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AutowareFoundation

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carla-ue5-maps

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The Autoware Foundation 16

Assign turn_direction tags to the Town10HD_Opt lanelet2 map, derived from the original CARLA OpenDRIVE (Town10HD_Opt.xodr, CARLA 0.10).

Method:

• Reconstructed lane-level centerlines for every OpenDRIVE junction connecting road (junction != -1) from the reference line + laneOffset + lane widths.
• Matched each lanelet centerline to those connecting lanes; the 86 lanelets that belong to a junction road matched within ~0.2-0.3 m, while the 82 non-junction lanelets sit far from any junction geometry (clean separation).
• Every lanelet belonging to a junction road receives a turn_direction tag (including single-route / non-branching junction lanes). Lanelets outside junctions are left untagged, even where the road curves.
• left/right/straight is taken from the travel-ordered heading change along each lanelet centerline (|Δ|<30 deg -> straight), cross-checked 45/45 against the OpenDRIVE lane travel direction.

Result: 86 of 168 lanelets tagged - straight 41, left 19, right 26.