Traffic Signal mapping between Apollo HD Map and Autoware Vector Map

You can map the ID of traffic lights by checking whether the polygons of the traffic lights in the Apollo HD Map's Signal and Autoware Vector maps overlap by a certain percentage.

[x] 1. List all traffic light related objects for both maps.
Apollo HD Map

signal {
  id {
    id: "signal_1"
  }
  boundary {
    point {
      x: 587058.85589504242
      y: 4141604.0102615356
      z: 5.4707951545715332
    }
    point {
      x: 587059.47325801849
      y: 4141603.8475570679
      z: 5.4707951545715332
    }
    point {
      x: 587059.47325801849
      y: 4141603.8475570679
      z: 3.9743266105651855
    }
    point {
      x: 587058.85589504242
      y: 4141604.0102615356
      z: 3.9743266105651855
    }
  }
  subsignal {
    id {
      id: "0"
    }
    type: CIRCLE
    location {
      x: 587059.16457557678
      y: 4141603.9289073944
      z: 5.122560977935791
    }
  }
  subsignal {
    id {
      id: "1"
    }
    type: CIRCLE
    location {
      x: 587059.16457557678
      y: 4141603.9289073944
      z: 4.7225608825683594
    }
  }
  subsignal {
    id {
      id: "2"
    }
    type: CIRCLE
    location {
      x: 587059.16457557678
      y: 4141603.9289073944
      z: 4.3225607872009277
    }
  }
  overlap_id {
    id: "overlap_signal_1_lane_44"
  }
  overlap_id {
    id: "overlap_signal_1_lane_43"
  }
  overlap_id {
    id: "overlap_signal_1_lane_45"
  }
  overlap_id {
    id: "overlap_junction_I0_J0_signal_0_1"
  }
  type: MIX_3_VERTICAL
  stop_line {
    segment {
      line_segment {
        point {
          x: 587044.3645362854
          y: 4141560.2021617889
        }
        point {
          x: 587049.3931388855
          y: 4141558.9247989655
        }
        point {
          x: 587055.289273262
          y: 4141557.3708648682
        }
      }
    }
  }
}

Autoware Vector Map
- (lanelet2 format extension#traffic lights)
- Traffic Light and Corresponding points

<way id="468">
    <nd ref="466"/>
    <nd ref="467"/>
    <tag k="type" v="traffic_light"/>
    <tag k="subtype" v="red_yellow_green"/>
    <tag k="height" v="1.46000003814697"/>
</way>

<node id="466" lat="37.41705226969418" lon="-122.01638274507728">
    <tag k="mgrs_code" v="10SEG870415"/>
    <tag k="local_x" v="87039.2134"/>
    <tag k="local_y" v="41592.9489"/>
    <tag k="ele" v="4.5704"/>
    <tag k="x" v="-30.79523"/>
    <tag k="y" v="15.94909"/>
  </node>
  <node id="467" lat="37.417057744995795" lon="-122.01638085972475">
    <tag k="mgrs_code" v="10SEG870415"/>
    <tag k="local_x" v="87039.3739"/>
    <tag k="local_y" v="41593.5581"/>
    <tag k="ele" v="4.5704"/>
    <tag k="x" v="-30.63468"/>
    <tag k="y" v="16.55828"/>
  </node>

Traffic light information

{
    "header": {
        "timestamp_sec": 1661458004.7851071,
        "module_name": "MAGGIE",
        "sequence_num": 1
    },
    "traffic_lights": [
        {
            "color": "GREEN",
            "id": "signal_10",
            "confidence": 1
        },
        {
            "color": "RED",
            "id": "signal_0",
            "confidence": 1
        },
        {
            "color": "GREEN",
            "id": "signal_1",
            "confidence": 1
        },
        {
            "color": "RED",
            "id": "signal_2",
            "confidence": 1
        },
        {
            "color": "RED",
            "id": "signal_3",
            "confidence": 1
        },
        {
            "color": "RED",
            "id": "signal_4",
            "confidence": 1
        },
        {
            "color": "RED",
            "id": "signal_5",
            "confidence": 1
        },
        {
            "color": "RED",
            "id": "signal_6",
            "confidence": 1
        },
        {
            "color": "RED",
            "id": "signal_7",
            "confidence": 1
        },
        {
            "color": "RED",
            "id": "signal_8",
            "confidence": 1
        },
        {
            "color": "RED",
            "id": "signal_9",
            "confidence": 1
        },
        {
            "color": "GREEN",
            "id": "signal_11",
            "confidence": 1
        },
        {
            "color": "RED",
            "id": "signal_12",
            "confidence": 1
        },
        {
            "color": "RED",
            "id": "signal_13",
            "confidence": 1
        },
        {
            "color": "RED",
            "id": "signal_14",
            "confidence": 1
        }
    ]
}

Software-Aurora-Lab / ADS-Scenario-Transformer

Traffic Signal mapping between Apollo HD Map and Autoware Vector Map #17