Opendrive map how to#
The lane offset value can be used as feedback for reinforcement learning to teach the vehicle how to behave in lane.
Lane Keeping and Lane Centering features can be tested easily using the variables provided including the lateral distances to the lane boundaries and the time until lane crossing (TTLC). The data can be accessed in real time using UDP or postprocessed with Claytex’s Analysis tool. The purpose of the map sensor is to provide ground truth data for testing ADAS and autonomous vehicle systems. The plugin gives the user access to 19 different metrics, including the current road id, the distance down the road and the lateral offset relative to both the road and the lane.
The map sensor is a virtual sensor that extracts information from the map using an OpenDrive file. The map sensor plugin introduces the concept of a road coordinate system where s is the displacement down a road, t is the lateral displacement in to the lane and u is the vertical offset. They do not explain if the vehicle is navigating a tricky corner or running off the road and whether the trajectory of the vehicle is following the centre of the lane or taking the racing line. While both GPS and IMUs can give data in cartesian coordinates relative to a start point, they do not naturally inform how the vehicle is situated on the road. For a vehicle driving along a road, it can be difficult to define its location in terms we can understand.
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