The Autoware Foundation
Investigation on using Large Scale Lanelet2 Map in Autoware | Planning Simulator #4075
Replies: 4 comments 5 replies
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@zulfaqar-azmi-t4 will look into the turn signal performances. |
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I opened a PR to fix the turn signal performance: autowarefoundation/autoware.universe#6725 |
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PR related with left part (green part) of schema: |
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I reused your idea but changed the logic of the |
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Thank you for the information. Regarding TIER IV, We are still in the process of validating maps of such large scale. There are two major issues identified:
However, for maps exceeding several hundred kilometers, significant modifications will be necessary. Depending on the situation, a new map format or library might be required. Currently, discussions are ongoing with @xmfcx and @mitsudome-r . |
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Hello @yukkysaito -san Thank you for sharing the challenges faced with large-scale maps in Autoware and the use of the Lanelet2 library. Your concerns about the precision limitations and computational costs are valid in the context of large-scale routing. Let me offer some insights and potential solutions: Potential Solutions and Resources:
Lanelet2 and OSM:
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We should investigate https://github.com/GIScience/openrouteservice and see if it can replace the Mission Planner in any way. |
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Hello @yukkysaito -san Thank you for your thoughts in this topic. According to our observations, we can support the issues determined. However, we don't think that we need to change the libraries or map format. The first thing that we thought is using some service like Open Route Service to plan the route for larger areas. After that we can consider that plan as a linestring that the road we will cover. We can take goal points in every 5 kilometers from this linestring for example. Still we need to change somethings in planning pipeline and we should consider to make it compatible with the areas that over 100km. We will publish a proposal for dynamic lanelet2 loading related to this issue and that issue: autowarefoundation/autoware.universe#5959. |
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Related Issues: |
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Hello,
We are trying to use Autoware in large scale areas. For this purpose, we are working on how can we create large scale lanelet2 maps and can we use large scale lanelet2 maps with Autoware planning. In this discussion I want to share planning simulator results under large scale maps and I want to ask couple of questions.
First of all when we use large scale lanelet2 in current planning pipeline, there is an issue. When we load the lanelet2 map and select a route, if the route contains a lot of lanelet2 node, planning cannot work as expected, I'm mean cannot work with 10 hz. Also the FailSafe threshold is 5 hz for planning. When the route is approximately 400 kilometers, planning works with ~4 hz and the system does not allow autonomous driving. The following image shows the Runtime Monitor output for this situation.
The following test videos shows the frequency problem in two different system:
To see the parts of the code that consume a lot of time, we debug the code and you can see the results in the schema:
When we examine the code, we can see there are two main part which waste a lot of time when we have a large route.
First one is this function call. If I understand correct we are using
std::numeric_limits<double>::max()as aforward_lengthparameter instead of this parameter to get all forward lanelet but it wasting a lot of time. I also try300,1000,3000etc. and this function used0 msinstead of~100 ms. I did not see any difference in my test but I am not sure is it okay or not?Second one is this while loop. It is also iterating all lanelet and it is wasting a lot of time. I cannot find any solution to reduce time consumption but when I comment out this function call, planning simulator works same. Is this something that definitely needs to be worked, or is there a chance that we can close it?
If you have any idea on this topic, I will be very happy to hear.
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