Generate an OpenDRIVE lane to LL2 lanelet mapping file during conversion

[diegoyabuki]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

To ensure that scenarios written based on OpenDRIVE maps can be executed easily in SSv2, a map conversion tool that outputs the mapping of lanes to lanelets is required.

Purpose

To support the automated execution of SafetyPool scenarios in SSv2.

Possible approaches

• Start with CommonRoad as the base conversion tool. Check if the conversion of lanes to lanelets is 1:1
• If not, the code must be adapted so that the above is respected
• Extract unique relationships between road ID + lane ID and lanelet ID and output the conversion mappings as a csv file

Definition of done

• The map conversion tool is able to convert lanes into lanelets
• The map conversion tool is able to export the mapping information of road + lane <-> lanelet
• The map conversion tool is tested on a set of representative scenarios from SafetyPool

[diegoyabuki]

Mapping of OpenDRIVE IDs to LL2:

• Use tags in the LL2 map: "odr_road_id" and "odr_lane_id" to store the original IDs prior to the conversion
• Export a mapping csv file containing the mapping between OpenDRIVE road and lane IDs to lanelet IDs. If the conversion is not 1 to 1, also add a frenet s-coordinate range for both OpenDRIVE and LL2. For example, if a lane of OpenDRIVE of length 100 [m] becomes 2 lanelets of length 50 [m] after conversion, the following format could be used:

ODR road id	ODR lane id	ODR s-range	LL2 lanelet id	LL2 s-range
0	1	0 - 50	10000	-1
0	1	50 - 100	10001	-1

Here, -1 would mean that the whole extension of the lanelet is used.

Additionally, the following requirements must be met to ensure Autoware can run on the map:

• Autoware format LL2 extension: Link
• Break down of long lanes into multiple lanelets:
  • max. straight segment length (less than 0.5 [m] deviation sideways): 100 [m]
  • max. curve segment length: 20 [m]
  • except on intersections, where the lanelet should be continuous throughout the intersection

cc: @chishengshih @evanbest0802

[diegoyabuki]

@chishengshih @evanbest0802
The minutes of yesterday's ODD WG meeting is available here.

[evanbest0802]

Hi, @diegoyabuki
Could you provide the OpenDrive map and the conveerted lanelet2 map mentioned in the ODD WG meeting? Thank you very much.

[diegoyabuki]

Hello @evanbest0802
The original map is available here.
I used the commonroad scenario designer's develop branch to do the conversion, so the z-coordinate fix was not included. Can you try using the latest version of the conversion tool on your side to check if the results change? Feel free to use that folder in the Google drive if you want to upload more items.

[evanbest0802]

Hello @diegoyabuki
I tried to download the map, but I cannot log in the slack, even if I use the Tier4 portal account.