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motional / nuplan-devkit

The devkit of the nuPlan dataset.
https://www.nuplan.org
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May I ask a simple question, how is the route labeled? #255

Closed CrisCloseTheDoor closed 1 year ago

CrisCloseTheDoor commented 1 year ago

Hi developers: I noticed some of the lane is labeled as "state on route". The lanes labeled can form an area surrounding ego and stretched forward for a distance. Could you please tell me how a lane is judged as "route"? Is there an algorithm to label, or just by hand?

patk-motional commented 1 year ago

Hi @CrisCloseTheDoor,

We infer the route from the expert-driven trajectory. The route is made up of a collection of RoadBlocks. Each Roadblock is a collection of lanes. The algorithm tracks what road block the ego drove over. For every sample, the route is the collection of Roadblocks that the ego drove into the future for some time and distance. @gianmarco-motional can elaborate on it further.

gianmarco-motional commented 1 year ago

Yes fundamentally the route is what the expert drove (extracted algorithmically), retaining the previous roadblock and between 200m to 400m in the future

CrisCloseTheDoor commented 1 year ago

Thanks @patk-motional @gianmarco-motional