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Generate an OpenDRIVE lane to LL2 lanelet mapping file during conversion #118

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Generate an OpenDRIVE lane to LL2 lanelet mapping file during conversion#118
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TranHuuNhatHuydiegoyabuki
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odd-wg-taskODD WG internal task.
Milestone
2026 Phase 1 Goals

Description

@diegoyabuki
diegoyabuki
opened on Mar 2, 2026

Checklist

  • I've read the contribution guidelines.
  • I've searched other issues and no duplicate issues were found.
  • I've agreed with the maintainers that I can plan this task.

Description

To ensure that scenarios written based on OpenDRIVE maps can be executed easily in SSv2, a map conversion tool that outputs the mapping of lanes to lanelets is required.

Purpose

To support the automated execution of SafetyPool scenarios in SSv2.

Possible approaches

  • Start with CommonRoad as the base conversion tool. Check if the conversion of lanes to lanelets is 1:1
  • If not, the code must be adapted so that the above is respected
  • Extract unique relationships between road ID + lane ID and lanelet ID and output the conversion mappings as a csv file

Definition of done

  • The map conversion tool is able to convert lanes into lanelets
  • The map conversion tool is able to export the mapping information of road + lane <-> lanelet
  • The map conversion tool is tested on a set of representative scenarios from SafetyPool

Activity

  1. diegoyabuki
    added this to the 2025 Phase 4 Goals milestone on Mar 2, 2026
  2. diegoyabuki
    added
    odd-wg-taskODD WG internal task.
    on Mar 2, 2026
  3. diegoyabuki
    added a parent issue on Mar 2, 2026
  4. diegoyabuki
    added this to ODD Working Groupon Mar 2, 2026
  5. diegoyabuki
    added the
    Task
    issue type on Mar 2, 2026
  6. github-project-automation
    moved this to Ready in ODD Working Groupon Mar 2, 2026
  7. diegoyabuki
    assigned
    diegoyabuki
    ,
    chishengshih
    and
    evanbest0802
    and unassigned
    diegoyabuki
    on Mar 9, 2026

  8. diegoyabuki commented on Mar 9, 2026

    @diegoyabuki
    diegoyabuki
    on Mar 9, 2026
    CollaboratorAuthor

    Mapping of OpenDRIVE IDs to LL2:

    • Use tags in the LL2 map: "odr_road_id" and "odr_lane_id" to store the original IDs prior to the conversion
    • Export a mapping csv file containing the mapping between OpenDRIVE road and lane IDs to lanelet IDs. If the conversion is not 1 to 1, also add a frenet s-coordinate range for both OpenDRIVE and LL2. For example, if a lane of OpenDRIVE of length 100 [m] becomes 2 lanelets of length 50 [m] after conversion, the following format could be used:
    ODR road id ODR lane id ODR s-range LL2 lanelet id LL2 s-range
    0 1 0 - 50 10000 -1
    0 1 50 - 100 10001 -1

    Here, -1 would mean that the whole extension of the lanelet is used.

    Additionally, the following requirements must be met to ensure Autoware can run on the map:

    • Autoware format LL2 extension: Link
    • Break down of long lanes into multiple lanelets:
      • max. straight segment length (less than 0.5 [m] deviation sideways): 100 [m]
      • max. curve segment length: 20 [m]
      • except on intersections, where the lanelet should be continuous throughout the intersection

    cc: @chishengshih @evanbest0802

  9. diegoyabuki commented on Mar 10, 2026

    @diegoyabuki
    diegoyabuki
    on Mar 10, 2026
    CollaboratorAuthor

    @chishengshih @evanbest0802
    The minutes of yesterday's ODD WG meeting is available here.

  10. evanbest0802 commented on Mar 13, 2026

    @evanbest0802
    evanbest0802
    on Mar 13, 2026

    Hi, @diegoyabuki
    Could you provide the OpenDrive map and the conveerted lanelet2 map mentioned in the ODD WG meeting? Thank you very much.

  11. diegoyabuki commented on Mar 13, 2026

    @diegoyabuki
    diegoyabuki
    on Mar 13, 2026
    CollaboratorAuthor

    Hello @evanbest0802
    The original map is available here.
    I used the commonroad scenario designer's develop branch to do the conversion, so the z-coordinate fix was not included. Can you try using the latest version of the conversion tool on your side to check if the results change? Feel free to use that folder in the Google drive if you want to upload more items.

  12. evanbest0802 commented on Mar 13, 2026

    @evanbest0802
    evanbest0802
    on Mar 13, 2026

    Hello @diegoyabuki
    I tried to download the map, but I cannot log in the slack, even if I use the Tier4 portal account.

  13. 4 remaining items

  14. diegoyabuki
    assigned
    TranHuuNhatHuy
    and unassigned
    evanbest0802
    on Apr 8, 2026
  15. diegoyabuki
    modified the milestones: 2025 Phase 4 Goals, 2026 Phase 1 Goals on Apr 8, 2026
  16. diegoyabuki
    removed a parent issue on Apr 8, 2026
  17. diegoyabuki
    added a parent issue on Apr 8, 2026
  18. diegoyabuki
    marked generate a mapping of OpenDRIVE lanes to LL2 lanes during the map conversion. This information is needed to update lane references used within the scenario files. #122 as a duplicate of this issue on Apr 8, 2026
  19. diegoyabuki
    moved this from Ready to In Progress in ODD Working Groupon Apr 8, 2026
  20. diegoyabuki
    changed the title [-]Adapt the OpenDRIVE to Lanelet2 conversion to output the mapping of lanes to lanelets[/-] [+]Generate an OpenDRIVE lane to LL2 lanelet mapping file during conversion[/+] on Apr 8, 2026

  21. diegoyabuki commented on Apr 8, 2026

    @diegoyabuki
    diegoyabuki
    on Apr 8, 2026
    CollaboratorAuthor

    Hello @TranHuuNhatHuy,
    Regarding this task, please proceed as discussed in our sync meeting:
    "Update the OpenDRIVE to LL2 lane mapping format (csv file) to use Road ID, Lane ID, s-coordinates, Lanelet ID. (currently uses Road ID, Lane Section ID, Lane ID and Lanelet ID)"

  22. diegoyabuki commented on Jun 4, 2026

    @diegoyabuki
    diegoyabuki
    on Jun 4, 2026
    CollaboratorAuthor

    Next update on 06/11

  23. diegoyabuki commented on Jun 18, 2026

    @diegoyabuki
    diegoyabuki
    on Jun 18, 2026
    CollaboratorAuthor

    06/18 - @TranHuuNhatHuy

    • Updated the code so that it outputs the S-coordinate for each converted road + lane (+ lane section) segment.
      Next steps:
    • The lanelets in the output map are not connected with their predecessors/successors. Check if there's an issue in the conversion step, or in the postprocessing
    • Some roads in the csv file show conversion starting from s-coord > 0, but don't have a row for s-coord = 0, meaning that only the segments after that coordinate value is mapped to a lanelet

  24. diegoyabuki commented on Jul 9, 2026

    @diegoyabuki
    diegoyabuki
    on Jul 9, 2026
    CollaboratorAuthor

    Progress 07/09 - @TranHuuNhatHuy

    • Implementation is done and available in a separate branch.
    • @TranHuuNhatHuy will create a PR and @diegoyabuki will check the results.
    • If there are no issues, this task can be closed.
  25. diegoyabuki
    moved this from In Progress to Awaiting Approval in ODD Working Groupon Jul 9, 2026
  26. diegoyabuki
    self-assigned this
    on Jul 9, 2026
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