Ensure that the CommonRoad-based conversion of maps maintains OpenDRIVE signals (traffic lights, signs, road markings) #44

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

In the current state of the conversion tool, the infrastructure elements are being lost. This task involves understanding the OpenDRIVE standard for describing signals, the investigation of the CommonRoad configuration to ensure that those are maintained, and the development of pre or post-processing scripts to ensure that the elements are properly converted to the correct representation in Lanelet2 format.

Purpose

Some test scenarios described with OpenDRIVE maps may have dependencies on the infrastructure elements. This task ensures that the conversion tool can support the conversion of maps while ensuring such scenarios can be executed.

Possible approaches

• Investigate the CommonRoad Designer options for map conversion
• Obtain or create OpenDRIVE maps that contain the targeted elements (traffic lights, road markings and signs)
• Understand how Lanelet2 represents the targeted elements (regulatory elements, lanelets and areas)
• Understand how Autoware extends the Lanelet2 format (reference)
• Compare converted maps from OpenDRIVE with Lanelet2 maps that contain these elements to understand the gap that needs to be closed
• Close the gap with post-processing scripts

(For reference) how OpenStreetMap format describes the targeted elements (signs, traffic lights, road markings)

Definition of done

• The converter works for OpenDRIVE maps that contain infrastructure elements while maintaining them after the conversion.