Framework for the Automated Generation of the BSSD Extension for Lanelet2 Maps

This framework generates the BSSD extension for Lanelet2 maps. Behavior spaces are therefore mapped on lanelets. For each lanelet of a map that can be reached by a motorized vehicle a behavior space is created and some properties of its behavior attributes are already derived.

Requirements

• Python (implemented with 3.8)
• Lanelet2
• packages
  • numpy >= 1.22.3,
  • osmium >= 3.2.0,
  • bssd-core >= 0.1.0,

Installation

After installing lanelet2 (See the provided guide for help) you can install the lanelet2-bssd-converter either using pip or manually from the source code.

Using pip

pip install lanelet2-bssd-converter

Manual installation

1. Go to the directory of your choice and clone the repository (with HTTPS or SSH)

   • HTTPS:

       git clone https://gitlab.com/tuda-fzd/scenery-representations-and-maps/lanelet2-bssd-converter.git
     

   • SSH:

     git clone git@gitlab.com:tuda-fzd/scenery-representations-and-maps/lanelet2-bssd-converter.git
     

2. In the same terminal, go into the directory lanelet2_bssd_converter with

   cd lanelet2_bssd_converter
   

3. Install package and dependencies by invoking the following in the same terminal

   pip install -e .
   

(Create & activate a virtual environment if you want to install the tool inside a virtual environment)

Usage

1. Get the path to the Lanelet2 map that you wish to derive the BSSD extension for.
2. To run the converter, use the command: > Note: You need to replace in the following command with the actual path to the targeted map file.

   lanelet2-bssd-converter -m 
   

3. The tool will automatically execute and show some information about the current status in the terminal.
4. After successful execution, the modified Lanelet2 map will be stored in the same directory as the original map with "_BSSD" at the end of the filename.
5. Furthermore, a derivation-log-file is saved into the same directory.

> Note: use lanelet2-bssd-converter -h to see all the available options for the tool.

Architecture

To get an overview of how this framework is build, read this.

Tests

To run the tests that are included with pytest, open a terminal in the directory in which the repository is installed and invoke

pytest test