The lane direction of Apollo HD map created by Roadrunner

[muguet739]

I create a Apollo HD map by Roadrunner. I find that the direction and left_road_sample and right_road_sample of two adjacent lanes is opposite, as shown in the figure.

Then I used this map to execute the command of parking on the side in Dreamviewer. I found that when the vehicle is traveling in the FORWARD direction lane, it can smoothly execute the command to park on the side. But when the vehicle is traveling in the BACKWARD direction lane, the vehicle will drive out of the boundary of the road when parking on the side. I speculate that for lanes in two different directions, the values of left_road_sample and right_road_sample are opposite. During parking on the side, the planning control module reads these two values and determines the parking distance based on them. The left_road_sample and right_road_sample of BACKWARD lanes are opposite. Therefore the bug is only exist in the BACKWARD lanes. However, I find there are only FORWARD direction lanes in sample HD map of Apollo(file named base_map.txt in folder apollo_virutal_map). The direction of no lanes belong to BACKWARD. Why does this happen?

[Dstupid]

The parking function does not require the lane to be “backward”. I suggest changing this attribute of your map