[Proposal] [ODD WG] OpenDRIVE to Lanelet2 conversion

[TranHuuNhatHuy]

Tagging @mitsudome-r -san, @diegoyabuki -san.

I. Overview

1. Background

• Autoware uses Lanelet2 format for its ODD testing.
• We want more scenarios.
• ASAM OpenDRIVE dataset is a good option.

So, we need a way to convert OpenDRIVE to Lanelet2. We tried CommonRoad Scenario Designer conversion, the conversion generally worked, but the maps were containing way too many nodes, making it unusable on Autoware.

I'm attempting to fix that by adding some post-processing steps, discussed below.

2. Reference

You can try my proof-of-concept at my GitHub repo. The README is not yet updated but will be done later.

• Update README

You can pull the repo, then init environment and install dependencies in requirements.txt. Next, try out demo.ipynb. The notebook is an attempt to convert all of the OpenDRIVE maps in sample_data into Lanelet2 format. The OpenDRIVE maps are from 3 sources:

1. naive : original test case which features a simple straight road with 3 lanes, given by @Igata-ctrl -san.
2. esmini : 15 samples featuring simple road shapes, straight & curve & joins etc. I scraped from esmini.
3. CARLA : 7 samples featuring much much more complicated town/urban scenarios. I scraped from CARLA OpenDRIVE test files.

II. Problems

1. Original method

You can see the original method in the demo_old.ipynb notebook, also this document (only those with access can read).

While the convresion works generally, it also outputs humongous amount of nodes on each way, making Autoware stuck.

2. How an ideal Lanelet2 map should look like?

• Straight lines should be defined as fewest points as possible.
• Curve lines can be defined by many points along the curve.

III. My solutions

1. Ideas

• Still use CommonRoad Scenario Designer conversion (CRS) library for conversion.
• After conversion,make an additional postprocess:
  • If a segment is curvy, retain it.
  • If a segment is straight, downsample it as much as possible.
  • This satisfies our ideal map format before.

2. Algorithm

1. Parse the original .xodr file through CRS to get OSM structure preprocess.
2. Keep first & last nodes, scan through the rest in preprocess:
   • Get the angle of the way at that node
   • Based on such angle, determine if it’s curvy or straight
   • If either it’s curved enough, or it’s far enough from the last node, then we keep it, else trim it.
3. Put kept nodes together and output into .osm file.

3. Results

Reduced from 16000 points to 8 points, clearly it works!

Same behavior in other maps.

4. Next steps

1. Try to create a scenario on Autoware and test-run, see if it works: TIER IV Scenario Simulator Documentation
2. Investigate why all CARLA cases failed.
3. Continue tuning the algorithm - can we downsample the curved segment too? If yes, should it be with CRS, or with my post-process?
4. Include other elements like traffic signs, objects, etc.

[TranHuuNhatHuy]

Tagging @mitsudome-r -san and @diegoyabuki -san,

I just uploaded 14 Lanelet2 .osm map samples, featuring latest updates of my OpenDRIVE-Lanelet2 conversion method, onto this Google Drive directory - Operational Design Domain WG - Map Conversion - latest_map_samples.

I'm not sure if you have access to this drive directory or not, cuz I got access right from @Igata-ctrl -san a long time ago. But if you request access, I think that request will go to me and I can grant it...

As we discussed during last meeting, since Autoware on my local is kinda broken right now, could you kindly run some simple scenarios on these map samples and verify if the maps work fine? Thank you so much for this.

[diegoyabuki]

@TranHuuNhatHuy
Thank you for providing the links.
It seems the files are in the old drive. Could you move the converted maps to the new one below?
https://drive.google.com/drive/folders/1jJiQ2jrDdUgIT4W5eqUHIpg0GtNMbnDt

[TranHuuNhatHuy]

@TranHuuNhatHuy Thank you for providing the links. It seems the files are in the old drive. Could you move the converted maps to the new one below? https://drive.google.com/drive/folders/1jJiQ2jrDdUgIT4W5eqUHIpg0GtNMbnDt

Thank you so much for sharing the new drive.
I just uploaded 2 folders esmini and naive. Could you kindly verify if you can see the 14 map files?

[diegoyabuki]

I can see the files now, thank you!

[diegoyabuki]

I tried creating sample scenarios using two converted maps:

• curve_r100
• esmini

Both are failing with this message:
[openscenario_interpreter_node-3] [INFO 1746782629.802055987] [simulation.openscenario_interpreter] operator()(): SimulationError: /home/autoware/pilot-auto.x2_v4.2/src/simulator/scenario_simulator/common/math/geometry/src/spline/catmull_rom_spline.cpp:264: failed to calculate curve index

I will try to investigate further before next week's meeting.