EnvBasedHDMap

Run Demo

You can run env_test.py directly (Need to change the address of the file).

Dataset

I use INTERACTION dataset. For test, I provide a part of dataset inDataset directory.

Map Information

I have transform the information in .osm file to .json format, where in the directory Test. Furthermore, the original map information is in Map directory.

There are four .json files for each scene in the Test directory.

• id_node_dict.json: record the node information in HD map, including the id, coordinate info of nodes and which way or ways the node owned.

• id_way_dict.json: record the way information in HD map, including the id, type info of ways, and what nodes construct this way.

• id_lane_dict.json: record the lane information in HD map, including the id info of lanes and their left/right way id.

• draw_lane_dict.json: record the lane information which are extract by me. I use these information to draw lanes with pygame.

  • start_str: the start string of a lane used in highway_env (cf https://github.com/eleurent/highway-env/)

  • end_str: the end string of a lane used in highway_env (cf https://github.com/eleurent/highway-env/)

  • id: the id, defined by me, to denote the lane

  • index_coord_dict: the dictionary, used to record the coordinate of start and end points of a short lane. A lane is made up by many short lanes.

    • For example,

      index_coord_dict = {0: [[left way start point, left way end point], [right way start point, right way end point]], 
                          1: [[], []]}

  • index_type_dict: the dictionary, used to record the line type (solid or dashed) of a short lane.

    • For example,

      index_type_dict = {0: [left way type, right way type],
                         1: []}

Note that: Comparing to the original .osm file, draw_lane_dict.json may lost some information. Since it is extracted by me to construct origianl scene and is only tested in Merge scene. However, id_node_dict.json, id_way_dict.json and id_lane_dict.json include all information in .osm file.