yiakwy
commented
6 years ago I am doing it in a different way. I strictly followed OpenDrive first, then I made my own HD map format for map data structure. My map consists of three layers: Topological Layer, Geometry Layer, and Transportation Layer. By applying L-system alike algorithms upon my HDMap I can produce faked roadnetworks with totally under my control:
Key issues to solve
Here is why? Engineers find that AV tests are extremely hard and they what find 5% traffic cases which impact the algorithms a lot. I made a parametric generation control panel so that I can control the curvatures, number, and type of junctions and traffic flows.
For the moment, a simulator promises a great role in tests automation.
Main Idea
I think carla put too much effort into rendering and manually modification of a map. For the moment generation of realistic perception for AV software is possible but might not in its highest priority.
moenasrallah
stale[bot]
ostromann
germanros1987
Introduction
As part of the July 2018 Code Sprint, we want to start experimenting with generating some simple road cases. We know this is a large and complex task, and some of you have already started doing it (with good results). So we want to unify all these work and coordinate all the efforts to achieve a good procedural road generatio.
I was searching for C++ MIT geometric libraries to help with the development and found Wykobi. If anyone knows other C++ libraries feel free to comment below ;)
This feature can be splitted in the following tasks:
Use example
Select and export a zone from OpenStreetMap. Import it into the CARLA UE4 project and modify the nodes you don't like. After that you can run the simulator and the cars will circulate on the generated road. You can build a city (buildings and so on) on top of that.
Limitations
OSM information may be incomplete, and in some cases many nearby nodes describe the road very precisely (like roundabouts). These cases will have to be taken into account with other techniques.