OpenDrive转lanelet2的方法

1. 常用的高精地图格式如下：

 

2. 本文采用OpenDrive->CommonRoad->Lanelet2的方式进行地图格式转换

 

3. 转换代码如下：

import sys
import os
from lxml import etree

from commonroad.scenario.scenario import Tag
from commonroad.common.file_writer import CommonRoadFileWriter, OverwriteExistingFile
from commonroad.planning.planning_problem import PlanningProblemSet
from commonroad.common.file_reader import CommonRoadFileReader

# OpenDrive to CommonRoad
from crdesigner.map_conversion.map_conversion_interface import opendrive_to_commonroad
from crdesigner.map_conversion.opendrive.opendrive_parser.parser import parse_opendrive
from crdesigner.map_conversion.opendrive.opendrive_conversion.network import Network

# CommonRoad to Lanelet
from crdesigner.map_conversion.map_conversion_interface import commonroad_to_lanelet

class Xodr2lanelet2:
    def __init__(self, name):
        self.name = name
        self.opendrive_path = os.path.dirname(os.path.realpath(__file__)) + "/" + self.name + ".xodr"
        self.commonroad_path = os.path.dirname(os.path.realpath(__file__)) + "/" + self.name + ".xml"
        self.lanelet2_path = os.path.dirname(os.path.realpath(__file__)) + "/" + self.name + ".osm"

    def xodr2lanelet2(self):
        self.__xodr2commonroad()
        self.__commonroad2lanelet2()

    def __xodr2commonroad(self):
        # load OpenDrive file, parse it, and convert it to a CommonRoad scenario
        scenario = opendrive_to_commonroad(self.opendrive_path)

        # store converted file as CommonRoad scenario
        writer = CommonRoadFileWriter(
            scenario=scenario,
            planning_problem_set=PlanningProblemSet(),
            author="Synkrotron",
            affiliation="Synkrotron",
            source="CommonRoad Scenario Designer",
            tags={Tag.URBAN},
        )
        writer.write_to_file(self.commonroad_path, OverwriteExistingFile.ALWAYS)

    def __commonroad2lanelet2(self):
        commonroad_to_lanelet(self.commonroad_path, self.lanelet2_path)        

def main(name):
    convert = Xodr2lanelet2(name)
    convert.xodr2lanelet2()

if __name__ == "__main__":
    main(sys.argv[1])

 

4. 转换方法：

(1) 安装地图转换包commonroad：

pip3 install commonroad-all -i https://pypi.tuna.tsinghua.edu.cn/simple

(2) 修改地图转换包commonroad中的代码：

~/.local/lib/python3.10/site-packages/crdesigner/map_conversion/opendrive/opendrive_parser/parser.py中将

with file_path.open("r") as file_in:

改为：

with open(file_path, "r") as file_in:

~/.local/lib/python3.10/site-packages/crdesigner/config/lanelet2_config.py中将

autoware = Attribute(False, "Autoware", "Boolean indicating whether the conversion should be autoware compatible")

改为：

autoware = Attribute(True, "Autoware", "Boolean indicating whether the 
conversion should be autoware compatible")

将：

use_local_coordinates = Attribute(False, "Use local coordinates",
                                      "Boolean indicating whether local coordinates should be added")

改为：

use_local_coordinates = Attribute(True, "Use local coordinates",
                                      "Boolean indicating whether local coordinates should be added")

(3) 运用3中的代码进行转换，示例如下：

python3 xodr2lanelet2.py Town01/Town01

　　

参考文献：

[1] https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-maps/converting-utm-to-mgrs-map/

[2] https://zhuanlan.zhihu.com/p/393715053

[3] https://commonroad.in.tum.de/getting-started

[4] https://commonroad.in.tum.de/tutorials/map-conversion