In this paper we introduce the concept of routing and pathfinding, which is used by the Lanelet2 map framework for automated driving. While in conventional map frameworks the routing graph is explicitly predefined, Lanelet2 interprets it at runtime. This offers many advantages for automated driving, because it allows the map information to be viewed from different perspectives, such as other road users or for other traffic situations. We also analyze what information is typically required by routing applications in automated driving, how this affects the shape of the routing graph, and how this information can be extracted efficiently. The paper concludes with an overview of developments in high-definition maps. In our opinion, these are lagging behind progress in the other areas of automated driving. We hope that Lanelet2 continues to gain increasing acceptance in the community and thus helps to remedy this shortcoming.
Pathfinding and Routing for Automated Driving in the Lanelet2 Map Framework
20.09.2020
876223 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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