How to predefine baseline route and get map coordinate (can_bus/*_route.json) in data collection?

[whyekit-motional]

@Songustc the baseline routes are simply the idealized path an AV should take (assuming there are no obstacles), while the coordinates given in pose of the CAN bus data are identical to the nuScenes ego pose but sampled at a higher frequency

[Songustc]

@Songustc the baseline routes are simply the idealized path an AV should take (assuming there are no obstacles), while the coordinates given in pose of the CAN bus data are identical to the nuScenes ego pose but sampled at a higher frequency

Thank you for your very detailed answer Is the ideal path generated in advance from the HD map? Can you explain the relevant routing algorithm?

[whyekit-motional]

The baseline paths are typically the center line of the lanes (no fancy algorithm there :smile:)

[Songustc]

Thanks for clarification 😄