Routing on HD Maps

Presented at Geo Berlin Meetup in April.

Routing is basically a problem of finding the shortest path in a graph. But how do we get such a graph? I talked about how we build a graph on a conventional map such as OSM based on the example of OSRM. The second example is how Apollo creates a graph based on HD map data to route on.

Transcript

1. What and why and a bit of how Chau @chaupow // Autonomous Services at Daimler Mobility Services Routing on HD Maps
2. Routing on HD Maps – @chaupow Routing Good ol’ SD Map ⒸOpenStreetMap Routing == Shortest Path in a Graph
3. Routing on HD Maps – @chaupow Map == Graph ⓒOpenStreetMap 3 6 9 15 5 4
4. Routing on HD Maps – @chaupow Mapping Turn Restrictions https://github.com/Project-OSRM Do_fancy_ shortest_path _algorithm ()
5. Routing on HD Maps – @chaupow Mapping Turn Restrictions https://github.com/Project-OSRM Do_fancy_ shortest_path _algorithm ()
6. Routing on HD Maps – @chaupow HD Maps!!! https://arstechnica.com/cars/2017/03/the-most-detailed-maps-of-the-world-will-be-for-cars-not-humans/ Machine Map
7. Routing on HD Maps – @chaupow geojson.io // ⓒMapbox // ⓒOpenStreetMap Robos need our help Roadtrippin’ HELP! CAN’T SWIM!!!
8. Routing on HD Maps – @chaupow Machine Map for Rescue Can I drive? Check the traffic light, 5m in front, 8m up and 5° to the right
9. Routing on HD Maps – @chaupow Machine Map for Rescue Where am I exactly? Your surrounding looks like you’re at <THIS> place
10. Routing on HD Maps – @chaupow Machine Maps and Routing?
11. Routing on HD Maps – @chaupow Machine Maps and Routing? https://github.com/ApolloAuto
12. Routing on HD Maps – @chaupow Shortest path: • 1 • 2 • 3 • 4 Finding Routes in Apollo LCD = LANE_CHANGE_DISTANCE 1 2 3 4 5 6 Shortest path: • 1 • 2 [entered at LCD] • 3 [entered at 2*LCD] • 4 LCD { }LCD enter_s
13. Routing on HD Maps – @chaupow EnterS Shortest Path: 1, enter_s = 0 2, enter_s = 0 + LCD 3, enter_s = LCD + LCD 6, enter_s = 0 4 5 6 1 2 3
14. Routing on HD Maps – @chaupow EnterS Shortest Path: 1, enter_s = 0 2, enter_s = 0 + LCD 3, enter_s = LCD + LCD 6, enter_s = 0 enter_s(2)> length(3) 4 5 6 1 2 3
15. Routing on HD Maps – @chaupow Passage Regions - Motivation Route: [2,3,6] + enter_s Incredibly stressful motion planning?! 1 2 4 5 6 3
16. Routing on HD Maps – @chaupow Passage Regions - Motivation Route: [2,3,6] + all possible valid lane combinations 1 2 4 5 6 3
17. Routing on HD Maps – @chaupow Passage Regions - Handwavy Explanation Route: [2,3,6] + enter_s 1 2 4 5 6 3 Passages: [[2], [3,6]] Passage Regions:
18. Routing on HD Maps – @chaupow Background Info: Motion Planning in Apollo Reference Lines based on map + routing response
19. Routing on HD Maps – @chaupow Shoutouts OpenStreetMap.com github.com/Project-OSRM github.com/ApolloAuto we’re hiring Autonomous Services
20. Routing on HD Maps – @chaupow
21. Routing on HD Maps – @chaupow ‍♂
22. Routing on HD Maps – @chaupow 1 2 3 4 5 6