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What and why and a bit of how Chau @chaupow // Autonomous Services at Daimler Mobility Services Routing on HD Maps

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Routing on HD Maps – @chaupow Routing Good ol’ SD Map ⒸOpenStreetMap Routing == Shortest Path in a Graph

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Routing on HD Maps – @chaupow Map == Graph ⓒOpenStreetMap 3 6 9 15 5 4

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Routing on HD Maps – @chaupow Mapping Turn Restrictions https://github.com/Project-OSRM Do_fancy_ shortest_path _algorithm ()

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Routing on HD Maps – @chaupow Mapping Turn Restrictions https://github.com/Project-OSRM Do_fancy_ shortest_path _algorithm ()

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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

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Routing on HD Maps – @chaupow geojson.io // ⓒMapbox // ⓒOpenStreetMap Robos need our help Roadtrippin’ HELP! CAN’T SWIM!!!

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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

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Routing on HD Maps – @chaupow Machine Map for Rescue Where am I exactly? Your surrounding looks like you’re at place

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Routing on HD Maps – @chaupow Machine Maps and Routing?

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Routing on HD Maps – @chaupow Machine Maps and Routing? https://github.com/ApolloAuto

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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

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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

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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

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Routing on HD Maps – @chaupow Passage Regions - Motivation Route: [2,3,6] + enter_s Incredibly stressful motion planning?! 1 2 4 5 6 3

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Routing on HD Maps – @chaupow Passage Regions - Motivation Route: [2,3,6] + all possible valid lane combinations 1 2 4 5 6 3

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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:

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Routing on HD Maps – @chaupow Background Info: Motion Planning in Apollo Reference Lines based on map + routing response

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Routing on HD Maps – @chaupow Shoutouts OpenStreetMap.com github.com/Project-OSRM github.com/ApolloAuto we’re hiring Autonomous Services

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Routing on HD Maps – @chaupow

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Routing on HD Maps – @chaupow ‍♂

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Routing on HD Maps – @chaupow 1 2 3 4 5 6