + + + + + + + + + + + + + + + + + + + + + + + + + leftBound + + rightBound + + + + RegulatoryElement + subtype: detection_area + + + ref_line + + + + + + + LineString + type: stop_line + + + + + + + regulatory_ele + ment + + + + + + refers + + + + Polygon + Id: 11 + type: detection_area + area: yes + + + + + + + 1 + + + + 3 + + + + 2 + + + + 4 + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-01_1.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-01_1.svg new file mode 100644 index 00000000000..cb9c877edc0 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-01_1.svg @@ -0,0 +1,409 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Range of sensor + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-01_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-01_2.svg new file mode 100644 index 00000000000..fd24ca8757d --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-01_2.svg @@ -0,0 +1,321 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-03_1.png b/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-03_1.png new file mode 100644 index 00000000000..143ddc72606 Binary files /dev/null and b/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-03_1.png differ diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-03_2.png b/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-03_2.png new file mode 100644 index 00000000000..d673574878c Binary files /dev/null and b/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-03_2.png differ diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-04_height_en.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-04_height_en.svg new file mode 100644 index 00000000000..dbf890958ba --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-04_height_en.svg @@ -0,0 +1,188 @@ + + + +pointTerrain surfaceGeoidEllipsoidal heightEllipsoid surfaceOrthometric height diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_area.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_area.md new file mode 100644 index 00000000000..6e5be9c1e0e --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_area.md @@ -0,0 +1,151 @@ +## Category:Area + +--- + +### vm-06-01 Buffer Zone + +#### Detail of requirements + +Create a Polygon (_type:hatched_road_markings_) when a Buffer Zone (also known as a zebra zone) is painted on the road surface. + +- If the Buffer Zone is next to a Lanelet, share Points between them. +- Overlap the Buffer Zone's Polygon with the intersection's Polygon (intersection_area) if the Buffer Zone is located at an intersection. + +##### Behavior of Autoware： + +In order to avoid obstacles, Autoware regards the Buffer Zone as a drivable area and proceeds through it. + +##### Caution + +- Vehicles are not allowed to pass through safety areas. It's important to differentiate between Buffer Zones and safety areas. - Do not create a Polygon for the Buffer Zone in areas where static objects like poles are present and vehicles cannot pass, even if a Buffer Zone is painted on the surface. Buffer Zones should be established only in areas where vehicle passage is feasible. + +![svg](../assets/vm-06-01_1.svg) + +![svg](../assets/vm-06-01_2.svg) + +#### Preferred vector map + +![svg](../assets/vm-06-01_3.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) + +--- + +### vm-06-02 No parking signs + +#### Detail of requirements + +When creating a Vector Map, you can prohibit parking in specific areas, while temporary stops are permitted. + +Create a reference from a Lanelet (_subtype:road_) to a Regulatory Element (_subtype:no_parking_area_), and have this Regulatory Element refer to a Polygon (_type:no_parking_area_). + +Refer to [Web.Auto Documentation - Creation of No Parking Area](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-no-parking-area) for the method of creation in Vector Map Builder. + +##### Behavior of Autoware： + +Since _no_parking_area_ does not allow for setting a goal, Autoware cannot park the vehicle there. + +![svg](../assets/vm-06-02_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-06-02_2.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) + +--- + +### vm-06-03 No stopping signs + +#### Detail of requirements + +When creating a Vector Map, you can prohibit stopping in specific areas, while temporary stops are permitted. + +Create a reference from a Lanelet (_subtype:road_) to a Regulatory Element (_subtype:no_parking_area_), and have this Regulatory Element refer to a Polygon (_type:no_parking_area_). + +Refer to [Web.Auto Documentation - Creation of No Parking Area](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-no-parking-area) for the method of creation in Vector Map Builder. + +##### Behavior of Autoware： + +Since _no_parking_area_ does not allow for setting a goal, Autoware cannot park the vehicle there. + +![svg](../assets/vm-06-03_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-06-03_2.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) + +--- + +### vm-06-04 No stopping sections + +#### Detail of requirements + +While vehicles may stop on the road for signals or traffic congestion, you can prohibit any form of stopping (temporary stopping, parking, idling) in specific areas when creating a Vector Map. + +Create a reference from a Lanelet (_subtype:road_) to a Regulatory Element (_subtype:no_stopping_area_), and have this Regulatory Element refer to a Polygon (_type:no_stopping_area_). + +Refer to [Web.Auto Documentation - Creation of No Stopping Area](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-no-stopping-area) for the method of creation in Vector Map Builder. + +##### Behavior of Autoware： + +The vehicle does not make temporary stops in _no_stopping_area_. Since goals cannot be set in _no_stopping_area_, the vehicle cannot park there. + +![svg](../assets/vm-06-04_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-06-04_2.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [No Stopping Area design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/) + +--- + +### vm-06-05 Detection area + +#### Detail of requirements + +Autoware identifies obstacles by detecting point clouds in the Detection Area, leading to a stop at the stop line and maintaining that stop until the obstacles move away. To enable this response, incorporate the Detection Area element into the Vector Map. + +Create a reference from a Lanelet (_subtype:road_) to a Regulatory Element (_subtype:detection_area_), and have this Regulatory Element refer to a Polygon (_type:detection_area_) and a Linestring (_type:stop_line_). + +Refer to [Web.Auto Documentation - Creation of Detection Area](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-detection-area) for the method of creation in Vector Map Builder. + +#### Preferred vector map + +![svg](../assets/vm-06-05_1.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Detection Area - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/) diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk.md new file mode 100644 index 00000000000..20c956d6f8f --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk.md @@ -0,0 +1,119 @@ +## Category:Crosswalk + +There are two types of requirements for crosswalks, and they can both be applicable to a single crosswalk. + +- [vm-05-01](./category_crosswalk.md#vm-05-01-crosswalks-across-the-road) : Crosswalks across the road +- [vm-05-02](./category_crosswalk.md#vm-05-02-crosswalks-with-pedestrian-signals) : Crosswalks with pedestrian signals + +In the case of crosswalks at intersections, they must also meet the requirements of the intersection. + +--- + +### vm-05-01 Crosswalks across the road + +#### Detail of requirements + +Necessary requirements for creation: + +1. Create a Lanelet for the crosswalk (_subtype:crosswalk_). +2. If there is a stop line before the crosswalk, create a Linestring (_type:stop_line_). Create stop lines for the opposing traffic lane in the same way. +3. Create a Polygon (_type:crosswalk_polygon_) to cover the crosswalk. +4. The Lanelet of the road refers to the regulatory element (_subtype:crosswalk_), and the regulatory element refers to the created Lanelet, Linestring, and Polygon. + +##### Supplemental information + +- Link the regulatory element to the lanelet(s) of the road that intersects with the crosswalk. +- The stop lines linked to the regulatory element do not necessarily have to exist on the road Lanelets linked with the regulatory element. + +##### Behavior of Autoware： + +When pedestrians or cyclists are on the crosswalk, Autoware will come to a stop before the stop line and wait for them to pass. Once they have cleared the area, Autoware will begin to move forward. + +#### Preferred vector map + +![svg](../assets/vm-05-01_1.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) + +--- + +### vm-05-02 Crosswalks with pedestrian signals + +#### Detail of requirements + +Necessary requirements for creation: + +- Create a Lanelet (_subtype:crosswalk_, _participant:pedestrian_). +- Create a Traffic Light Linestring. If multiple traffic lights exist, create multiple Linestrings. + - Linestring + - _type:traffic_light_ + - _subtype:red_green_ + - _height_:value +- Ensure the crosswalk's Lanelet references a Regulatory Element (_subtype:traffic_light_). Also, ensure the Regulatory Element references Linestring (_type:traffic_light_). + +Refer to [vm-04-02](./category_traffic_light.md#vm-04-02-traffic-light-position-and-size) for more about traffic light object. + +#### Preferred vector map + +![svg](../assets/vm-05-02_1.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) + +--- + +### vm-05-03 Deceleration for safety at crosswalks + +#### Detail of requirements + +To ensure a constant deceleration to a safe speed when traversing a crosswalk, add the following tags to the crosswalk's Lanelet (_subtype:crosswalk_): + +- _safety_slow_down_speed_ [m/s]: The maximum velocity while crossing. +- _safety_slow_down_distance_ [m]: The starting point of the area where the maximum speed applies, measured from the vehicle's front bumper to the crosswalk. + +#### Preferred vector map + +![svg](../assets/vm-05-03_2.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) + +--- + +### vm-05-04 Fences + +#### Detail of requirements + +Autoware detects pedestrians and bicycles crossing the crosswalk, as well as those that might cross. However, areas near the crosswalk, such as fenced kindergartens, playgrounds, or parks, where many people are moving, can affect crosswalk detection due to predicted paths of people and bicycles from these areas. + +Surround areas not connected to the crosswalk with Linestring (_type:fence_), which does not need to be linked to anything. + +However, if there is a guardrail, wall, or fence between the road and sidewalk, with another fence behind it, the second fence may be omitted. Nevertheless, areas around crosswalks are not subject to this omission and must be created without exclusion. + +#### Preferred vector map + +![svg](../assets/vm-05-04_1.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_map_based_prediction/) diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_intersection.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_intersection.md new file mode 100644 index 00000000000..31ace0cfec7 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_intersection.md @@ -0,0 +1,423 @@ +## Category:Intersection + +--- + +### vm-03-01 Intersection criteria + +#### Detail of requirements + +Essential criteria for the construction of an intersection: + +- Encircle the drivable area at the intersection with a Polygon (_type:intersection_area_). +- Add _turn_direction_ to all Lanelets in the intersection. +- Ensure that all lanelets in the intersection are tagged: + - _key:intersection_area_ + - _value: Polygon's ID_ +- Attach _right_of_way_ to the necessary Lanelets. +- Also, it is necessary to appropriately create traffic lights, crosswalks, and stop lines. + +For detailed information, refer to the respective requirements on this page. + +##### Autoware modules + +- The requirements for _turn_direction_ and _right_of_way_ are related to the intersection module, which plans velocity to avoid collisions with other vehicles, taking traffic light instructions into account. +- The requirements for _intersection_area_ are related to the avoidance module, which plans routes that evade by veering out of lanes in the intersections. + +#### Preferred vector map + +None in particular. + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) + +--- + +### vm-03-02 Lanelet's turn direction and virtual linestring + +#### Detail of requirements + +Add the following tag to the Lanelets in the intersection: + +- turn_direction : straight +- turn_direction : left +- turn_direction : right + +Also, if the left or right Linestrings of Lanelets at the intersection lack road paintings, designate these as _type:virtual_. + +##### Behavior of Autoware： + +Autoware will start flashing the turn signals (blinkers) 30 meters as default before turn_direction-tagged Lanelet. If you change the blinking timing, add the following tags: + +- key: _turn_signal_distance_ +- value: numerical value (m) + +![svg](../assets/vm-03-02_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-03-02_2.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) +- [virtual_traffic_light in behavior_velocity_planner - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/) + +--- + +### vm-03-03 Lanelet width in the intersection + +#### Detail of requirements： + +Lanelets in the intersection should have a consistent width. Additionally, draw Linestrings with smooth curves. + +The shape of this curve must be determined by the Vector Map creator. + +![svg](../assets/vm-03-03_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-03-03_2.svg) + +#### Incorrect vector map + +![svg](../assets/vm-03-03_3.svg) + +--- + +### vm-03-04 Lanelet creation in the intersection + +#### Detail of requirements + +Create all Lanelets in the intersection, including lanelets not driven by the vehicle. Additionally, link stop lines and traffic lights to the Lanelets appropriately. + +Refer also to the creation scope [vm-07-01](./category_others.md#vm-07-01-vector-map-creation-range) + +##### Behavior of Autoware + +Autoware uses lanelets to predict the movements of other vehicles and plan the vehicle's velocity accordingly. Therefore, it is necessary to create all lanelets in the intersection. + +![svg](../assets/vm-03-04_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-03-04_2.svg) + +#### Incorrect vector map + +![svg](../assets/vm-03-04_3.svg) + +#### Related Autoware module + +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) + +--- + +### vm-03-05 Lanelet division in the intersection + +#### Detail of requirements + +Create the Lanelets in the intersection as a single object without dividing them. + +![svg](../assets/vm-03-05_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-03-05_2.svg) + +#### Incorrect vector map + +![svg](../assets/vm-03-03_3.svg) + +#### Related Autoware module + +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) + +--- + +### vm-03-06 Guide lines in the intersection + +#### Detail of requirements + +If there are guide lines in the intersection, draw the Lanelet following them. + +In cases where the Lanelets branches off, begin the branching at the end of the guide line. However, it is not necessary to share points or linestrings between Lanelets. + +![svg](../assets/vm-03-06_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-03-06_2.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) + +--- + +### vm-03-07 Multiple lanelets in the intersection + +#### Detail of requirements + +When connecting multiple lanes with Lanelets at an intersection, those Lanelets should be made adjacent to each other without crossing. + +![svg](../assets/vm-03-07_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-03-07_2.svg) + +#### Incorrect vector map + +![svg](../assets/vm-03-07_3.svg) + +#### Related Autoware module + +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) + +--- + +### vm-03-08 Intersection area range + +#### Detail of requirements + +Encircle the intersection's drivable area with a Polygon (_type:intersection_area_). The boundary of this intersection's Polygon should be defined by the objects below. + +- Linestrings (_subtype:road_border_) +- Straight lines at the connection points of lanelets in the intersection." + +#### Preferred vector map + +![svg](../assets/vm-03-08_1.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) + +--- + +### vm-03-09 Range of Lanelet in the intersection + +#### Detail of requirements + +Determine the start and end positions of lanelets in the intersection (henceforth the boundaries of lanelet connections) based on the stop line's position. + +- For cases with a painted stop line: + - The stop line's linestring (_type:stop_line_) position must align with the lanelet's start. + - Extend the lanelet's end to where the opposing lane's stop line would be. +- Without a painted stop line: + - Use a drawn linestring (_type:stop_line_) to establish positions as if there were a painted stop line. + +#### Preferred vector map + +![svg](../assets/vm-03-09_1.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) + +--- + +### vm-03-10 Right of way (with signal) + +#### Detail of requirements + +Set the regulatory element 'right_of_way' for Lanelets that meet all of the following criteria: + +- Lanelets in the intersection with a _turn_direction_ of _right_ or _left_. +- Lanelets that intersect with the vehicle's lanelet. +- There are traffic lights at the intersection. + +Set to _yield_ those lanelets in the intersection that intersect the vehicle's lanelet, and set to _yield_ those lanelets that do not share the same signal change timing with the vehicle. Also, if the vehicle is turning left, set the opposing vehicle's right-turn lane to _yield_. There is no need to set _yield_ for lanelets where the vehicle goes straight (_turn_direction:straight_). + +![svg](../assets/vm-03-10_1.svg) + +#### Preferred vector map + +##### The vehicle turns left + +![svg](../assets/vm-03-10_2.svg) + +##### The vehicle turns right + +![svg](../assets/vm-03-10_3.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) + +--- + +### vm-03-11 Right of way (without signal) + +#### Detail of requirements + +Set the regulatory element 'right_of_way' for Lanelets that meet all of the following criteria: + +- Lanelets in the intersection with a _turn_direction_ of _right_ or _left_. +- Lanelets that intersect with the vehicle's lanelet. +- There are **no** traffic lights at the intersection. + +![svg](../assets/vm-03-11_1.svg) + +#### Preferred vector map + +##### ① The vehicle on the priority lane + +![svg](../assets/vm-03-11_2.svg) + +##### ② The vehicle on the non-priority lane + +A regulatory element is not necessary. However, when the vehicle goes straight, it has relative priority over other vehicles turning right from the opposing non-priority road. Therefore, settings for _right_of_way_ and _yield_ are required in this case. + +![svg](../assets/vm-03-11_3.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) + +--- + +### vm-03-12 Right of way supplements + +#### Detail of requirements + +##### Why it's necessary to configure 'right_of_way' + +Without the 'right_of_way' setting, Autoware interprets other lanes intersecting its path as having priority. Therefore, as long as there are other vehicles in the crossing lane, Autoware cannot enter the intersection regardless of signal indications. + +An example of a problem: Even when our signal allows proceeding, our vehicle waits beforehand if other vehicles are waiting at a red light where the opposing lane intersects with a right-turn lane. + +#### Preferred vector map + +None in particular. + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) + +--- + +### vm-03-13 Merging from private area, sidewalk + +#### Detail of requirements + +Set _location=private_ for Lanelets within private property. + +When a road, which enters or exits private property, intersects with a sidewalk, create a Lanelet for that sidewalk (_subtype:walkway_). + +##### Behavior of Autoware： + +- The vehicle stops temporarily before entering the sidewalk. +- The vehicle comes to a stop before merging onto the public road. + +![svg](../assets/vm-03-13_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-03-13_2.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) + +--- + +### vm-03-14 Road marking + +#### Detail of requirements + +If there is a stop line ahead of the guide lines in the intersection, ensure the following: + +- Create a Lanelet for the guide lines. +- The Lanelet for the guide lines references a Regulatory Element (_subtype:road_marking_). +- The Regulatory Element refers to the _stop_line_'s Linestring." + +Refer to [Web.Auto Documentation - Creation of Regulatory Element](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-regulatory-element) for the method of creation in Vector Map Builder. + +![svg](../assets/vm-03-14_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-03-14_2.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) + +--- + +### vm-03-15 Exclusive bicycle lane + +#### Detail of requirements + +If an exclusive bicycle lane exists, create a Lanelet (_subtype:road_). The section adjoining the road should share a Linestring. For bicycle lanes at intersections, assign a yield*lane designation beneath the \_right_of_way* for lanes that intersect with the vehicle's left-turn lane. (Refer to [vm-03-10](./category_intersection.md#vm-03-10-right-of-way-with-signal) and [vm-03-11](./category_intersection.md#vm-03-11-right-of-way-without-signal) for right_of_way). + +In addition, set _lane_change = no_ as OptionalTags. + +##### Behavior of Autoware： + +The blind spot (entanglement check) feature verifies the lanelet(subtype:road) and decides if the vehicle can proceed. + +![png](../assets/vm-03-15_1.png) + +![svg](../assets/vm-03-15_2.svg) + +#### Preferred vector map + +![svg](../assets/vm-03-15_3.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_lane.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_lane.md new file mode 100644 index 00000000000..c5e1177a5f2 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_lane.md @@ -0,0 +1,454 @@ +## 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](https://docs.web.auto/en/user-manuals/vector-map-builder/screen-layout#project-tab)) +- Set lane change is allowed or not, according to [vm-01-02](#vm-01-02-allowance-for-lane-changes). +- Set the Linestring IDs for Lanelet's left_bound and right_bound respectively. See [vm-01-03](#vm-01-03-linestring-sharing). +- 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](./category_others.md#vm-07-04-ellipsoidal-height). + +#### Preferred vector map + +![lanelet](../assets/vm-01-01.svg) + +--- + +### 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. + +![lines](../assets/vm-01-02.svg) + +#### Related Autoware module + +- [Lane Change design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Out of lane design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/) + +--- + +### 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 + +![lines](../assets/vm-01-03_1.svg) + +#### Preferred vector map + +![lines](../assets/vm-01-03_2.svg) + +#### Incorrect vector map + +![lines](../assets/vm-01-03_3.svg) + +#### Related Autoware module + +- [Lane Change design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Out of lane design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/) + +--- + +### 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. + +![svg](../assets/vm-01-04_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-01-04_2.svg) + +#### Incorrect vector map + +![svg](../assets/vm-01-04_3.svg) + +--- + +### 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. + +![svg](../assets/vm-01-05_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-01-05_2.svg) + +#### Incorrect vector map + +![svg](../assets/vm-01-05_3.svg) + +--- + +### 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. + +![svg](../assets/vm-01-06_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-01-06_2.svg) + +#### Incorrect vector map + +![svg](../assets/vm-01-06_3.svg) + +--- + +### vm-01-07 Line position (2) + +#### Detail of requirements + +Place the Linestring at the center of the markings when lines exist outside the road. + +![svg](../assets/vm-01-07_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-01-07_2.svg) + +#### 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. + +![svg](../assets/vm-01-08_1.svg) + +##### Caution + +The width depends on the laws of your country. + +#### Preferred vector map + +![svg](../assets/vm-01-08_2.svg) + +#### 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. + +![svg](../assets/vm-01-09_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-01-09_2.svg) + +#### 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. + +![svg](../assets/vm-01-10_1.svg) + +##### Caution + +'Centerline' is a distinct concept from the central lane division line (centerline). + +#### Preferred vector map + +![svg](../assets/vm-01-10_2.svg) + +#### Incorrect vector map + +![svg](../assets/vm-01-10_3.svg) + +--- + +### vm-01-11 Centerline connection (1) + +#### Detail of requirements + +When center lines have been added to several Lanelets, they should be connected. + +![svg](../assets/vm-01-11_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-01-11_2.svg) + +#### Incorrect vector map + +![svg](../assets/vm-01-11_3.svg) + +--- + +### 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. + +![svg](../assets/vm-01-12_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-01-12_2.svg) + +#### Incorrect vector map + +![svg](../assets/vm-01-12_3.svg) + +--- + +### 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. + +![svg](../assets/vm-01-13_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-01-13_2.svg) + +#### 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. + +![svg](../assets/vm-01-14_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-01-14_2.svg) + +#### Incorrect vector map + +![svg](../assets/vm-01-14_3.svg) + +--- + +### 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. + +![svg](../assets/vm-01-15_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-01-15_2.svg) + +#### Incorrect vector map + +Do not create a road shoulder Lanelet for roads without a shoulder. + +![svg](../assets/vm-01-15_3.svg) + +#### Related Autoware module + +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) + +--- + +### 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. + +![svg](../assets/vm-01-15_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-01-16_2.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) + +--- + +### 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. + +![svg](../assets/vm-01-17_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-01-17_2.svg) + +#### 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. + +![svg](../assets/vm-01-17_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-01-18_2.svg) + +#### 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. + +![svg](../assets/vm-01-19_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-01-19_2.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Walkway design- Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/) diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_others.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_others.md new file mode 100644 index 00000000000..c51a1f465cc --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_others.md @@ -0,0 +1,98 @@ +## Category:Others + +--- + +### vm-07-01 Vector Map creation range + +#### Detail of requirements + +Create all Lanelets within the sensor range of the vehicle, even those on roads not driven by the vehicle, including Lanelets that intersect with the vehicle's Lanelet. + +However, if the following conditions are met, the range you must create lanelets is 10 meters at least. + +- The vehicle drives on the priority lane through the intersection without traffic lights. +- The vehicle drives straight or turn left through the intersection with traffic lights + +Refer to [vm-03-04](./category_intersection.md#vm-03-04-lanelet-creation-in-the-intersection) for more about intersection requirements. + +##### Behavior of Autoware： + +Autoware detects approaching vehicles and plans a route to avoid collisions. + +##### Caution + +Check the range of sensors on your vehicle. + +#### Preferred vector map + +![svg](../assets/vm-07-01_1.svg) + +#### Incorrect vector map + +![svg](../assets/vm-07-01_2.svg) + +--- + +### vm-07-02 Range of detecting pedestrians who enter the road + +#### Detail of requirements + +Autoware's feature for detecting sudden entries from the roadside tracks pedestrians and cyclists beyond the road boundaries, decelerating to prevent collisions when emergence into the road is likely. + +Setting up a linestring of the following type instructs Autoware to disregard those positioned outside the line as not posing pop-out risks. + +- guard_rail +- wall +- fence + +#### Preferred vector map + +![svg](../assets/vm-05-04_1.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_map_based_prediction/) + +--- + +### vm-07-03 Guardrails, guard pipes, fences + +#### Detail of requirements + +When creating a Linestring for guardrails or guard pipes (_type: guard_rail_), position it at the point where the most protruding part on the roadway side is projected vertically onto the ground. + +Follow the same position guidelines for Linestrings of fences (_type:fence_). + +#### Preferred vector map + +![png](../assets/vm-07-03_1.png) + +#### Incorrect vector map + +![png](../assets/vm-07-03_2.png) + +#### Related Autoware module + +- [Drivable Area design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design/) + +--- + +### vm-07-04 Ellipsoidal height + +#### Detail of requirements + +The height of a Point should be based on the ellipsoidal height (WGS84), in meters. + +![svg](../assets/vm-07-04_height_en.svg) + +#### Preferred vector map + +The height of a Point is the distance from the ellipsoidal surface to the ground. + +#### Incorrect vector map + +The height of a Point is Orthometric height, the distance from the Geoid to the ground. diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line.md new file mode 100644 index 00000000000..d58ecb11c99 --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line.md @@ -0,0 +1,45 @@ +## Category:Stop Line + +--- + +### vm-02-01 Stop line alignment + +#### Detail of requirements + +Place the Linestring (_type:stop_line_) for the stop line on the edge on the side before the white line. + +Refer to [Web.Auto Documentation - Creation and edit of a stop point (StopPoint)](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-and-edit-of-a-stop-point-stoppoint) for the method of creation in Vector Map Builder. + +![svg](../assets/vm-02-01_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-02-01_2.svg) + +#### Incorrect vector map + +![svg](../assets/vm-02-01_3.svg) + +--- + +### vm-02-02 Stop sign + +#### Detail of requirements + +Where there is no stop line on the road but a stop sign exists, place a Linestring as the stop line next to the sign. + +Create a reference from a Lanelet (_subtype:road_) to a Regulatory Element (_subtype:traffic_sign_), and have this Regulatory Element refer to a Linestring (_type:stop_line_) and a Linestring (_type:traffic_sign, subtype:stop_sign)_. + +![svg](../assets/vm-02-02_1.svg) + +#### Preferred vector map + +![svg](../assets/vm-02-02_2.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Stop Line design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/) diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light.md new file mode 100644 index 00000000000..a9e981be05d --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light.md @@ -0,0 +1,92 @@ +## Category:Traffic Light + +--- + +### vm-04-01 Traffic light basics + +#### Detail of requirements + +When creating traffic lights in a vector map, meet the following requirements: + +- Road Lanelet (_subtype:road_). Quantity: one. +- Traffic Light. Multiple instances possible. + - Traffic light Linestring (_type:traffic_light_). + - Traffic light bulbs Linestring (_type:light_bulbs_). + - Stop line Linestring (_type:stop_line_). +- Regulatory element for traffic lights (_subtype:traffic_light_). Referenced by the road Lanelet and references both the traffic light (_traffic_light_, _light_bulbs_) and stop line (_stop_line_). Quantity: one. + +Refer to [Web.Auto Documentation - Creation of a traffic light and a stop line](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-a-traffic-light-and-a-stop-line) for the method of creation in Vector Map Builder. + +Refer to vm-04-02 and vm-04-03 for the specifications of traffic light and traffic light bulb objects. + +#### Preferred vector map + +![svg](../assets/vm-04-01_1.svg) + +If there is a crosswalk at the intersection, arrange for the road's Lanelet and the crosswalk's Lanelet to intersect and overlap. + +![svg](../assets/vm-04-01_2.svg) + +#### Related Autoware module + +- [Traffic Light design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/) + +--- + +### vm-04-02 Traffic light position and size + +#### Detail of requirements + +Create traffic lights with Linestring. + +- _type:traffic_light_ +- _subtype:red_yellow_green_ (optional) + +Create the Linestring's length (from start to end points) precisely aligned with the traffic light's bottom edge. Ensure the traffic light's positional height is correctly represented in the Linestring's 3D coordinates. + +Use _tag:height_ for the traffic light's height, e.g., for 50cm, write _tag:height=0.5_. Note that this height indicates the size of the traffic light, not its position. + +##### Supplemental information + +Autoware currently ignores subtype _red_yellow_green_. + +#### Preferred vector map + +![svg](../assets/vm-04-02_1.svg) + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Traffic Light design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/) + +--- + +### vm-04-03 Traffic light lamps + +#### Detail of requirements + +To enable the system to detect the color of traffic lights, the color scheme and arrangement must be accurately created as objects. Indicate the position of the lights with Points. For colored lights, use the _color_ tag to represent the color. For arrow lights, use the _arrow_ tag to indicate the direction. + +- _tag: color = red, yellow, green_ +- _tag: arrow = up, right, left, up_light, up_left_ + +Use the Points of the lights when creating a Linestring. + +- _type: light_bulbs_ + +#### Preferred vector map + +![svg](../assets/vm-04-03_1.svg) + +The order of the lights' Points can be 1→2→3→4 or 4→3→2→1, either is acceptable. + +#### Incorrect vector map + +None in particular. + +#### Related Autoware module + +- [Traffic Light design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/) diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/index.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/index.md new file mode 100644 index 00000000000..fc2e01a7ffc --- /dev/null +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/index.md @@ -0,0 +1,81 @@ +# Vector Map creation requirement specifications + +## Overview + +Autoware relies on high-definition point cloud maps and vector maps of the driving environment to perform various tasks such as localization, route planning, traffic light detection, and predicting the trajectories of pedestrians and other vehicles. + +A vector map contains highly accurate information about a road network, lane geometry, and traffic lights. It is required for route planning, traffic light detection, and predicting the trajectories of other vehicles and pedestrians. + +Vector Map uses [lanelet2_extension](https://github.com/autowarefoundation/autoware_lanelet2_extension/blob/main/autoware_lanelet2_extension/docs/lanelet2_format_extension.md), which is based on the [lanelet2](https://github.com/fzi-forschungszentrum-informatik/Lanelet2) format and extended for Autoware. + +The primitives (basic components) used in Vector Map are explained in [Web.Auto Docs - What is Lanelet2](https://docs.web.auto/en/user-manuals/vector-map-builder/introduction#what-is-lanelet2). The following **Vector Map creation requirement specifications** are written on the premise of these knowledge. + +This specification is a set of requirements for the creation of Vector Map(s) to ensure that Autoware drives safely and autonomously as intended by the user. To Create a Lanelet2 format .osm file, please refer to [Creating a vector map](https://autowarefoundation.github.io/autoware-documentation/latest/how-to-guides/integrating-autoware/creating-maps/#creating-a-vector-map). + +## Handling of the Requirement Specification + +Which requirements apply entirely depends on the configuration of the Autoware system on a vehicle. Before creating a Vector Map, it is necessary to clearly determine in advance how you want the vehicle with the implemented system to behave in various environments. + +Next, you must comply with the laws of the country where the autonomous driving vehicle will be operating. It is your responsibility to choose which of the following requirements to apply according to the laws. + +### Caution + +- The examples of the road signs and road surface markings are used in Japan. Please replace them with those used in your respective countries. +- The values for range and distance indicated are minimum values. Please determine values that comply with the laws of your country. Furthermore, these minimum values may change depending on the maximum velocity of the autonomous driving vehicle. + +## List of Requirement Specifications + +| Category | ID | Requirements | +| ----------------------------------------------------- | -------- | ------------------------------------------------------- | +| [Category Lane](./category_lane.md) | vm-01-01 | Lanelet basics | +| | vm-01-02 | Allowance for lane changes | +| | vm-01-03 | Linestring sharing | +| | vm-01-04 | Sharing of the centerline of lanes for opposing traffic | +| | vm-01-05 | Lane geometry | +| | vm-01-06 | Line position (1) | +| | vm-01-07 | Line position (2) | +| | vm-01-08 | Line position (3) | +| | vm-01-09 | Speed limits | +| | vm-01-10 | Centerline | +| | vm-01-11 | Centerline connection (1) | +| | vm-01-12 | Centerline connection (2) | +| | vm-01-13 | Roads with no centerline (1) | +| | vm-01-14 | Roads with no centerline (2) | +| | vm-01-15 | Road shoulder | +| | vm-01-16 | Road shoulder Linestring sharing | +| | vm-01-17 | Side strip | +| | vm-01-18 | Side strip Linestring sharing | +| | vm-01-19 | Walkway | +| [Category Stop Line](./category_stop_line.md) | vm-02-01 | Stop line alignment | +| | vm-02-02 | Stop sign | +| [Category Intersection](./category_intersection.md) | vm-03-01 | Intersection criteria | +| | vm-03-02 | Lanelet's turn direction and virtual | +| | vm-03-03 | Lanelet width in the intersection | +| | vm-03-04 | Lanelet creation in the intersection | +| | vm-03-05 | Lanelet division in the intersection | +| | vm-03-06 | Guide lines in the intersection | +| | vm-03-07 | Multiple lanelets in the intersection | +| | vm-03-08 | Intersection Area range | +| | vm-03-09 | Range of Lanelet in the intersection | +| | vm-03-10 | Right of way (with signal) | +| | vm-03-11 | Right of way (without signal) | +| | vm-03-12 | Right of way supplements | +| | vm-03-13 | Merging from private area, sidewalk | +| | vm-03-14 | Road marking | +| | vm-03-15 | Exclusive bicycle lane | +| [Category Traffic Light](./category_traffic_light.md) | vm-04-01 | Traffic light basics | +| | vm-04-02 | Traffic light position and size | +| | vm-04-03 | Traffic light lamps | +| [Category Crosswalk](./category_crosswalk.md) | vm-05-01 | Crosswalks across the road | +| | vm-05-02 | Crosswalks with pedestrian signals | +| | vm-05-03 | Deceleration for safety at crosswalks | +| | vm-05-04 | Fences | +| [Category Area](./category_area.md) | vm-06-01 | Buffer Zone | +| | vm-06-02 | No parking signs | +| | vm-06-03 | No stopping signs | +| | vm-06-04 | No stopping sections | +| | vm-06-05 | Detection area | +| [Category Others](./category_others.md) | vm-07-01 | Vector Map creation range | +| | vm-07-02 | Range of detecting pedestrians who enter the road | +| | vm-07-03 | Guardrails, guard pipes, fences | +| | vm-07-04 | Ellipsoidal height |