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known-issues.md

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Known issues

The map models used in AutoStream and lanelet2 are not fully compatible. The currently known limitations of the converter are explained in this file.

Lanes

  • AutoStream has passing restrictions for a lane border, these are currently not converted, since lanelet2 derives these restrictions from the lane border subtype attribute.

  • For lanelet2 lane borders of type virtual, lane changes are allowed to enable lane changes around entry or exit lanes that sometimes have virtual lane borders.

  • AutoStream lanes of type Unknown, NonDrivable and Restricted are not converted since there is no lanelet2 equivalent type of these non-drivable lanes.

  • AutoStream lane borders of type Unknown, None, RoadSurfaceUnknown and PhysicalBarrierUnknownBarrier are not associated with lanelet type attributes since it is unknown which attribute values should be used.

  • AutoStream lane border lines may have multiple components, for example, in case of a double line, two components are present. In AutoStream all components (i.e. each of the lines) have their own geometry. Lanelets do not allow for multiple border lines with different geometries on one side of the lane. The converter therefore only converts the first component and uses the lanelet subtype attribute to reflect double lines, e.g. solid/dashed.

  • In AutoStream, one lane may be associated with multiple speed limits. For example, speed limit of X km/h for the first 200 m, then a speed limit of Y km/h for the next 200 m. Lanelets only allow for setting a single speed limit. The converter converts each AutoStream lane to one lanelet and only uses the first speed limit in that case. A more generic solution (currently not supported) would be to convert an AutoStream lane with multiple speed limits to multiple lanelets, each with its own speed limit.

  • Speed restrictions are vehicle type dependent in AutoStream, however, only one type is used during conversion. The PublicBus for bus lanes, Resident for bicycle lanes and parking, passenger car for Unknown, Drivable, Emergency, Hov and Restricted.

  • Lanelet lane borders of type curbstone have a subtype (low or high) which indicates whether a vehicle may drive over it, AutoStream does not have this information represented explicitly.

  • AutoStream does not have the distinction between road (rural) and highway lane types which is present in lanelet2. Lanelet2 uses this to derive speed limits. Speed limits are set during conversion, however, the location attribute (urban or nonurban) is not set.

  • AutoStream lanes of type parking are converted to lanelet2 areas. During the conversion of areas, connections are not considered. As a result, connected parking lanes may appear as disconnected after conversion to a lanelet2 map.

Traffic signs

  • AutoStream traffic sign category and subcategory are not converted to lanelet2 traffic sign subtype. Rational: AutoStream traffic signs have a category (e.g. kCategoryInformationSign) and subcategory (e.g. kSubcategoryInformationSignHighwayEnd). With lanelet2, line strings of type traffic sign have a subtype tag that contains the actual type of the traffic sign. This subtype is encoded as ISO 3166 region code + traffic sign number (e.g. subtype=de206 for a German stop sign or subtype=usR1-1 for a US stop sign). There is no trivial mapping from AutoStream category and subcategory to lanelet2 subtype. AutoStream uses the same set of subcategories in all countries and does not distinguish between country specific differences in appearance of signs of the same type. Lanelet2 requires the traffic sign number that defines the precise appearance of the traffic sign, which varies from country to country. In addition, the AutoStream subcategory is less refined. For example, AutoStream kSubcategorySpeedRestrictionSpeed indicates a traffic sign is about a speed restriction, but the speed restriction value is stored elsewhere.
  • We did not convert shape and dominant colors enums present in AutoStream, because lanelet2 traffic signs have no equivalent attributes. The traffic sign bounding box is converted.

Regulatory elements

  • Regulatory elements are not created while converting the map. Speed limits are set within the lanelets using SpeedLimit attribute. The OneWay attribute is set as well.