Simulator: Apollo 5.0 Gomentum Map lane missing

[ntutangyun]

Hi team,

Just found that for Apollo 5.0 Gomentum Map,

there is lane_238 in base_map.bin, but there is no lane_238 in the routing_map.bin.

I've used javascript to parse the protobuf binaries. Kindly check and let me know if I'm wrong. Thanks.

[EricBoiseLGSVL]

@ntutangyun our importer might have simplified the lane data to work better in Simulator. We can check, thanks

[EricBoiseLGSVL]

@luqiang21 did we update Gomentum after our importer fixes?

[ntutangyun]

I have found another lane data mismatch:
(Latest map files are pulled just before this comment)

in borregas_ave's the traffic light junction:

It's clear that lane_41 should be successor of lane_17.
However this relation is missing from both base_map.bin and routing_map.bin.

below are screenshots from base_map.bin parsed by javascript:

@ntutangyun our importer might have simplified the lane data to work better in Simulator. We can check, thanks

@EricBoiseLGSVL May I know if above issue is related to the simplification you mentioned earlier ?
Thank You.

[ntutangyun]

I've searched all the junction lanes (those connecting lanes that belong to junctions),

• junction one, lane_41 has no predecessor lane,
• junction two, lane_48 has no predecessor lane.

and they are quite similar cases, both are filter lanes of right turning.
Kindly help check it out. thank you.

[luqiang21]

@EricBoiseLGSVL I think we updated the map.
@ntutangyun Sorry for late reply. I am not sure why lane_238 is missing since our simulator is providing only the file base_map.bin, routing_map.bin is generated inside apollo docker. You may want to check more in apollo side.

For junction lanes missing predecessor lane problem, I am guessing it is because some lanes are having wrong laneTurnType and are skipped when computing the relations. Can you try to comment out lines 684-688 https://github.com/lgsvl/simulator/blob/cb937deb8e633573f6c0cc76c9f451398b8b9eff/Assets/Scripts/Editor/ApolloMapTool.cs#L684, then generate the base_map.bin file? These lines are added to avoid wrong relations computed for self-reverse lane.

[ntutangyun]

@luqiang21 Thanks for your kind pointer. Will check it out and update later. Closing for now.

[ntutangyun]

Hi This is to update that after commenting out the lanes 684-688 in simulator/Assets/Scripts/Editor/ApolloMapTool.cs, the predecessor issue is indeed solved.

Thanks for the help.

[ntutangyun]

I think I've found out why the lane_238 is missing in routing_map.

Below is the code snippet used to add lanes from base_map to routing_map, taken from
modules/routing/topo_creator/graph_creator.cc

    if (forbidden_lane_id_set_.find(lane_id) != forbidden_lane_id_set_.end()) {
      ADEBUG << "Ignored lane id: " << lane_id
             << " because its type is NOT CITY_DRIVING.";
      continue;
    }
    if (lane.turn() == hdmap::Lane::U_TURN &&
        !IsValidUTurn(lane, min_turn_radius)) {
      ADEBUG << "The u-turn lane radius is too small for the vehicle to turn";
      continue;
    }

it has two criteria,

• lane type needs to be CITY DRIVING
• if lane turn is U-TURN, the turn radius (estimated by the first point, middle point, and the last point) should be larger than the vehicle's min_turn_radius configuration.

lane_238 is CITY_DRIVING lane and it happens to be a U-turn. Thus I think it's the turning radius.