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autocore-ai / MapToolbox

Plugins to make Autoware vector maps in Unity
GNU Lesser General Public License v3.0
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Lane change #65

Closed ghost closed 3 years ago

ghost commented 3 years ago

HI，Teams I have some problems and hope to get help. As shown in the figure below, I want to change the lane when the vehicle is moving. I don't know how to draw the map. My technical route is to use our tools to draw maps, and then convert them to Baidu Apollo format. However, when I tested them, I found that vehicles could not change lanes. Hope to get the help of the team, thank you. c785d6c8248c7b8afd05d82dca25a8d For example, I want to change 1 Lane to 2 lanes, or 2 lanes to 1 Lane, or 2 lanes to 3 lanes, or 3 lanes to 2 lanes.

moelang commented 3 years ago

For lane change functions, you need modify LCnt and Lno on each lane manually. In Autoware.AI this value tells local planner in witch lane our vehicle in and can change to which lane.

By the way, I notice your location in China, so you can also add my wechat id heli-heli for easily and quickly help.

ghost commented 3 years ago

I've tried to modify these two parameters, but after converting to Baidu Apollo format, vehicles still can't change lanes. Or, is there any way to convert vector map format data to opendrive format? thank you.

By the way, I've added your wechat, and I hope to pass it.