Relative Map¶
Introduction¶
Relative map module is a middle layer connecting HDMap/Perception module and planning module. This module generates real-time relative map in the body coordinate system (FLU) and a reference line for planning. The inputs for relative map module have two parts: offline and online. The offline part is navigation line (human driving path) and the HDMap information on and near navigation line. And the online part is the traffic sign related information from perception module, e.g., lane marker, crosswalk, traffic light etc. The generation of relative map can leverage both online and offline parts. It also works with either online or offline part only.
Inputs¶
NavigationInfo from dreamview module
LaneMarker from perception module
Localization from localization module
Output¶
Relative map follows map format defined in modules/map/proto/map.proto