The pipeline of customizing a map

[aiyan327]

Hello smiller01985. Thank you for your help last time. Now I'm trying to make my own scene (a CRG map and the trajectory) and I have carefully checked your presentation slides, but there are some procedures that I'm not very sure.

(1) Export detailed road surface from Google Map.

Question 1: I found a tutorial on YouTube using Google Earth Pro to get the road geometry and export it. But that geometry is only 2D (only the centerline). How can I get the information about elevation and banking? (More specifically, what tools should I use here?)

Question 2: How can I do the conversion from (x, y) to (u, v) for the crg generation?

(2) Trajectory of the driving path
Based on my understanding, the throttle/brake/pitch/yaw/roll during the whole close-loop simulation are self-defined, instead of using a controller like PID, is that correct?

Question 1: Is there any requirements or constraints for these motion control variables? Or can I just do whatever I want, even if the car will get off the road?

Question 2: By clicking the "Plot Maneuver" button, the precise trajectory is also shown. Does that mean the trajectory infos are also pre-defined along with the motion control variables? If so, how can I create the matching trajectory dataset? What software can I use?