diff --git a/Environment_Based_HDMap/.idea/.gitignore b/Environment_Based_HDMap/.idea/.gitignore
new file mode 100644
index 0000000..13566b8
--- /dev/null
+++ b/Environment_Based_HDMap/.idea/.gitignore
@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
diff --git a/Environment_Based_HDMap/.idea/Env_Based_HDMap.iml b/Environment_Based_HDMap/.idea/Env_Based_HDMap.iml
new file mode 100644
index 0000000..a027b29
--- /dev/null
+++ b/Environment_Based_HDMap/.idea/Env_Based_HDMap.iml
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+  <component name="PyDocumentationSettings">
+    <option name="renderExternalDocumentation" value="true" />
+  </component>
+</module>
\ No newline at end of file
diff --git a/Environment_Based_HDMap/.idea/inspectionProfiles/profiles_settings.xml b/Environment_Based_HDMap/.idea/inspectionProfiles/profiles_settings.xml
new file mode 100644
index 0000000..105ce2d
--- /dev/null
+++ b/Environment_Based_HDMap/.idea/inspectionProfiles/profiles_settings.xml
@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>
\ No newline at end of file
diff --git a/Environment_Based_HDMap/.idea/misc.xml b/Environment_Based_HDMap/.idea/misc.xml
new file mode 100644
index 0000000..21ef513
--- /dev/null
+++ b/Environment_Based_HDMap/.idea/misc.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.6 (hdmap)" project-jdk-type="Python SDK" />
+</project>
\ No newline at end of file
diff --git a/Environment_Based_HDMap/.idea/modules.xml b/Environment_Based_HDMap/.idea/modules.xml
new file mode 100644
index 0000000..5279d76
--- /dev/null
+++ b/Environment_Based_HDMap/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/Env_Based_HDMap.iml" filepath="$PROJECT_DIR$/.idea/Env_Based_HDMap.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/Environment_Based_HDMap/.idea/other.xml b/Environment_Based_HDMap/.idea/other.xml
new file mode 100644
index 0000000..640fd80
--- /dev/null
+++ b/Environment_Based_HDMap/.idea/other.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="PySciProjectComponent">
+    <option name="PY_SCI_VIEW" value="true" />
+    <option name="PY_SCI_VIEW_SUGGESTED" value="true" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/Environment_Based_HDMap/.idea/vcs.xml b/Environment_Based_HDMap/.idea/vcs.xml
new file mode 100644
index 0000000..6c0b863
--- /dev/null
+++ b/Environment_Based_HDMap/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/Environment_Based_HDMap/Interaction_data/data_process.py b/Environment_Based_HDMap/Interaction_data/data_process.py
new file mode 100644
index 0000000..1b5a9c8
--- /dev/null
+++ b/Environment_Based_HDMap/Interaction_data/data_process.py
@@ -0,0 +1,82 @@
+import csv
+from Interaction_data.vehicle_state import VehicleState
+from Interaction_data.snap_shot import SnapShot
+from Interaction_data.trajectory import Trajectory
+
+
+class InteractionDataset(object):
+    def __init__(self, dataset_file_path: str):
+        self.data_file_path = dataset_file_path
+
+        # Dict: key = (case_id, vehicle_id), value = Trajectory object
+        self.id_traj_dict = {}
+
+        # Dict: key = (case_id, frame_id), value = SnapShot object
+        self.id_snapshot_dict = {}
+        self.load_dataset()
+
+    def load_dataset(self):
+        print("---------------Loading Dataset...-----------------")
+
+        with open(self.data_file_path, "r", encoding="UTF-8") as f:
+            f_csv = csv.reader(f)
+            row_index = 0
+
+            for row in f_csv:
+                # print("{}/{}".format(row_index, f_csv.__sizeof__()))
+                if row_index == 0:
+                    row_index += 1
+                else:
+                    case_id = int(float(row[0]))
+                    track_id = int(row[1])
+                    frame_id = int(row[2])
+
+                    agent_type = str(row[4])
+
+                    if agent_type != "car":
+                        print("Wrong agent type! The type is ({})".format(agent_type))
+                        continue
+
+                    # For testing
+                    if case_id != 1:
+                        break
+
+                    x = float(row[5])
+                    y = float(row[6])
+                    vx = float(row[7])
+                    vy = float(row[8])
+                    psi_rad = float(row[9])
+                    length = float(row[10])
+                    width = float(row[11])
+
+                    traj_key = (case_id, track_id)
+                    snap_key = (case_id, frame_id)
+
+                    if traj_key not in self.id_traj_dict.keys():
+                        self.id_traj_dict[traj_key] = Trajectory(case_id=case_id, track_id=track_id, v_length=length,
+                                                                 v_width=width)
+                    vehicle = VehicleState(v_id=track_id, x=x, y=y, vx=vx, vy=vy, psi_rad=psi_rad)
+                    self.id_traj_dict[traj_key].time_state_dict[frame_id] = vehicle
+
+                    if snap_key not in self.id_snapshot_dict.keys():
+                        self.id_snapshot_dict[snap_key] = SnapShot(case_id=case_id, frame_id=frame_id)
+
+                    self.id_snapshot_dict[snap_key].vehicle_object_list.append(vehicle)
+
+                    row_index += 1
+
+        for k, v in self.id_traj_dict.items():
+            v.get_trajectory()
+
+        print("----------------Loading Dataset Complete!------------------------")
+
+    def get_neighbour_vehicle(self, ego_vehicle_obj: VehicleState, dist_threshold: float):
+        for key, value in self.id_snapshot_dict.items():
+            value.neighbor_vehicle_list = value.get_neighbor_vehicles(ego_vehicle_obj=ego_vehicle_obj,
+                                                                      dist_threshold=dist_threshold)
+
+
+if __name__ == '__main__':
+    file_path = "/home/joe/Dataset/Interaction/INTERACTION-Dataset-DR-single-v1_2/train/DR_CHN_Merging_ZS0_train.csv"
+    interaction_dataset = InteractionDataset(dataset_file_path=file_path)
+    print(len(interaction_dataset.id_traj_dict))
\ No newline at end of file
diff --git a/Environment_Based_HDMap/Interaction_data/snap_shot.py b/Environment_Based_HDMap/Interaction_data/snap_shot.py
new file mode 100644
index 0000000..7bd3cb0
--- /dev/null
+++ b/Environment_Based_HDMap/Interaction_data/snap_shot.py
@@ -0,0 +1,24 @@
+from Interaction_data.vehicle_state import VehicleState
+import numpy as np
+
+
+class SnapShot(object):
+    def __init__(self, case_id: int, frame_id: int):
+        self.case_id = case_id
+        self.frame_id = frame_id
+
+        self.vehicle_object_list = []
+        self.neighbor_vehicle_list = None
+
+    def get_neighbor_vehicles(self, ego_vehicle_obj: VehicleState, dist_threshold: float):
+        """
+        Get neighbor vehicles around the ego vehicle object within a distance threshold.
+        """
+        neighbor_v_list = []
+        for v in self.vehicle_object_list:
+            distance = np.linalg.norm([ego_vehicle_obj.x-v.x, ego_vehicle_obj.y-v.y])
+
+            if distance <= dist_threshold:
+                neighbor_v_list.append(v)
+
+        return neighbor_v_list
\ No newline at end of file
diff --git a/Environment_Based_HDMap/Interaction_data/trajectory.py b/Environment_Based_HDMap/Interaction_data/trajectory.py
new file mode 100644
index 0000000..4bcd723
--- /dev/null
+++ b/Environment_Based_HDMap/Interaction_data/trajectory.py
@@ -0,0 +1,18 @@
+class Trajectory(object):
+    def __init__(self, case_id: int, track_id: int, v_length: float, v_width: float):
+        self.case_id = case_id
+        self.track_id = track_id
+        self.v_length = v_length
+        self.v_width = v_width
+
+        # Dict: key = frame_id, value = vehicle state object
+        self.time_state_dict = {}
+
+        # element = vehicle state object
+        self.trajectory = []
+
+    def get_trajectory(self):
+        time_state_list = sorted(self.time_state_dict.items(), key=lambda x: x[0])
+
+        for element in time_state_list:
+            self.trajectory.append(element[1])
diff --git a/Environment_Based_HDMap/Interaction_data/vehicle_state.py b/Environment_Based_HDMap/Interaction_data/vehicle_state.py
new file mode 100644
index 0000000..ca2ac0c
--- /dev/null
+++ b/Environment_Based_HDMap/Interaction_data/vehicle_state.py
@@ -0,0 +1,19 @@
+import numpy as np
+
+
+class VehicleState(object):
+    def __init__(self, v_id: int, x: float, y: float, vx: float, vy: float, psi_rad: float):
+        self.id = v_id
+        self.x = x
+        self.y = y
+        self.vx = vx
+        self.vy = vy
+        self.psi_rad = psi_rad
+
+        self.speed = np.sqrt(np.power(self.vx, 2)+np.power(self.vy, 2))
+
+    def __str__(self):
+        return "x = {}, y = {}, vx = {}, vy = {}, psi_rad = {}".format(self.x, self.y, self.vx, self.vy, self.psi_rad)
+
+    def __repr__(self):
+        return self.__str__()
\ No newline at end of file
diff --git a/Environment_Based_HDMap/osm_parser/hd_map.py b/Environment_Based_HDMap/osm_parser/hd_map.py
new file mode 100644
index 0000000..f65d093
--- /dev/null
+++ b/Environment_Based_HDMap/osm_parser/hd_map.py
@@ -0,0 +1,698 @@
+import lanelet2
+import copy
+from osm_parser.node import Node
+from osm_parser.way import Way
+from osm_parser.lane import Lane, CompleteLane, DrawLane
+import numpy as np
+import matplotlib.pyplot as plt
+from scipy import interpolate
+
+
+class HDMap(object):
+    def __init__(self, osm_file_path: str, lat_origin: float = 0.0, lon_origin: float = 0.0):
+        self.projector = lanelet2.projection.UtmProjector(lanelet2.io.Origin(lat_origin, lon_origin))
+        self.lanelet_map = lanelet2.io.load(osm_file_path, self.projector)
+
+        # self.id_node_dict: dict: key=node id, value=Node object
+        self.id_node_dict = self.get_node()
+
+        # self.id_way_dict: dict: key=way_id, value=Way object
+        self.id_way_dict = self.get_way()
+
+        # self.id_lane_dict: dict: key=lane_id, value=Lane object
+        self.id_lane_dict = self.get_lane()
+        self.change_order_for_road()
+
+        # self.regulatory_element_dict = self.get_regulatory_element()
+
+        self.max_interval = self.get_interval_parameter()
+
+        self.complete_lane_dict = self.get_complete_lane()
+
+        self.draw_lane_dict = self.complete_lane_to_draw_lane()
+
+    def get_node(self) -> dict:
+        """
+        Get node's id and coordinate from the file.
+        """
+        node_coord_dict = {}
+
+        for p in self.lanelet_map.pointLayer:
+            node = Node(n_id=int(p.id), x=float(p.x), y=float(p.y))
+            node_coord_dict[int(p.id)] = node
+
+        return node_coord_dict
+
+    def get_way(self) -> dict:
+        """
+        Get way's information from the file.
+        """
+        way_dict = {}
+
+        for ls in self.lanelet_map.lineStringLayer:
+            ref_node_list = []
+
+            way_type = ls.attributes["type"]
+            way_subtype = None
+
+            if way_type == "line_thin" or way_type == "line_thick":
+                way_subtype = ls.attributes["subtype"]
+
+            for ref_p in ls:
+                ref_node_list.append(int(ref_p.id))
+
+                self.id_node_dict[int(ref_p.id)].way_list.append(int(ls.id))
+
+            way = Way(w_id=int(ls.id), way_type=way_type, subtype=way_subtype, ref_node_list=ref_node_list)
+            way_dict[int(ls.id)] = way
+
+        return way_dict
+
+    def get_lane(self):
+        """
+        Get Lane's information from the file.
+        """
+        id_lane_dict = {}
+        for lane in self.lanelet_map.laneletLayer:
+            lane_obj = Lane(l_id=int(lane.id), left_way_id=int(lane.leftBound.id), right_way_id=int(lane.rightBound.id))
+
+            left_way_obj = self.id_way_dict[lane_obj.left_way_id]
+            right_way_obj = self.id_way_dict[lane_obj.right_way_id]
+
+            # if left_way_obj.type == "virtual" or right_way_obj == "virtual":
+            #     continue
+            #
+            # if left_way_obj.type == "traffic_sign" or right_way_obj.type == "traffic_sign":
+            #     continue
+
+            id_lane_dict[int(lane.id)] = lane_obj
+
+            self.id_way_dict[lane_obj.left_way_id].lane_list.append(lane_obj.id)
+            self.id_way_dict[lane_obj.right_way_id].lane_list.append(lane_obj.id)
+
+        return id_lane_dict
+
+    def change_order_for_lane(self, lane_id: int):
+        """
+        In .osm file, the direction of each way is not unified. Therefore, we need to change the order of reference
+        nodes of each way such that their direction are unified. In this method, the direction is from small to large
+        according to the "x" coordinate of the reference node.
+
+        Change the order of reference node for the lane which the lane id is "lane_id".
+        """
+        lane_obj = self.id_lane_dict[lane_id]
+        left_way_list = self.id_way_dict[lane_obj.left_way_id].ref_node_list
+        right_way_list = self.id_way_dict[lane_obj.right_way_id].ref_node_list
+
+        left_way_dict = {}
+        right_way_dict = {}
+
+        for p in left_way_list:
+            left_way_dict[p] = self.id_node_dict[p].x
+
+        for p in right_way_list:
+            right_way_dict[p] = self.id_node_dict[p].x
+
+        left_way = sorted(left_way_dict.items(), key=lambda x: x[1])
+        right_way = sorted(right_way_dict.items(), key=lambda x: x[1])
+
+        left = [p[0] for p in left_way]
+        right = [p[0] for p in right_way]
+
+        self.id_way_dict[lane_obj.left_way_id].ref_node_list = copy.deepcopy(left)
+        self.id_way_dict[lane_obj.right_way_id].ref_node_list = copy.deepcopy(right)
+
+    def change_order_for_road(self):
+        """
+        Change the order of reference nodes of ways for the whole road.
+        """
+        for lane in self.id_lane_dict.keys():
+            self.change_order_for_lane(lane)
+
+    def get_regulatory_element(self) -> dict:
+        """
+        Get regulatory information from the file.
+        """
+        regulatory_element = {}
+        for r_element in self.lanelet_map.regulatoryElementLayer:
+            regulatory_element[int(r_element.id)] = (r_element.attributes["subtype"], r_element.attributes["sign_type"])
+
+        return regulatory_element
+
+    def get_interval_parameter(self) -> float:
+        """
+        Get the estimation parameter which is to decide which two points are one-to-one corresponding or not.
+        The word "estimation" means that we only consider the points of the begin and end of the ways.
+
+        Assume there are two points A(x1, y1) and B(x2, y2)
+        if abs(x1-x2) > this parameter:
+            A and B are one-to-one corresponding points.
+        else:
+            A and B are not one-to-one corresponding points.
+        """
+        max_interval = 10e-9
+        for lane in self.id_lane_dict.items():
+            left_way_list = self.id_way_dict[lane[1].left_way_id].ref_node_list
+            right_way_list = self.id_way_dict[lane[1].right_way_id].ref_node_list
+
+            first_node_interval = abs(self.id_node_dict[left_way_list[0]].x-self.id_node_dict[right_way_list[0]].x)
+            last_node_interval = abs(self.id_node_dict[left_way_list[-1]].x-self.id_node_dict[right_way_list[-1]].x)
+
+            if first_node_interval > max_interval:
+                max_interval = first_node_interval
+
+            if last_node_interval > max_interval:
+                max_interval = last_node_interval
+
+        return max_interval+0.1
+
+    def need_interpolation(self, lane_id: int) -> bool:
+        """
+        To check that the lane needs interpolate or not?
+
+        Why do this?
+        Since for a lane in .osm file, the number of the reference nodes of two ways which are owned the same lane is
+        not one-to-one corresponding.
+        """
+        lane_obj = self.id_lane_dict[lane_id]
+        left_way_list = self.id_way_dict[lane_obj.left_way_id].ref_node_list
+        right_way_list = self.id_way_dict[lane_obj.right_way_id].ref_node_list
+
+        if len(left_way_list) != len(right_way_list):
+            return False
+        else:
+            for i in range(len(left_way_list)):
+                left_node = self.id_node_dict[left_way_list[i]].x
+                right_node = self.id_node_dict[right_way_list[i]].x
+
+                if abs(left_node-right_node) >= self.max_interval:
+                    return False
+
+        return True
+
+    def linear_interpolation_for_lane_with_small_interval(self, lane_id: int, interval: float = 1):
+        lane_obj = self.id_lane_dict[lane_id]
+        left_way_list = self.id_way_dict[lane_obj.left_way_id].ref_node_list
+        right_way_list = self.id_way_dict[lane_obj.right_way_id].ref_node_list
+
+        left_original_list = [[], []]
+        right_original_list = [[], []]
+
+        total_x_list = []
+
+        for index in range(len(left_way_list)):
+            left_node_obj = self.id_node_dict[left_way_list[index]]
+            left_original_list[0].append(left_node_obj.x)
+            left_original_list[1].append(left_node_obj.y)
+            total_x_list.append(left_node_obj.x)
+
+        for index in range(len(right_way_list)):
+            right_node_obj = self.id_node_dict[right_way_list[index]]
+            right_original_list[0].append(right_node_obj.x)
+            right_original_list[1].append(right_node_obj.y)
+            total_x_list.append(right_node_obj.x)
+
+        left_way_func = interpolate.interp1d(x=left_original_list[0],
+                                             y=left_original_list[1],
+                                             kind="linear",
+                                             fill_value="extrapolate")
+
+        right_way_func = interpolate.interp1d(x=right_original_list[0],
+                                              y=right_original_list[1],
+                                              kind="linear",
+                                              fill_value="extrapolate")
+
+        final_x_list = []
+        total_x_list = sorted(total_x_list)
+        for index in range(len(total_x_list) - 1):
+            temp_array = np.linspace(total_x_list[index], total_x_list[index + 1],
+                                     num=int(np.ceil((total_x_list[index + 1] - total_x_list[index]) / interval)))
+            if index == 0:
+                final_x_list.extend(list(temp_array))
+            else:
+                final_x_list.extend(list(temp_array[1:]))
+
+        final_left_y_list = left_way_func(final_x_list)
+        fina_right_y_list = right_way_func(final_x_list)
+
+        final_left_node_list = []
+        final_right_node_list = []
+
+        for i in range(len(final_x_list)):
+            final_left_node_list.append((final_x_list[i], final_left_y_list[i]))
+            final_right_node_list.append((final_x_list[i], fina_right_y_list[i]))
+
+        return final_left_node_list, final_right_node_list
+
+    def linear_interpolation_for_lane(self, lane_id: int):
+        """
+        Do linear interpolation operation for the reference nodes' coordinates of two ways of the same lane.
+        """
+        result = self.need_interpolation(lane_id=lane_id)
+
+        lane_obj = self.id_lane_dict[lane_id]
+        left_way_list = self.id_way_dict[lane_obj.left_way_id].ref_node_list
+        right_way_list = self.id_way_dict[lane_obj.right_way_id].ref_node_list
+
+        if not result:
+            left_index = 0
+            right_index = 0
+
+            left_interp_x_list = []
+            right_interp_x_list = []
+
+            left_original_list = [[], []]
+            right_original_list = [[], []]
+
+            while left_index < len(left_way_list) and right_index < len(right_way_list):
+                left_node_coord = self.id_node_dict[left_way_list[left_index]].get_coord()
+                right_node_coord = self.id_node_dict[right_way_list[right_index]].get_coord()
+
+                if abs(left_node_coord[0]-right_node_coord[0]) < self.max_interval:
+                    left_index += 1
+                    right_index += 1
+
+                    left_original_list[0].append(left_node_coord[0])
+                    left_original_list[1].append(left_node_coord[1])
+
+                    right_original_list[0].append(right_node_coord[0])
+                    right_original_list[1].append(right_node_coord[1])
+                else:
+                    if left_node_coord[0] < right_node_coord[0]:
+                        right_interp_x_list.append(left_node_coord[0])
+                        left_index += 1
+
+                        left_original_list[0].append(left_node_coord[0])
+                        left_original_list[1].append(left_node_coord[1])
+                    else:
+                        left_interp_x_list.append(right_node_coord[0])
+                        right_index += 1
+
+                        right_original_list[0].append(right_node_coord[0])
+                        right_original_list[1].append(right_node_coord[1])
+
+            final_left_node_list = self.get_final_way_list(left_original_list, left_interp_x_list)
+            final_right_node_list = self.get_final_way_list(right_original_list, right_interp_x_list)
+        else:
+            final_left_node_list = []
+            final_right_node_list = []
+
+            for i in range(len(left_way_list)):
+                final_left_node_list.append((self.id_node_dict[left_way_list[i]].x,
+                                             self.id_node_dict[left_way_list[i]].y))
+                final_right_node_list.append((self.id_node_dict[right_way_list[i]].x,
+                                              self.id_node_dict[right_way_list[i]].y))
+
+        return final_left_node_list, final_right_node_list
+
+    @staticmethod
+    def get_final_way_list(original_list: list, inter_x_list: list):
+        """
+        Get complete reference nodes list by doing interpolation operation.
+        """
+        final_node_list = []
+        for i in range(len(original_list[0])):
+            final_node_list.append((original_list[0][i], original_list[1][i]))
+
+        if len(inter_x_list) > 0:
+            inter_y_list = np.interp(inter_x_list, original_list[0], original_list[1])
+
+            for j in range(len(inter_x_list)):
+                final_node_list.append((inter_x_list[j], inter_y_list[j]))
+
+            final_node_list = sorted(final_node_list, key=lambda x: x[0])
+
+        return final_node_list
+
+    def get_complete_lane(self):
+        """
+        Get complete lane according to the lane relationship in the .osm file.
+
+        In .osm file, the short lanes which are owned to the same complete lane share the same start or end node
+        coordinate. According to this feature, we can reconstruct complete lanes from these short lanes.
+        """
+        complete_lane_dict = {}
+        lane_list = copy.deepcopy(list(self.id_lane_dict.keys()))
+
+        lane_index = 0
+        lane_symbol = "a"
+
+        while len(lane_list) > 0:
+            lane_id = lane_list[0]
+            lane_obj = self.id_lane_dict[lane_id]
+
+            complete_lane = self.get_complete_way(left_way_id=lane_obj.left_way_id,
+                                                  right_way_id=lane_obj.right_way_id,
+                                                  lane_id=lane_id,
+                                                  lane_index=[lane_symbol+str(lane_index), lane_symbol+str(lane_index+1)])
+
+            for lane in complete_lane.lane_list:
+                try:
+                    lane_list.remove(lane)
+                except ValueError:
+                    continue
+
+            complete_lane_dict[lane_index] = complete_lane
+            lane_index += 2
+
+        return complete_lane_dict
+
+    def get_complete_way(self, left_way_id: int, right_way_id: int, lane_id: int, lane_index: list):
+        """
+        Get complete way starting from start left_way_id and right_way_id.
+        """
+        left_way_list = self.id_way_dict[left_way_id].ref_node_list
+        right_way_list = self.id_way_dict[right_way_id].ref_node_list
+
+        # <=== left_way_id
+        # <=== right_way_id
+        left_complete_lane_list, left_complete_way_list = self.get_half_lane(start_left_node=left_way_list[0],
+                                                                             start_right_node=right_way_list[0],
+                                                                             left_way_id=left_way_id,
+                                                                             right_way_id=right_way_id,
+                                                                             lane_id=lane_id,
+                                                                             direction="Left")
+        # left_way_id ===>
+        # right_way_id ===>
+        right_complete_lane_list, right_complete_way_list = self.get_half_lane(start_left_node=left_way_list[-1],
+                                                                               start_right_node=right_way_list[-1],
+                                                                               left_way_id=left_way_id,
+                                                                               right_way_id=right_way_id,
+                                                                               lane_id=lane_id,
+                                                                               direction="Right")
+
+        complete_lane = CompleteLane(start_str=lane_index[0], end_str=lane_index[1])
+        complete_lane.lane_list = left_complete_lane_list + right_complete_lane_list[1:]
+        complete_lane.left_way_list = left_complete_way_list[0] + right_complete_way_list[0][1:]
+        complete_lane.right_way_list = left_complete_way_list[1] + right_complete_way_list[1][1:]
+
+        complete_lane.left_way_type_list = complete_lane.get_way_type_list(self.id_way_dict, "left")
+        complete_lane.right_way_type_list = complete_lane.get_way_type_list(self.id_way_dict, "right")
+
+        return complete_lane
+
+    def get_half_lane(self, start_left_node: int, start_right_node: int, left_way_id: int, right_way_id: int,
+                      lane_id: int, direction: str = "Left"):
+        """
+        Get left or right half lane according to the given short lane.
+        """
+        lane_list = [lane_id]
+
+        way_list = [[left_way_id], [right_way_id]]
+
+        list_index = -1
+        insert_pos = 0
+
+        if direction != "Left" and direction != "left" and direction != "L":
+            list_index = 0
+            insert_pos = -1
+
+        while True:
+            left_way_list = self.id_node_dict[start_left_node].way_list
+
+            do_loop = False
+
+            for way_id in left_way_list:
+                if way_id == left_way_id:
+                    continue
+                else:
+                    left_lane_list = self.id_way_dict[way_id].lane_list
+
+                    for l_id in left_lane_list:
+                        if l_id == lane_id:
+                            continue
+                        else:
+                            neighbor_lane_obj = self.id_lane_dict[l_id]
+
+                            neighbor_left_node_list = self.id_way_dict[neighbor_lane_obj.left_way_id].ref_node_list
+                            neighbor_right_node_list = self.id_way_dict[neighbor_lane_obj.right_way_id].ref_node_list
+
+                            if neighbor_left_node_list[list_index] == start_left_node:
+                                if neighbor_right_node_list[list_index] == start_right_node:
+                                    if direction == "Left" or direction == "left" or direction == "L":
+                                        lane_list.insert(insert_pos, l_id)
+                                        way_list[0].insert(insert_pos, neighbor_lane_obj.left_way_id)
+                                        way_list[1].insert(insert_pos, neighbor_lane_obj.right_way_id)
+                                    else:
+                                        lane_list.append(l_id)
+                                        way_list[0].append(neighbor_lane_obj.left_way_id)
+                                        way_list[1].append(neighbor_lane_obj.right_way_id)
+
+                                    start_left_node = neighbor_left_node_list[insert_pos]
+                                    start_right_node = neighbor_right_node_list[insert_pos]
+
+                                    left_way_id = neighbor_lane_obj.left_way_id
+                                    right_way_id = neighbor_lane_obj.right_way_id
+                                    lane_id = neighbor_lane_obj.id
+
+                                    do_loop = True
+                            elif neighbor_right_node_list[list_index] == start_left_node:
+                                if neighbor_left_node_list[list_index] == start_right_node:
+                                    if direction == "Left" or direction == "left" or direction == "L":
+                                        lane_list.insert(insert_pos, l_id)
+                                        way_list[0].insert(insert_pos, neighbor_lane_obj.right_way_id)
+                                        way_list[1].insert(insert_pos, neighbor_lane_obj.left_way_id)
+                                    else:
+                                        lane_list.append(l_id)
+                                        way_list[0].append(neighbor_lane_obj.right_way_id)
+                                        way_list[1].append(neighbor_lane_obj.left_way_id)
+
+                                    start_left_node = neighbor_right_node_list[insert_pos]
+                                    start_right_node = neighbor_left_node_list[insert_pos]
+
+                                    left_way_id = neighbor_lane_obj.right_way_id
+                                    right_way_id = neighbor_lane_obj.left_way_id
+                                    lane_id = neighbor_lane_obj.id
+
+                                    do_loop = True
+            if not do_loop:
+                break
+        return lane_list, way_list
+
+    def complete_lane_to_draw_lane(self) -> dict:
+        """
+        Convert CompleterLane object to DrawLane object.
+        """
+        draw_lane_dict = {}
+        for complete_lane_index, complete_lane_obj in self.complete_lane_dict.items():
+            draw_lane_obj = DrawLane(start_str=complete_lane_obj.start_str,
+                                     end_str=complete_lane_obj.end_str)
+
+            # key_tuple = (complete_lane_obj.start_str, complete_lane_obj.end_str)
+            # draw_lane_obj.lane_index_dict[key_tuple] = complete_lane_index
+            draw_lane_obj.id = complete_lane_index
+
+            key_index = 0
+            for index in range(len(complete_lane_obj.lane_list)):
+                single_lane_id = complete_lane_obj.lane_list[index]
+                left_way_list, right_way_list = self.linear_interpolation_for_lane(single_lane_id)
+                # print(left_way_list)
+                # left_way_list, right_way_list = self.linear_interpolation_for_lane_with_small_interval(single_lane_id, interval=1)
+                # print(left_way_list)
+                # print("**************************************")
+
+                if complete_lane_obj.left_way_list[index] == self.id_lane_dict[single_lane_id].left_way_id:
+                    left_way_type = "solid" if complete_lane_obj.left_way_type_list[index] == "solid" else "dashed"
+                    right_way_type = "solid" if complete_lane_obj.right_way_type_list[index] == "solid" else "dashed"
+                else:
+                    left_way_type = "solid" if complete_lane_obj.right_way_type_list[index] == "solid" else "dashed"
+                    right_way_type = "solid" if complete_lane_obj.left_way_type_list[index] == "solid" else "dashed"
+
+                    temp_way_list = copy.deepcopy(left_way_list)
+                    left_way_list = copy.deepcopy(right_way_list)
+                    right_way_list = copy.deepcopy(temp_way_list)
+
+                if left_way_list[0][1] < right_way_list[0][1] or left_way_list[-1][1] < right_way_list[-1][1]:
+                    temp_list = copy.deepcopy(left_way_list)
+                    left_way_list = copy.deepcopy(right_way_list)
+                    right_way_list = copy.deepcopy(temp_list)
+
+                    temp_type_list = copy.deepcopy(left_way_type)
+                    left_way_type = copy.deepcopy(right_way_type)
+                    right_way_type = copy.deepcopy(temp_type_list)
+
+                for i in range(len(left_way_list)-1):
+                    coordinate_list = [[left_way_list[i], left_way_list[i+1]], [right_way_list[i], right_way_list[i+1]]]
+
+                    start_node_coord = ((left_way_list[i][0]+right_way_list[i][0])/2,
+                                        (left_way_list[i][1]+right_way_list[i][1])/2)
+
+                    end_node_coord = ((left_way_list[i+1][0]+right_way_list[i+1][0])/2,
+                                      (left_way_list[i+1][1]+right_way_list[i+1][1])/2)
+
+                    width = self.point_to_line_distance(point=left_way_list[i],
+                                                        line_point1=right_way_list[i],
+                                                        line_point2=right_way_list[i+1])
+
+                    width += self.point_to_line_distance(point=left_way_list[i+1],
+                                                         line_point1=right_way_list[i],
+                                                         line_point2=right_way_list[i+1])
+
+                    draw_lane_obj.index_coord_dict[key_index] = coordinate_list
+                    draw_lane_obj.index_type_dict[key_index] = (left_way_type, right_way_type)
+                    draw_lane_obj.index_center_dict[key_index] = (start_node_coord, end_node_coord)
+                    draw_lane_obj.index_width_dict[key_index] = width/2
+
+                    key_index += 1
+
+            draw_lane_dict[complete_lane_index] = draw_lane_obj
+
+        return draw_lane_dict
+
+    def position_to_lane(self, position: tuple):
+        """
+        Get the lane index according to the position of the vehicle.
+        """
+        for dict_id, draw_lane_obj in self.draw_lane_dict.items():
+            for index, coord in draw_lane_obj.index_coord_dict.items():
+                if self.position_in_rectangle(p=position,
+                                              a=coord[0][0],
+                                              b=coord[1][0],
+                                              c=coord[0][1],
+                                              d=coord[1][1]):
+                    return [dict_id, draw_lane_obj.start_str, draw_lane_obj.end_str, index]
+        return None
+
+    @staticmethod
+    def point_to_line_distance(point: tuple, line_point1: tuple, line_point2: tuple):
+        point = np.array(point)
+        line_point1 = np.array(line_point1)
+        line_point2 = np.array(line_point2)
+
+        vec1 = line_point1 - point
+        vec2 = line_point2 - point
+        distance = np.abs(np.cross(vec1, vec2)) / np.linalg.norm(line_point1 - line_point2)
+        return distance
+
+    @staticmethod
+    def position_in_rectangle(p: tuple, a: tuple, b: tuple, c: tuple, d: tuple) -> bool:
+        """
+        Check if a point is inside a normal rectangle.
+
+        a-------d
+        |       |
+        |       |
+        b-------c
+        @param p: a point (x, y)
+        @param a:
+        @param b:
+        @param c:
+        @param d:
+        """
+        ab = [b[0] - a[0], b[1] - a[1]]
+        ap = [p[0] - a[0], p[1] - a[1]]
+
+        cd = [d[0] - c[0], d[1] - c[1]]
+        cp = [p[0] - c[0], p[1] - c[1]]
+
+        ad = [d[0] - a[0], d[1] - a[1]]
+        cb = [b[0] - c[0], b[1] - c[1]]
+
+        if np.cross(ab, ap) * np.cross(cd, cp) >= 0 and np.cross(ad, ap) * np.cross(cb, cp) >= 0:
+            return True
+        else:
+            return False
+
+    def draw_with_original_data_by_matplotlib(self):
+        for draw_lane_id, draw_lane_obj in self.draw_lane_dict.items():
+            for index, coord in draw_lane_obj.index_coord_dict.items():
+                way_type = draw_lane_obj.index_type_dict[index]
+                left_way_type = "-" if way_type[0] == "solid" else "--"
+                right_way_type = "-" if way_type[1] == "solid" else "--"
+                left_color = "black" if left_way_type == "-" else "orange"
+                right_color = "black" if right_way_type == "-" else "orange"
+                plt.plot([coord[0][0][0], coord[0][1][0]],
+                         [coord[0][0][1], coord[0][1][1]],
+                         color=left_color,
+                         linestyle=left_way_type)
+                plt.plot([coord[1][0][0], coord[1][1][0]],
+                         [coord[1][0][1], coord[1][1][1]],
+                         color=right_color,
+                         linestyle=right_way_type)
+
+        plt.savefig("/home/joe/Desktop/DR_CHN_Merging_ZS0_small.pdf")
+        # plt.show()
+
+    def draw_with_center_by_matplotlib(self):
+        for draw_lane_id, draw_lane_obj in self.draw_lane_dict.items():
+            for index, center in draw_lane_obj.index_center_dict.items():
+                width = draw_lane_obj.index_width_dict[index]
+                way_type = draw_lane_obj.index_type_dict[index]
+                left_way_type = "-" if way_type[0] == "solid" else "--"
+                right_way_type = "-" if way_type[1] == "solid" else "--"
+                left_color = "black" if left_way_type == "-" else "orange"
+                right_color = "black" if right_way_type == "-" else "orange"
+
+                plt.plot([center[0][0]+width/2, center[1][0]+width/2],
+                         [center[0][1]+width/2, center[1][1]+width/2],
+                         color=left_color,
+                         linestyle=left_way_type)
+                plt.plot([center[0][0]-width/2, center[1][0]-width/2],
+                         [center[0][1]-width/2, center[1][1]-width/2],
+                         color=right_color,
+                         linestyle=right_way_type)
+
+        plt.savefig("/home/joe/Desktop/DR_CHN_Merging_ZS0_center.pdf")
+
+    def get_draw_lane_info(self):
+        lane_start_draw_dict = {}
+        for draw_lane_id, draw_lane_obj in self.draw_lane_dict.items():
+            coord = draw_lane_obj.index_coord_dict[len(draw_lane_obj.index_coord_dict)-1]
+            left_y = int(coord[0][0][1]*10)
+            right_y = int(coord[1][0][1]*10)
+
+            left_draw = False
+            right_draw = False
+
+            if left_y not in lane_start_draw_dict.keys():
+                lane_start_draw_dict[left_y] = True
+                left_draw = True
+            else:
+                if not lane_start_draw_dict[left_y]:
+                    left_draw = True
+                    lane_start_draw_dict[left_y] = True
+
+            if right_y not in lane_start_draw_dict.keys():
+                lane_start_draw_dict[right_y] = True
+                right_draw = True
+            else:
+                if not lane_start_draw_dict[right_y]:
+                    right_draw = True
+                    lane_start_draw_dict[right_y] = True
+
+
+            for index, center in draw_lane_obj.index_center_dict.items():
+                width = draw_lane_obj.index_width_dict[index]
+                way_type = draw_lane_obj.index_type_dict[index]
+                left_way_type = "-" if way_type[0] == "solid" else "--"
+                right_way_type = "-" if way_type[1] == "solid" else "--"
+                left_color = "black" if left_way_type == "-" else "orange"
+                right_color = "black" if right_way_type == "-" else "orange"
+
+                if left_draw:
+                    plt.plot([center[0][0]+width/2, center[1][0]+width/2],
+                             [center[0][1]+width/2, center[1][1]+width/2],
+                             color=left_color,
+                             linestyle=left_way_type)
+
+                if right_draw:
+                    plt.plot([center[0][0]-width/2, center[1][0]-width/2],
+                             [center[0][1]-width/2, center[1][1]-width/2],
+                             color=right_color,
+                             linestyle=right_way_type)
+            # plt.show()
+
+        plt.savefig("/home/joe/Desktop/DR_CHN_Merging_ZS0_center.pdf")
+
+
+if __name__ == '__main__':
+    osm_file = "/home/joe/Dataset/Interaction/INTERACTION-Dataset-DR-single-v1_2/maps/DR_CHN_Merging_ZS0.osm"
+    hd_map = HDMap(osm_file_path=osm_file)
+    # hd_map.draw_with_original_data_by_matplotlib()
+    # hd_map.draw_with_center_by_matplotlib()
+    # hd_map.get_draw_lane_info()
+    import json
+    for key, draw_lane_obj in hd_map.draw_lane_dict.items():
+        with open("/home/joe/Desktop/coord_"+str(key)+".json", "w", encoding="UTF-8") as f:
+            f.write(json.dumps(hd_map.draw_lane_dict[key].index_coord_dict))
+    print("Hello World!")
\ No newline at end of file
diff --git a/Environment_Based_HDMap/osm_parser/lane.py b/Environment_Based_HDMap/osm_parser/lane.py
new file mode 100644
index 0000000..dab0693
--- /dev/null
+++ b/Environment_Based_HDMap/osm_parser/lane.py
@@ -0,0 +1,110 @@
+class Lane(object):
+    """
+    The information of the Lane object.
+    """
+    def __init__(self, l_id: int, left_way_id: int, right_way_id: int):
+        """
+        Initialize the lane object by setting its id, left and right way id.
+        """
+        self.id = l_id
+        self.left_way_id = left_way_id
+        self.right_way_id = right_way_id
+
+    def __str__(self):
+        return "Lane id = {}, (left_way_id, right_way_id) = ({}, {})".format(self.id, self.left_way_id,
+                                                                             self.right_way_id)
+
+    def __repr__(self):
+        return self.__str__()
+
+
+class CompleteLane(object):
+    """
+    The information of the CompleteLane object.
+
+    Construct the complete lane according to the information provided by .osm_parser file.
+    """
+    def __init__(self, start_str: str, end_str: str):
+        self.start_str = start_str
+        self.end_str = end_str
+
+        self.lane_list = []
+        self.left_way_list = []
+        self.right_way_list = []
+
+        self.left_node_list = None
+        self.right_node_list = None
+
+        self.left_way_type_list = None
+        self.right_way_type_list = None
+
+        self.lane_coordinate_dict = {}
+
+    def get_node_list(self, id_way_dict: dict, direction: str) -> list:
+        """
+        Get the node_id list of the left or right way in this complete lane.
+
+        return: a list of the node_id of the left or right way
+        """
+        node_list = []
+
+        if direction == "left" or direction == "Left" or direction == "L":
+            way_list = self.left_way_list
+        else:
+            way_list = self.right_way_list
+
+        for way_id in way_list:
+            ref_node_list = id_way_dict[way_id].ref_node_list
+
+            if way_id == way_list[0]:
+                node_list.extend(ref_node_list)
+            else:
+                node_list.extend(ref_node_list[1:])
+
+        return node_list
+
+    def get_way_type_list(self, id_way_dict: dict, direction: str) -> list:
+        """
+        Get the way_type including "solid" and "dashed" list of the left or right way in this complete lane.
+
+        return: a list of the way type of the left or right way.
+        """
+        way_type_list = []
+
+        if direction == "left" or direction == "Left" or direction == "L":
+            way_list = self.left_way_list
+        else:
+            way_list = self.right_way_list
+
+        for way_id in way_list:
+            way_obj = id_way_dict[way_id]
+
+            if way_obj.type == "line_thin" or way_obj.type == "line_thick":
+                way_type_list.append(way_obj.subtype)
+            else:
+                way_type_list.append("solid")
+
+        return way_type_list
+
+
+class DrawLane(object):
+    """
+    The Lane Object which is used to draw on the map. That means that the DrawLane Object is after interpolation.
+    """
+    def __init__(self, start_str: str, end_str: str):
+        self.start_str = start_str
+        self.end_str = end_str
+
+        self.id = None
+
+        # Dict: key = index, value = coordinate list [[left way], [right way]]
+        self.index_coord_dict = {}
+
+        # Dict: key = index, value = (start_point_coordinate, end_point_coordinate)
+        self.index_center_dict = {}
+
+        # Dict: key = index, value = type string (left way type, right way type)
+        self.index_type_dict = {}
+
+        # Dict: key = index, value = width (float object)
+        self.index_width_dict = {}
diff --git a/Environment_Based_HDMap/osm_parser/node.py b/Environment_Based_HDMap/osm_parser/node.py
new file mode 100644
index 0000000..cf2cee3
--- /dev/null
+++ b/Environment_Based_HDMap/osm_parser/node.py
@@ -0,0 +1,26 @@
+class Node(object):
+    """
+    The Node object.
+    """
+    def __init__(self, n_id: int, x: float, y: float, visible: bool=True):
+        """
+        Initialization of the Node by setting the x, y coordinate and its visibility attribute.
+        """
+        self.id = n_id
+        self.x = x
+        self.y = y
+        self.visible = visible
+
+        # The id list of the ways which the node owned.
+        self.way_list = []
+
+    def get_coord(self):
+        return self.x, self.y
+
+    def __str__(self):
+        return "node id = {}, (x, y) = ({}, {}), visible = {}, way_list = {}".format(self.id, self.x, self.y,
+                                                                                     self.visible, self.way_list)
+
+    def __repr__(self):
+        return self.__str__()
+
diff --git a/Environment_Based_HDMap/osm_parser/way.py b/Environment_Based_HDMap/osm_parser/way.py
new file mode 100644
index 0000000..84d909b
--- /dev/null
+++ b/Environment_Based_HDMap/osm_parser/way.py
@@ -0,0 +1,24 @@
+class Way(object):
+    """
+    The information of Way object.
+    """
+    def __init__(self, w_id: int, way_type: str, subtype: str, ref_node_list: list):
+        """
+        Initialization of the way by setting its id, type and subtype of the way, reference node id list.
+        """
+        self.id = w_id
+        self.type = way_type
+        self.subtype = subtype
+        self.ref_node_list = ref_node_list
+
+        # The id list of the lanes which the way owned.
+        self.lane_list = []
+
+    def __str__(self):
+        return "way id = {}, type = {}, subtype = {}, ref_node_list = {}, lane_list = {}".format(self.id, self.type,
+                                                                                                 self.subtype,
+                                                                                                 self.ref_node_list,
+                                                                                                 self.lane_list)
+
+    def __repr__(self):
+        return self.__str__()
\ No newline at end of file
diff --git a/Environment_Based_HDMap/road/graphics.py b/Environment_Based_HDMap/road/graphics.py
new file mode 100644
index 0000000..26fe99b
--- /dev/null
+++ b/Environment_Based_HDMap/road/graphics.py
@@ -0,0 +1,126 @@
+import pygame
+from road.lane import Lane
+from road.road_network import RoadNetwork
+import numpy as np
+from osm_parser.hd_map import HDMap
+
+
+class Color(object):
+    BLACK = (0, 0, 0)
+    GREY = (100, 100, 100)
+    GREEN = (50, 200, 0)
+    YELLOW = (200, 200, 0)
+    WHITE = (255, 255, 255)
+    RED = (200, 50, 0)
+
+
+class WorldSurface(pygame.Surface):
+    """
+    A pygame Surface implementing a local system so that we can move and zoom in the displayed area.
+    """
+
+    INITIAL_SCALING = 10.0
+    INITIAL_CENTERING = [0.5, 0.5]
+    SCALING_FACTOR = 5
+    MOVING_FACTOR = 0.1
+
+    def __init__(self, width: int, height: int, min_x: float, min_y: float, max_x: float, max_y: float):
+        super().__init__((width, height))
+        self.scaling = min(self.INITIAL_SCALING, min(width/(max_x-min_x), height/(max_y-min_y)))
+        self.origin = np.array([min_x, min_y])
+
+    def dist2pix(self, length: float):
+        """
+        Convert a distance [m] to pixels [px]
+        :param length: the input distance [m]
+        :return: the corresponding size [px]
+        """
+        return int(length*self.scaling)
+
+    def pos2pix(self, x: float, y: float):
+        """
+        Convert two world coordinates [m] into a position in the surface [px]
+        :param x: x world coordinate [m]
+        :param y: y world coordinate [m]
+        :return: the coordinates of the corresponding pixel [px]
+        """
+        return self.dist2pix(x-self.origin[0]), self.dist2pix(y-self.origin[1])
+
+
+class LaneGraphics(object):
+    """
+    A visualization of a lane.
+    """
+    stripe_spacing = 3  # Offset between stripes [m]
+    stripe_length = 1  # Length of a stripe [m]
+    stripe_width = 0.1  # Width of a stripe [m]
+
+    @classmethod
+    def display(cls, lane: Lane, world_surface: WorldSurface):
+        """
+        Display a lane on a surface
+        :param lane: the lane to be displayed
+        :param surface: the pygame surface
+        :return: no return object
+        """
+        left_way_list = lane.left_way_list
+        right_way_list = lane.right_way_list
+
+        left_way_type = lane.left_way_type
+        right_way_type = lane.right_Way_type
+
+        cls.draw_line(world_surface=world_surface, start_pos=left_way_list[0], end_pos=left_way_list[1],
+                      line_type=left_way_type)
+        cls.draw_line(world_surface=world_surface, start_pos=right_way_list[0], end_pos=right_way_list[1],
+                      line_type=right_way_type)
+
+    @classmethod
+    def draw_line(cls, world_surface: WorldSurface, start_pos: tuple, end_pos: tuple, line_type: str):
+        pygame.draw.aaline(surface=world_surface,
+                           color=Color.WHITE if line_type == "solid" else Color.YELLOW,
+                           start_pos=world_surface.pos2pix(x=start_pos[0], y=start_pos[1]),
+                           end_pos=world_surface.pos2pix(x=end_pos[0], y=end_pos[1]),
+                           blend=2)
+
+    @classmethod
+    def draw_lane(cls, world_surface: WorldSurface, left_upper_pos, width, height, heading):
+        if heading == 0:
+            lane_surface = pygame.Surface
+
+
+if __name__ == '__main__':
+    osm_file = "/home/joe/Dataset/Interaction/INTERACTION-Dataset-DR-single-v1_2/maps/DR_CHN_Merging_ZS0.osm"
+    hd_map = HDMap(osm_file_path=osm_file)
+
+    pygame.init()
+    pygame.display.set_caption("Env-Based-HDMap")
+    screen = pygame.display.set_mode((1080, 300))
+
+    world_surface = WorldSurface(width=1080,
+                                 height=300,
+                                 min_x=900,
+                                 min_y=900,
+                                 max_x=1200,
+                                 max_y=1000)
+
+
+    while True:
+        screen.fill(color=Color.BLACK)
+
+        for draw_lane_index, draw_lane_obj in hd_map.draw_lane_dict.items():
+            for key, coord in draw_lane_obj.index_coord_dict.items():
+                left_way_list = coord[0]
+                right_way_list = coord[1]
+
+                way_type = draw_lane_obj.index_type_dict[key]
+
+                lane = Lane(left_way_list=left_way_list,
+                            right_way_list=right_way_list,
+                            left_way_type=way_type[0],
+                            right_way_type=way_type[1])
+
+                LaneGraphics.display(lane=lane, world_surface=world_surface)
+
+        screen.blit(world_surface, (0, 0))
+        pygame.display.gl_set_attribute(pygame.GL_MULTISAMPLEBUFFERS, 200)
+        pygame.display.flip()
diff --git a/Environment_Based_HDMap/road/lane.py b/Environment_Based_HDMap/road/lane.py
new file mode 100644
index 0000000..3d14070
--- /dev/null
+++ b/Environment_Based_HDMap/road/lane.py
@@ -0,0 +1,10 @@
+class Lane(object):
+    """
+    A lane on the road, described by its four corner coordinates.
+    """
+    def __init__(self, left_way_list: list, right_way_list: list, left_way_type: str, right_way_type: str):
+        self.left_way_list = left_way_list
+        self.right_way_list = right_way_list
+        self.left_way_type = left_way_type
+        self.right_Way_type = right_way_type
+
diff --git a/Environment_Based_HDMap/road/road_network.py b/Environment_Based_HDMap/road/road_network.py
new file mode 100644
index 0000000..15b9a5c
--- /dev/null
+++ b/Environment_Based_HDMap/road/road_network.py
@@ -0,0 +1,72 @@
+from road.lane import Lane
+from osm_parser.hd_map import HDMap
+
+
+class RoadNetwork(object):
+    def __init__(self):
+        self.graph = {}
+
+    def add_node(self, node):
+        """
+        A node represents an symbolic intersection in the road network.
+        :param node: the node label
+        :return: No return object
+        """
+        if node not in self.graph.keys():
+            self.graph[node] = []
+
+    def add_lane(self, _from, _to, lane):
+        """
+        A lane is encoded as an edge in the road network.
+        :param _from: the node which the lane starts
+        :param _to: the node at which the lane ends
+        :param lane: Lane object
+        :return: No return object
+        """
+        if _from not in self.graph.keys():
+            self.graph[_from] = {}
+        if _to not in self.graph[_from].keys():
+            self.graph[_from][_to] = []
+
+        self.graph[_from][_to].append(lane)
+
+    def get_lane(self, start_node, end_node, index: int):
+        """
+         Get the geometry corresponding to a given index in the road network.
+        :param start_node: the label of the node which the lane starts
+        :param end_node: the label of the node which the lane ends
+        :param index: the index of the lane in the lane list
+        :return: Lane object
+        """
+        if index is None and len(self.graph[start_node][end_node]) == 1:
+            index = 0
+        return self.graph[start_node][end_node][index]
+
+    def get_lane_index(self, position: tuple):
+        """
+        Get the index of the lane closest to a world position.
+        :param position: a world position [m]
+        :return: the index of the closest lane including label of the start and end node and the index of the lane in
+        the lane list
+        """
+        for _from, to_dict in self.graph.items():
+            for _to, lane_list in to_dict.items():
+                for _id, lane in enumerate(lane_list):
+                    result = HDMap.position_in_rectangle(p=position,
+                                                         a=lane.left_way_list[0],
+                                                         b=lane.right_way_list[0],
+                                                         c=lane.right_way_list[1],
+                                                         d=lane.left_way_list[1])
+                    if result:
+                        return _from, _to, _id
+        raise KeyError("The position is not in the lane of the road network!")
+
+
+class Road(object):
+    """
+    A road is a set of lanes, and a set of vehicles driving on these lanes.
+    """
+
+    def __init__(self, network=None, vehicles=None, record_history=False):
+        pass
+
diff --git a/Test/coord_0.json b/Test/coord_0.json
new file mode 100644
index 0000000..2e3d24b
--- /dev/null
+++ b/Test/coord_0.json
@@ -0,0 +1 @@
+{"0": [[[998.2177680168534, 963.8353320098436], [1011.3863082999596, 960.3260001718135]], [[997.4158482895, 960.0901680105103], [1011.3863082999596, 956.5402593474273]]], "1": [[[1011.3863082999596, 960.3260001718135], [1019.9950059563853, 958.3648050830668]], [[1011.3863082999596, 956.5402593474273], [1019.9950059563853, 954.3527801688228]]], "2": [[[1019.9950059563853, 958.3648050830668], [1023.3652318695677, 957.6171316231259]], [[1019.9950059563853, 954.3527801688228], [1022.5067873050575, 953.7145338717971]]], "3": [[[1023.3652318695677, 957.6171316231259], [1031.063640116423, 956.2677256434104]], [[1022.5067873050575, 953.7145338717971], [1030.009060107288, 952.5967291537626]]], "4": [[[1031.063640116423, 956.2677256434104], [1046.7881590960314, 953.9157518635575]], [[1030.009060107288, 952.5967291537626], [1046.5974159132456, 950.0713206466072]]], "5": [[[1046.7881590960314, 953.9157518635575], [1063.9189197982196, 952.7277958269398]], [[1046.5974159132456, 950.0713206466072], [1063.7276022628648, 948.9535196974174]]], "6": [[[1063.9189197982196, 952.7277958269398], [1080.3616145301494, 952.7144214922284]], [[1063.7276022628648, 948.9535196974174], [1080.336792856746, 948.7258259281272]]], "7": [[[1080.3616145301494, 952.7144214922284], [1081.934500207426, 952.7175514036323]], [[1080.336792856746, 948.7258259281272], [1081.934500207426, 948.7524630848264]]], "8": [[[1081.934500207426, 952.7175514036323], [1088.0013410437386, 953.0253252683121]], [[1081.934500207426, 948.7524630848264], [1089.026941422082, 948.8707090626865]]], "9": [[[1089.199812400213, 953.1145707390298], [1095.0977154414868, 953.6052685245057]], [[1089.026941422082, 948.8707090626865], [1095.0977154414868, 949.3810989966655]]], "10": [[[1095.0977154414868, 953.6052685245057], [1107.8871023055399, 954.7196380447083]], [[1095.0977154414868, 949.3810989966655], [1108.9704686605837, 950.5474269767499]]], "11": [[[1107.8871023055399, 954.7196380447083], [1118.5241069167969, 956.0465420641934]], [[1108.9704686605837, 950.5474269767499], [1119.2027059437823, 952.224161853009]]], "12": [[[1118.5241069167969, 956.0465420641934], [1129.8973873248324, 958.0154837009434]], [[1119.2027059437823, 952.224161853009], [1129.8973873248324, 954.2453010721692]]], "13": [[[1129.8973873248324, 958.0154837009434], [1143.1792292754399, 960.6495626992186]], [[1129.8973873248324, 954.2453010721692], [1143.1792292754399, 956.7553760068583]]], "14": [[[1143.1792292754399, 960.6495626992186], [1146.4098375705653, 961.3353807774181]], [[1143.1792292754399, 956.7553760068583], [1146.5859746938222, 957.3992013373621]]]}
\ No newline at end of file
diff --git a/Test/coord_10.json b/Test/coord_10.json
new file mode 100644
index 0000000..62be0fe
--- /dev/null
+++ b/Test/coord_10.json
@@ -0,0 +1 @@
+{"0": [[[996.1393255956937, 955.9425353041851], [1005.8711285391473, 953.0109051970966]], [[994.8592464941321, 952.8194412337265], [1004.5622741421103, 949.5563681647062]]], "1": [[[1005.8711285391473, 953.0109051970966], [1014.2852065666812, 950.8564660146789]], [[1004.5622741421103, 949.5563681647062], [1014.2852065666812, 947.4036667177585]]], "2": [[[1014.2852065666812, 950.8564660146789], [1021.5919623943628, 949.2106375803696]], [[1014.2852065666812, 947.4036667177585], [1020.8396769943647, 945.9524771632581]]], "3": [[[1021.5919623943628, 949.2106375803696], [1029.2590261794976, 947.7131876819667]], [[1020.8396769943647, 945.9524771632581], [1028.4593935669982, 944.3864836873898]]], "4": [[[1029.2590261794976, 947.7131876819667], [1034.6659717088332, 946.9561925589529]], [[1028.4593935669982, 944.3864836873898], [1033.8058676818036, 943.3902194503759]]], "5": [[[1034.6659717088332, 946.9561925589529], [1044.4636959325871, 945.6189570951576]], [[1033.8058676818036, 943.3902194503759], [1044.4636959325871, 942.076211244323]]], "6": [[[1044.4636959325871, 945.6189570951576], [1049.773913734709, 945.0585256879639]], [[1044.4636959325871, 942.076211244323], [1049.773913734709, 941.4215122189936]]], "7": [[[1049.773913734709, 945.0585256879639], [1056.4303807907854, 944.3560134110315]], [[1049.773913734709, 941.4215122189936], [1056.4303807907854, 941.1075420490515]]], "8": [[[1056.4303807907854, 944.3560134110315], [1063.2364306025556, 944.318870996303]], [[1056.4303807907854, 941.1075420490515], [1063.161640771199, 940.7900440696924]]], "9": [[[1063.2364306025556, 944.318870996303], [1080.756401452818, 944.1145777574262]], [[1063.161640771199, 940.7900440696924], [1080.5693868297385, 940.6786529524738]]], "10": [[[1080.756401452818, 944.1145777574262], [1089.4135470060282, 944.5046105111356]], [[1080.5693868297385, 940.6786529524738], [1089.2265692634392, 940.9386393092032]]], "11": [[[1089.4135470060282, 944.5046105111356], [1090.85315342783, 944.6050636242832]], [[1089.2265692634392, 940.9386393092032], [1090.85315342783, 941.0037020426058]]], "12": [[[1090.85315342783, 944.6050636242832], [1098.4633471776615, 945.1360890783579]], [[1090.85315342783, 941.0037020426058], [1098.4633471776615, 941.6271890946042]]], "13": [[[1098.4633471776615, 945.1360890783579], [1103.6613379734918, 945.740272461104]], [[1098.4633471776615, 941.6271890946042], [1103.6613379734918, 942.0530494687475]]], "14": [[[1103.6613379734918, 945.740272461104], [1109.7820836902247, 946.4517113607325]], [[1103.6613379734918, 942.0530494687475], [1110.502704042301, 942.5479396758234]]], "15": [[[1109.7820836902247, 946.4517113607325], [1119.8724999130354, 947.8105575654208]], [[1110.502704042301, 942.5479396758234], [1120.4732693496044, 944.1516748900067]]], "16": [[[1119.8724999130354, 947.8105575654208], [1128.753998498898, 948.9992365244444]], [[1120.4732693496044, 944.1516748900067], [1128.753998498898, 945.4126937953899]]], "17": [[[1128.753998498898, 948.9992365244444], [1138.4021329973475, 950.8473825892164]], [[1128.753998498898, 945.4126937953899], [1138.4021329973475, 946.8819460538414]]], "18": [[[1138.4021329973475, 950.8473825892164], [1147.564077816205, 952.6023967077851]], [[1138.4021329973475, 946.8819460538414], [1148.2293934237096, 948.7699377512463]]]}
\ No newline at end of file
diff --git a/Test/coord_12.json b/Test/coord_12.json
new file mode 100644
index 0000000..c484b9b
--- /dev/null
+++ b/Test/coord_12.json
@@ -0,0 +1 @@
+{"0": [[[994.8592464941321, 952.8194412337265], [1004.5622741421103, 949.5563681647062]], [[993.193706544349, 948.4287297143321], [1004.5622741421103, 945.1873256801452]]], "1": [[[1004.5622741421103, 949.5563681647062], [1011.2561428620247, 948.074315194491]], [[1004.5622741421103, 945.1873256801452], [1011.2561428620247, 943.278770984361]]], "2": [[[1011.2561428620247, 948.074315194491], [1020.8396769943647, 945.9524771632581]], [[1011.2561428620247, 943.278770984361], [1019.838359793066, 941.5783934935561]]], "3": [[[1020.8396769943647, 945.9524771632581], [1028.4593935669982, 944.3864836873898]], [[1019.838359793066, 941.5783934935561], [1027.2204052784946, 940.122660026356]]], "4": [[[1028.4593935669982, 944.3864836873898], [1033.8058676818036, 943.3902194503759]], [[1027.2204052784946, 940.122660026356], [1033.8058676818036, 939.0383471001796]]], "5": [[[1033.8058676818036, 943.3902194503759], [1040.312754814222, 942.5879825512]], [[1033.8058676818036, 939.0383471001796], [1040.312754814222, 937.966971789722]]], "6": [[[1040.312754814222, 942.5879825512], [1049.773913734709, 941.4215122189936]], [[1040.312754814222, 937.966971789722], [1049.773913734709, 937.0560763966505]]], "7": [[[1049.773913734709, 941.4215122189936], [1056.1312173834885, 941.121652895697]], [[1049.773913734709, 937.0560763966505], [1056.1312173834885, 936.4440119915711]]], "8": [[[1056.1312173834885, 941.121652895697], [1063.161640771199, 940.7900440696924]], [[1056.1312173834885, 936.4440119915711], [1063.1616433328018, 936.2211431472736]]], "9": [[[1063.161640771199, 940.7900440696924], [1070.3042570708203, 940.7443388987414]], [[1063.1616433328018, 936.2211431472736], [1070.3042570708203, 935.9239827483075]]], "10": [[[1070.3042570708203, 940.7443388987414], [1080.5693868297385, 940.6786529524738]], [[1070.3042570708203, 935.9239827483075], [1080.681632150954, 935.8868243480907]]], "11": [[[1080.5693868297385, 940.6786529524738], [1086.0105259390548, 940.8420573792977]], [[1080.681632150954, 935.8868243480907], [1086.0105259390548, 935.9982818616149]]], "12": [[[1086.0105259390548, 940.8420573792977], [1089.2265692634392, 940.9386393092032]], [[1086.0105259390548, 935.9982818616149], [1089.0750999058946, 936.3121262520058]]], "13": [[[1089.2265692634392, 940.9386393092032], [1090.85315342783, 941.0037020426058]], [[1089.0750999058946, 936.3121262520058], [1089.5478066750802, 936.3617799782518]]], "14": [[[1090.85315342783, 941.0037020426058], [1093.5364734290633, 941.2235407657887]], [[1089.5478066750802, 936.3617799782518], [1093.5364734290633, 937.3447825235667]]], "15": [[[1093.5364734290633, 941.2235407657887], [1098.2015984216705, 941.6057445735313]], [[1093.5364734290633, 937.3447825235667], [1098.2015984216705, 938.8770479375498]]], "16": [[[1098.2015984216705, 941.6057445735313], [1103.6613379734918, 942.0530494687475]], [[1098.2015984216705, 938.8770479375498], [1103.193946220912, 940.548599252896]]], "17": [[[1103.6613379734918, 942.0530494687475], [1107.7375440717442, 942.3479137487406]], [[1103.193946220912, 940.548599252896], [1107.7375440717442, 941.7372594244073]]], "18": [[[1107.7375440717442, 942.3479137487406], [1110.502704042301, 942.5479396758234]], [[1107.7375440717442, 941.7372594244073], [1110.502704042301, 942.5479396758234]]]}
\ No newline at end of file
diff --git a/Test/coord_2.json b/Test/coord_2.json
new file mode 100644
index 0000000..e2223df
--- /dev/null
+++ b/Test/coord_2.json
@@ -0,0 +1 @@
+{"0": [[[998.7904752359609, 967.9873199721015], [1002.306794264121, 967.0527852241696]], [[998.2177680168534, 963.8353320098436], [1002.306794264121, 962.7456326439627]]], "1": [[[1002.306794264121, 967.0527852241696], [1010.6951956828707, 964.8603403874449]], [[1002.306794264121, 962.7456326439627], [1011.3863082999596, 960.3260001718135]]], "2": [[[1010.6951956828707, 964.8603403874449], [1019.9950059563853, 962.7684367731428]], [[1011.3863082999596, 960.3260001718135], [1019.9950059563853, 958.3648050830668]]], "3": [[[1019.9950059563853, 962.7684367731428], [1022.5235762385419, 962.199659007071]], [[1019.9950059563853, 958.3648050830668], [1023.3652318695677, 957.6171316231259]]], "4": [[[1024.264155577228, 961.8845418132446], [1031.7864829594037, 960.6257532741397]], [[1023.3652318695677, 957.6171316231259], [1031.063640116423, 956.2677256434104]]], "5": [[[1031.7864829594037, 960.6257532741397], [1043.4913966940949, 958.582752366774]], [[1031.063640116423, 956.2677256434104], [1043.4913966940949, 954.4088606663015]]], "6": [[[1043.4913966940949, 958.582752366774], [1046.7881590960314, 958.3876134953541]], [[1043.4913966940949, 954.4088606663015], [1046.7881590960314, 953.9157518635575]]], "7": [[[1046.7881590960314, 958.3876134953541], [1063.5729879178689, 957.394101633127]], [[1046.7881590960314, 953.9157518635575], [1063.9189197982196, 952.7277958269398]]], "8": [[[1063.5729879178689, 957.394101633127], [1076.0164679509471, 957.2919548987784]], [[1063.9189197982196, 952.7277958269398], [1076.0164679509471, 952.7179557939756]]], "9": [[[1076.0164679509471, 957.2919548987784], [1080.1289546994958, 957.4021460157494]], [[1076.0164679509471, 952.7179557939756], [1080.3616145301494, 952.7144214922284]]], "10": [[[1080.1289546994958, 957.4021460157494], [1081.5206634349306, 957.4114511243255]], [[1080.3616145301494, 952.7144214922284], [1081.934500207426, 952.7175514036323]]], "11": [[[1081.5206634349306, 957.4114511243255], [1083.6563410473173, 957.5031883585192]], [[1081.934500207426, 952.7175514036323], [1083.6563410473173, 952.8049012491211]]], "12": [[[1083.6563410473173, 957.5031883585192], [1087.2414514024276, 957.1934691878631]], [[1083.6563410473173, 952.8049012491211], [1088.0013410437386, 953.0253252683121]]], "13": [[[1087.2414514024276, 957.1934691878631], [1089.2826741547324, 957.3198007511603]], [[1088.0013410437386, 953.0253252683121], [1089.199812400213, 953.1145707390298]]], "14": [[[1089.2826741547324, 957.3198007511603], [1095.0977154414868, 957.6715758747123]], [[1089.199812400213, 953.1145707390298], [1095.0977154414868, 953.6052685245057]]], "15": [[[1095.0977154414868, 957.6715758747123], [1104.633680196188, 958.2484445527411]], [[1095.0977154414868, 953.6052685245057], [1104.633680196188, 954.436159683036]]], "16": [[[1104.633680196188, 958.2484445527411], [1107.8684223963064, 958.6570471664926]], [[1104.633680196188, 954.436159683036], [1107.8871023055399, 954.7196380447083]]], "17": [[[1107.8684223963064, 958.6570471664926], [1118.0400985722663, 959.8642787877135]], [[1107.8871023055399, 954.7196380447083], [1118.5241069167969, 956.0465420641934]]], "18": [[[1118.0400985722663, 959.8642787877135], [1123.7077046566992, 960.8903554431719]], [[1118.5241069167969, 956.0465420641934], [1123.7077046566992, 956.9439262007039]]], "19": [[[1123.7077046566992, 960.8903554431719], [1129.5580235434463, 962.0001502124782]], [[1123.7077046566992, 956.9439262007039], [1129.8973873248324, 958.0154837009434]]], "20": [[[1129.5580235434463, 962.0001502124782], [1142.4773385105073, 964.419908700499]], [[1129.8973873248324, 958.0154837009434], [1143.1792292754399, 960.6495626992186]]], "21": [[[1142.4773385105073, 964.419908700499], [1146.107123422902, 965.15631501201]], [[1143.1792292754399, 960.6495626992186], [1146.4098375705653, 961.3353807774181]]]}
\ No newline at end of file
diff --git a/Test/coord_4.json b/Test/coord_4.json
new file mode 100644
index 0000000..a62d14e
--- /dev/null
+++ b/Test/coord_4.json
@@ -0,0 +1 @@
+{"0": [[[1063.8721549594193, 960.960072675083], [1068.2474913310725, 961.368657463071]], [[1063.8721549594193, 960.960072675083], [1069.930287196301, 960.6629105500758]]], "1": [[[1068.2474913310725, 961.368657463071], [1073.0154662259156, 962.4458787888532]], [[1069.930287196301, 960.6629105500758], [1073.0154662259156, 960.7828883495678]]], "2": [[[1073.0154662259156, 962.4458787888532], [1077.8021374806412, 963.3930919662594]], [[1073.0154662259156, 960.7828883495678], [1077.8021374806412, 960.9690345273165]]], "3": [[[1077.8021374806412, 963.3930919662594], [1080.2290892893216, 963.7491924062217]], [[1077.8021374806412, 960.9690345273165], [1080.251291145687, 961.0642782925985]]], "4": [[[1080.2290892893216, 963.7491924062217], [1088.8526008746703, 964.7489266875575]], [[1080.251291145687, 961.0642782925985], [1089.0395435359678, 961.8516109449994]]], "5": [[[1088.8526008746703, 964.7489266875575], [1096.500076032069, 965.3989563072264]], [[1089.0395435359678, 961.8516109449994], [1096.500076032069, 962.7096820883295]]], "6": [[[1096.500076032069, 965.3989563072264], [1099.6973671084852, 965.8136128290942]], [[1096.500076032069, 962.7096820883295], [1099.6973671084852, 963.0774176636297]]], "7": [[[1099.6973671084852, 965.8136128290942], [1102.8012805068283, 966.2161592045022]], [[1099.6973671084852, 963.0774176636297], [1102.8012805068283, 963.5093296369483]]], "8": [[[1102.8012805068283, 966.2161592045022], [1107.251388732926, 966.8662074822118]], [[1102.8012805068283, 963.5093296369483], [1107.438368447998, 964.1545840452033]]], "9": [[[1107.251388732926, 966.8662074822118], [1113.8143634513835, 968.0177212316794]], [[1107.438368447998, 964.1545840452033], [1113.8143634513835, 965.213379806055]]], "10": [[[1113.8143634513835, 968.0177212316794], [1119.7415513065644, 969.1805973671468]], [[1113.8143634513835, 965.213379806055], [1119.7415513065644, 966.1976467905029]]], "11": [[[1119.7415513065644, 969.1805973671468], [1128.8661982522462, 970.9707944111673]], [[1119.7415513065644, 966.1976467905029], [1128.8661982522462, 968.1251947370339]]], "12": [[[1128.8661982522462, 970.9707944111673], [1136.2705225623795, 972.4877058134148]], [[1128.8661982522462, 968.1251947370339], [1136.2705225623795, 969.6893308843728]]], "13": [[[1136.2705225623795, 972.4877058134148], [1146.2245884117438, 974.5269784537229]], [[1136.2705225623795, 969.6893308843728], [1146.3148993982468, 971.7454854997852]]]}
\ No newline at end of file
diff --git a/Test/coord_6.json b/Test/coord_6.json
new file mode 100644
index 0000000..56447d4
--- /dev/null
+++ b/Test/coord_6.json
@@ -0,0 +1 @@
+{"0": [[[999.2406768963556, 972.0294117673517], [1002.0632180349785, 971.2939404271526]], [[998.7904752359609, 967.9873199721015], [1002.306794264121, 967.0527852241696]]], "1": [[[1002.0632180349785, 971.2939404271526], [1005.5158805440878, 970.5064447255205]], [[1002.306794264121, 967.0527852241696], [1005.5158805440878, 966.2140384482474]]], "2": [[[1005.5158805440878, 970.5064447255205], [1010.6951956828707, 969.3143950119711]], [[1005.5158805440878, 966.2140384482474], [1010.6951956828707, 964.8603403874449]]], "3": [[[1010.6951956828707, 969.3143950119711], [1013.1820403815946, 968.7420331395379]], [[1010.6951956828707, 964.8603403874449], [1013.1820403815946, 964.3009483933647]]], "4": [[[1013.1820403815946, 968.7420331395379], [1021.5026277770521, 967.1819208208377]], [[1013.1820403815946, 964.3009483933647], [1022.5235762385419, 962.199659007071]]], "5": [[[1021.5026277770521, 967.1819208208377], [1023.7414523296175, 966.7823825589744]], [[1022.5235762385419, 962.199659007071], [1024.264155577228, 961.8845418132446]]], "6": [[[1025.2128852371243, 966.5504260173362], [1032.6092092389008, 965.194637767095]], [[1024.264155577228, 961.8845418132446], [1031.7864829594037, 960.6257532741397]]], "7": [[[1032.6092092389008, 965.194637767095], [1039.6022417625063, 964.0431283347891]], [[1031.7864829594037, 960.6257532741397], [1039.6022417625063, 959.2615738629609]]], "8": [[[1039.6022417625063, 964.0431283347891], [1043.4913966940949, 963.4533902116578]], [[1039.6022417625063, 959.2615738629609], [1043.4913966940949, 958.582752366774]]], "9": [[[1043.4913966940949, 963.4533902116578], [1050.5031431583338, 962.3901530116927]], [[1043.4913966940949, 958.582752366774], [1050.5031431583338, 958.167719639238]]], "10": [[[1050.5031431583338, 962.3901530116927], [1059.029405643174, 961.3686540970533]], [[1050.5031431583338, 958.167719639238], [1059.029405643174, 957.6630410983327]]], "11": [[[1059.029405643174, 961.3686540970533], [1063.8721549594193, 960.960072675083]], [[1059.029405643174, 957.6630410983327], [1063.5729879178689, 957.394101633127]]], "12": [[[1063.8721549594193, 960.960072675083], [1069.930287196301, 960.6629105500758]], [[1063.5729879178689, 957.394101633127], [1069.930287196301, 957.3419154795074]]], "13": [[[1069.930287196301, 960.6629105500758], [1076.0164679509471, 960.8995926250035]], [[1069.930287196301, 957.3419154795074], [1076.0164679509471, 957.2919548987784]]], "14": [[[1076.0164679509471, 960.8995926250035], [1080.251291145687, 961.0642782925985]], [[1076.0164679509471, 957.2919548987784], [1080.1289546994958, 957.4021460157494]]], "15": [[[1080.251291145687, 961.0642782925985], [1089.0395435359678, 961.8516109449994]], [[1080.1289546994958, 957.4021460157494], [1089.3574658884318, 958.2112941546949]]], "16": [[[1089.0395435359678, 961.8516109449994], [1094.1628175220103, 962.4408629278967]], [[1089.3574658884318, 958.2112941546949], [1094.1628175220103, 958.6199143016852]]], "17": [[[1094.1628175220103, 962.4408629278967], [1099.6973671084852, 963.0774176636297]], [[1094.1628175220103, 958.6199143016852], [1099.6973671084852, 959.5954009868791]]], "18": [[[1099.6973671084852, 963.0774176636297], [1107.438368447998, 964.1545840452033]], [[1099.6973671084852, 959.5954009868791], [1107.7562155401101, 961.015805523909]]], "19": [[[1107.438368447998, 964.1545840452033], [1115.1793146416894, 965.4400431791125]], [[1107.7562155401101, 961.015805523909], [1115.1793146416894, 962.5573286482859]]], "20": [[[1115.1793146416894, 965.4400431791125], [1119.7415513065644, 966.1976467905029]], [[1115.1793146416894, 962.5573286482859], [1119.7415513065644, 963.4483077281552]]], "21": [[[1119.7415513065644, 966.1976467905029], [1126.2110934324446, 967.5643136559686]], [[1119.7415513065644, 963.4483077281552], [1126.2110934324446, 964.7117728032732]]], "22": [[[1126.2110934324446, 967.5643136559686], [1136.2705225623795, 969.6893308843728]], [[1126.2110934324446, 964.7117728032732], [1136.2705225623795, 966.8483321553357]]], "23": [[[1136.2705225623795, 969.6893308843728], [1146.3148993982468, 971.7454854997852]], [[1136.2705225623795, 966.8483321553357], [1146.4983465849073, 969.0206575213501]]]}
\ No newline at end of file
diff --git a/Test/coord_8.json b/Test/coord_8.json
new file mode 100644
index 0000000..c80a3a4
--- /dev/null
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diff --git a/maps/DR_CHN_Merging_ZS0.osm b/maps/DR_CHN_Merging_ZS0.osm
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diff --git a/maps/DR_CHN_Merging_ZS0.osm_xy b/maps/DR_CHN_Merging_ZS0.osm_xy
new file mode 100644
index 0000000..d800edb
--- /dev/null
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diff --git a/maps/DR_CHN_Merging_ZS2.osm b/maps/DR_CHN_Merging_ZS2.osm
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index 0000000..aca64ac
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diff --git a/maps/DR_CHN_Merging_ZS2.osm_xy b/maps/DR_CHN_Merging_ZS2.osm_xy
new file mode 100644
index 0000000..d800edb
--- /dev/null
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diff --git a/maps/DR_CHN_Roundabout_LN.osm b/maps/DR_CHN_Roundabout_LN.osm
new file mode 100644
index 0000000..dac1754
--- /dev/null
+++ b/maps/DR_CHN_Roundabout_LN.osm
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diff --git a/maps/DR_CHN_Roundabout_LN.osm_xy b/maps/DR_CHN_Roundabout_LN.osm_xy
new file mode 100644
index 0000000..0a6f8a4
--- /dev/null
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new file mode 100644
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diff --git a/maps/DR_DEU_Roundabout_OF.osm b/maps/DR_DEU_Roundabout_OF.osm
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diff --git a/maps/DR_DEU_Roundabout_OF.osm_xy b/maps/DR_DEU_Roundabout_OF.osm_xy
new file mode 100644
index 0000000..a1e6683
--- /dev/null
+++ b/maps/DR_DEU_Roundabout_OF.osm_xy
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\ No newline at end of file
diff --git a/maps/DR_Intersection_CM.osm b/maps/DR_Intersection_CM.osm
new file mode 100644
index 0000000..e292f1c
--- /dev/null
+++ b/maps/DR_Intersection_CM.osm
@@ -0,0 +1,924 @@
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diff --git a/maps/DR_Intersection_CM.osm_xy b/maps/DR_Intersection_CM.osm_xy
new file mode 100644
index 0000000..5cde294
--- /dev/null
+++ b/maps/DR_Intersection_CM.osm_xy
@@ -0,0 +1,923 @@
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\ No newline at end of file
diff --git a/maps/DR_LaneChange_ET0.osm b/maps/DR_LaneChange_ET0.osm
new file mode 100644
index 0000000..7410763
--- /dev/null
+++ b/maps/DR_LaneChange_ET0.osm
@@ -0,0 +1,1845 @@
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diff --git a/maps/DR_LaneChange_ET0.osm_xy b/maps/DR_LaneChange_ET0.osm_xy
new file mode 100644
index 0000000..33c98fb
--- /dev/null
+++ b/maps/DR_LaneChange_ET0.osm_xy
@@ -0,0 +1,1844 @@
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diff --git a/maps/DR_LaneChange_ET1.osm b/maps/DR_LaneChange_ET1.osm
new file mode 100644
index 0000000..7410763
--- /dev/null
+++ b/maps/DR_LaneChange_ET1.osm
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diff --git a/maps/DR_LaneChange_ET1.osm_xy b/maps/DR_LaneChange_ET1.osm_xy
new file mode 100644
index 0000000..33c98fb
--- /dev/null
+++ b/maps/DR_LaneChange_ET1.osm_xy
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diff --git a/maps/DR_Merging_TR0.osm b/maps/DR_Merging_TR0.osm
new file mode 100644
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diff --git a/maps/DR_Merging_TR0.osm_xy b/maps/DR_Merging_TR0.osm_xy
new file mode 100644
index 0000000..31ea3d2
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diff --git a/maps/DR_Merging_TR1.osm b/maps/DR_Merging_TR1.osm
new file mode 100644
index 0000000..e507c7e
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diff --git a/maps/DR_Merging_TR1.osm_xy b/maps/DR_Merging_TR1.osm_xy
new file mode 100644
index 0000000..31ea3d2
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diff --git a/maps/DR_Roundabout_RW.osm b/maps/DR_Roundabout_RW.osm
new file mode 100644
index 0000000..d472bbe
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diff --git a/maps/DR_Roundabout_RW.osm_xy b/maps/DR_Roundabout_RW.osm_xy
new file mode 100644
index 0000000..ab1c682
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diff --git a/maps/DR_USA_Intersection_EP0.osm b/maps/DR_USA_Intersection_EP0.osm
new file mode 100644
index 0000000..bca0d3c
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new file mode 100644
index 0000000..722318f
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\ No newline at end of file
diff --git a/maps/DR_USA_Intersection_EP1.osm b/maps/DR_USA_Intersection_EP1.osm
new file mode 100644
index 0000000..2a96bee
--- /dev/null
+++ b/maps/DR_USA_Intersection_EP1.osm
@@ -0,0 +1,2816 @@
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diff --git a/maps/DR_USA_Intersection_EP1.osm_xy b/maps/DR_USA_Intersection_EP1.osm_xy
new file mode 100644
index 0000000..3a9a86f
--- /dev/null
+++ b/maps/DR_USA_Intersection_EP1.osm_xy
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diff --git a/maps/DR_USA_Intersection_GL.osm b/maps/DR_USA_Intersection_GL.osm
new file mode 100644
index 0000000..568d5be
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diff --git a/maps/DR_USA_Intersection_GL.osm_xy b/maps/DR_USA_Intersection_GL.osm_xy
new file mode 100644
index 0000000..76a19cc
--- /dev/null
+++ b/maps/DR_USA_Intersection_GL.osm_xy
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diff --git a/maps/DR_USA_Intersection_MA.osm b/maps/DR_USA_Intersection_MA.osm
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diff --git a/maps/DR_USA_Intersection_MA.osm_xy b/maps/DR_USA_Intersection_MA.osm_xy
new file mode 100644
index 0000000..cf8193a
--- /dev/null
+++ b/maps/DR_USA_Intersection_MA.osm_xy
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\ No newline at end of file
diff --git a/maps/DR_USA_Roundabout_EP.osm b/maps/DR_USA_Roundabout_EP.osm
new file mode 100644
index 0000000..7ea2f1d
--- /dev/null
+++ b/maps/DR_USA_Roundabout_EP.osm
@@ -0,0 +1,2533 @@
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diff --git a/maps/DR_USA_Roundabout_EP.osm_xy b/maps/DR_USA_Roundabout_EP.osm_xy
new file mode 100644
index 0000000..556f0c3
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diff --git a/maps/DR_USA_Roundabout_FT.osm b/maps/DR_USA_Roundabout_FT.osm
new file mode 100644
index 0000000..9647d5e
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diff --git a/maps/DR_USA_Roundabout_FT.osm_xy b/maps/DR_USA_Roundabout_FT.osm_xy
new file mode 100644
index 0000000..29de74b
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diff --git a/maps/DR_USA_Roundabout_SR.osm b/maps/DR_USA_Roundabout_SR.osm
new file mode 100644
index 0000000..f7c7664
--- /dev/null
+++ b/maps/DR_USA_Roundabout_SR.osm
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diff --git a/maps/DR_USA_Roundabout_SR.osm_xy b/maps/DR_USA_Roundabout_SR.osm_xy
new file mode 100644
index 0000000..5031a8f
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+</osm_xy>
\ No newline at end of file