lanelet2-bssd-converter 2025.1

Tool for the automated generation of the BSSD extension based on Lanelet2 maps

Lanelet2 BSSD Converter

IMPORTANT NOTE This repository is part of the Behavior-Semantic Scenery Description (BSSD) framework. Check out our BSSD documentation and overview repository in your git of choice:

This tool generates the BSSD extension for Lanelet2 maps. Behavior spaces are therefore mapped on lanelets. For each lanelet of a map that can be reached by a motorized vehicle a behavior space is created and some properties of its behavior attributes are already derived.

Requirements

• Python (implemented with 3.8)
• Lanelet2
• packages
  • numpy >= 1.22.3,
  • osmium >= 3.2.0,
  • bssd-core >= 0.1.0,

Installation

After installing Lanelet2 (see the provided guide if you need help) you can install the Lanelet2 BSSD Converter either using pip or manually from the source code.

Using pip

pip install lanelet2-bssd-converter

This will install the latest version of the Lanelet2 BSSD Converter available in PyPI to your environment.

Manual Installation

Clone the source code to a directory of your choice (path/to/lanelet2-bssd-converter-src/).

If you are using virtual environments, make sure to activate the correct environment to install the library into e.g:

source /<path-to-my-project>/.venv/bin/activate

Install the library:

pip install -e path/to/lanelet2-bssd-converter-src/

Usage

1. Get the path to the Lanelet2 map that you wish to derive the BSSD extension for.
2. To run the converter, use the command:

   lanelet2-bssd-converter -m </path/to/Lanelet2_map>
   

3. The tool will automatically execute and show some information about the current status in the terminal.
4. After successful execution, the modified Lanelet2 map will be stored in the same directory as the original map with "_BSSD" at the end of the filename.
5. Furthermore, a derivation-log-file is saved into the same directory.

Note: use lanelet2-bssd-converter -h to see all the available options for the tool.

Architecture

To get an overview of how this tool is built, read this.

Tests

To run the tests that are included with pytest, open a terminal in the directory in which the repository is installed and invoke

pytest test