hdmap

hdmap.MapParser

class hdmap.MapParser.MapParser(filename: str)

Class to load and parse HD Map

Parameters: filename (str) – filename of the HD Map

get_coordinate_and_heading(lane_id: str, s: float) → Tuple[modules.common.proto.geometry_pb2.PointENU, float]

Given a lane_id and a point on the lane, get the actual coordinate and the heading at that point.

Parameters

lane_id (str) – ID of the lane intereted in
s (float) – meters away from the start of the lane

Returns

coordinate and heading in a tuple

Return type

Tuple[PointENU, float]

get_crosswalk_by_id(cw_id: str) → modules.map.proto.map_crosswalk_pb2.Crosswalk

Get a specific crosswalk object based on ID

Parameters: cw_id (str) – ID of the crosswalk interested in
Returns: crosswalk object
Return type: Crosswalk

get_crosswalks() → List[str]

Get a list of all crosswalk IDs on the HD Map

Returns: list of crosswalk IDs
Return type: List[str]

static get_instance(): Get the singleton instance of MapParser

get_junction_by_id(j_id: str) → modules.map.proto.map_junction_pb2.Junction

Get a specific junction object based on ID

Parameters: j_id (str) – ID of the junction interested in
Returns: junction object
Return type: Junction

get_junctions() → List[str]

Get a list of all junction IDs on the HD Map

Returns: list of junction IDs
Return type: List[str]

get_lane_by_id(l_id: str) → modules.map.proto.map_lane_pb2.Lane

Get a specific junction object based on ID

Parameters: l_id (str) – ID of the lane interested in
Returns: lane object
Return type: Lane

get_lane_central_curve(lane_id: str) → shapely.geometry.linestring.LineString

Gets the central curve of the lane.

Parameters: lane_id (str) – ID of the lane interested in
Returns: an object representing the lane’s central curve
Rypte: LineString

get_lane_length(lane_id: str) → float

Gets the length of the lane.

Parameters: lane_id (str) – ID of the lane interested in
Returns: length of the lane
Return type: float

get_lanes() → List[str]

Get a list of all lane IDs on the HD Map

Returns: list of lane IDs
Return type: List[str]

get_lanes_not_in_junction() → Set[str]

Get the set of all lanes that are not in the junction.

Returns: ID of lanes who is not in a junction
Return type: Set[str]

get_path_from(lane_id: str) → List[List[str]]

Get possible paths starting from a specified lane

Parameters: lane_id (str) – ID of the starting lane
Returns: list of possible paths, each consisten multiple lanes
Return type: List[List[str]]

get_signal_by_id(s_id: str) → modules.map.proto.map_signal_pb2.Signal

Get a specific signal object based on ID

Parameters: s_id (str) – ID of the signal interested in
Returns: signal object
Return type: Signal

get_signals() → List[str]

Get a list of all signal IDs on the HD Map

Returns: list of signal IDs
Return type: List[str]

get_signals_wrt(signal_id: str) → List[Tuple[str, str]]

Get signals that have constraint with the specified signal

Parameters: signal_id (str) – ID of the signal interested in
Returns: list of tuple each indicates the signal and the constraint
Return type: List[Tuple[str, str]]
Example: [('signal_5', 'EQ'), ('signal_6', 'NE')] indicates signal_5 should have the same color, signal_6 cannot be green if the signal passed in is green.

get_stop_sign_by_id(ss_id: str) → modules.map.proto.map_stop_sign_pb2.StopSign

Get a specific stop sign object based on ID

Parameters: ss_id (str) – ID of the stop sign interested in
Returns: stop sign object
Return type: StopSign

get_stop_signs() → List[str]

Get a list of all stop sign IDs on the HD Map

Returns: list of stop sign IDs
Return type: List[str]

is_conflict_lanes(lane_id1: List[str], lane_id2: List[str]) → bool

Check if 2 groups of lanes intersect with each other

Parameters

lane_id1 (List[str]) – list of lane ids
lane_id2 (List[str]) – another list of lane ids

Returns

True if at least 1 lane from lhs intersects with another from rhs, False otherwise.

Return type

bool

load_crosswalks(): Load crosswalks on the HD Map

load_junctions(): Load junctions on the HD Map

load_lanes(): Load lanes on the HD Map

load_signals(): Load traffic signals on the HD Map

load_stop_signs(): Load stop signs on the HD Map

parse_lane_relations()

Analyze the relation between lanes (e.g., which lane is connected to which lane)

Note: the relation is supposed to be included in the HD Map via predecessor and successor relation, but experimentally we found HD Map may be buggy and leave out some information, causing Routing module to fail.

parse_relations(): Parse relations between signals and junctions, lanes and junctions, and lanes and signals

parse_signal_relations(): Analyze the relation between signals (e.g., signals that cannot be green at the same time)