Github Lanelet2

Lanelet2: A C Library for Handling Map Data in Automated Driving

Introduction

Lanelet2 is a C++ library that provides tools for handling map data in the context of automated driving. It offers a comprehensive set of features for representing and manipulating lane-level maps, including lane centerlines, lane boundaries, junctions, traffic signs, and other relevant road features.

Technical Architecture

Lanelet2 is designed with a modular architecture, consisting of several interconnected components: * **Core:** The core library provides fundamental data structures and algorithms for representing and manipulating lane-level maps. * **Lanelet:** The lanelet represents the basic unit of a lane-level map, containing information about lane centerlines, lane boundaries, and other lane-related attributes. * **LaneletMap:** The lanelet map is a collection of lanelet objects that represent a road network or a specific geographic area. * **RegulatoryElements:** Regulatory elements include traffic signs, speed limits, and other traffic regulations that affect vehicle behavior. * **Visualization:** Lanelet2 includes a visualization module that allows users to visualize lane-level maps in various formats, such as 2D and 3D representations.

Key Features

Lanelet2 offers several key features that make it a valuable tool for automated driving: * **Accurate and Detailed Map Representation:** Lanelet2 captures lane-level details with high accuracy, providing a complete picture of the road environment. * **Extensibility and Customization:** Developers can extend Lanelet2 by adding custom data types and algorithms to meet their specific requirements. * **Efficient Data Structures:** Lanelet2 uses efficient data structures to optimize performance and minimize memory usage. * **Open Source and Community-Driven:** Lanelet2 is an open-source project with a vibrant community that contributes to its development and maintenance.

Applications

Lanelet2 is used in a wide range of applications related to automated driving, including: * **Path Planning:** Lanelet2 provides accurate map data for path planning algorithms that generate safe and efficient trajectories for automated vehicles. * **Localization:** Lanelet2 can be used for localization, helping vehicles determine their position and orientation within the road network. * **Simulation and Testing:** Lanelet2 is an essential tool for simulating and testing automated driving systems in virtual environments. * **HD Mapping:** Lanelet2 can be utilized for creating high-definition maps that provide precise lane-level information for automated driving.