Skip to content

Map Library for Autonomous Vehicles

Overview

The Map Library provides tools for handling map data in autonomous vehicle simulations. It includes modules for lane and route management, spatial querying using quadtree structures, geographic coordinate conversions. The library is designed for efficiency and integration with autonomous vehicle systems.

Features

  • Lane and Route Management:
  • Define and manage lanes, routes, and road networks.
  • Map Point and Spatial Data:
  • Support for geospatial data handling and storage.
  • Quadtree Spatial Indexing:
  • Efficient spatial querying.
  • Map Parsing and Loading:
  • Tools for loading and parsing maps, including Road2Simulation (R2S) format support.
  • Geographic Conversions:
  • Latitude/longitude to UTM coordinate transformations.

Included Modules

Lane Representation

File: lane.hpp - Defines lane structures, attributes, and connectivity. - Provides methods for querying lane information and relationships.

Geographic Conversions

File: lat_long_conversions.hpp - Implements conversions between latitude/longitude and UTM coordinates.

Map Structure

File: map.hpp - Core representation of the map, including roads, lanes and road graph. - Supports high-level map querying and manipulation.

Map Loader

File: map_loader.hpp - Handles the loading of map data from external files or formats. - Includes support for parsing the Road2Simulation (R2S) format.

Map Point

File: map_point.hpp - Represents individual points in the map.

Quadtree Spatial Index

File: quadtree.hpp - Provides efficient spatial indexing for querying.

R2S Parser

File: r2s_parser.h - Parses Road2Simulation (R2S) format maps into internal representations.

Rasterizer

File: rasterizer.hpp - Converts map representations into raster images for visualization or analysis. - Supports configurable resolution and layers.

Road Graph

File: road_graph.hpp - Represents the map as a graph of lanes. - Supports pathfinding.

Route Handling

File: route.hpp - Defines and manages routes within the map. - Includes tools for route planning.