Package symbol

autoware_lanelet2_utils package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-10-03
Dev Status DEVELOPED
Released RELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lanelet2_utils package

Additional Links

No additional links.

Maintainers

  • Mamoru Sobue
  • Maxime Clement
  • Kosuke Takeuchi

Authors

  • Mamoru Sobue

autoware_lanelet2_utils

Nomenclature

This package aims to strictly define the meaning of several words to clarify the documentation and API’s scope. In the table below, codespace words are given specific meanings when used in the API and API description. italic words are emphasized to indicate that it refers to social common sense which often comes with ambiguity. To help disambiguate the meaning, illustration is provided. “Lanelet” refers to the entity of alanelet::ConstLanelet object in order to distinguish with the word “lane” used in social customs. A and B stands for some Lanelets objects.

Word Meaning Illustration
driving The vehicle position belongs to the designated Lanelet. In each map, green Lanelet are the driving lanes of the vehicle.
driving
Open
boundary,
entry,
exit
The boundary of a Lanelet refers to the left or right Linestring. boundary_entry_exit
Open
adjacent If A is adjacent to B, A and B share a common boundary with same direction either on the left or right side. In each map, orange Lanelet is adjacent to green Lanelet.
adjacent
Open
same_direction Lanelet A and Lanelet B are same_direction if A and B are directly or indirectly adjacent to each other. In each map, orange Lanelets are same_direction as green Lanelet.
same_direction
Open
bundle A bundle refers to a transitive closure set of Lanelets which are same_direction to each other. The enclosed sets of Lanelets are bundles.
bundle
Open
opposite If A is opposite to B, A and B share a common boundary with opposite direction. In the first map, green Lanelet and orange Lanelet are opposite to each other.
In the second map, two red Lanelets are not opposite relation because they do not share a common LineString.
opposite
Open
opposite_direction If A and B are opposite_direction, the bundle of A and B are directly opposite to each other. In the each map, green Lanelet and orange Lanelet are opposite_direction because their bundles(enclosed in dotted line) are opposite relation.
opposite_direction
Open
connected A is connected to(from) B if and only if the exit(entry) of A is identical to the entry(exit) of B. A is connected to B, and B is connected from A.
connected
Open
following The following Lanelets of A is the list of Lanelets to which A is connected. In each map, orange Lanelets are the following of green Lanelet.
following
Open
previous The previous Lanelets of A is the list of Lanelets from which A is connected. In each map, orange Lanelets are the previous of green Lanelet.
previous
Open
conflicting A is conflicting with B if A and B are geometrically intersecting.  
merging A is said to be merging Lanelet of B if and only if A is conflicting with B and both A and B are connected to a common Lanelet. In each map, one of the orange Lanelet is a merging Lanelet of the other orange Lanelet.
merging
Open
sibling The designated Lanelets are referred to as sibling if all of them are connected from a common Lanelet. In each map, orange Lanelets are siblings.
sibling
Open
oncoming TBD TBD
upcoming TBD TBD
sequence sequence is a list of Lanelets whose each element is connected from or adjacent to the previous element. sequence
Open
current_route_lanelet current_route_lanelet is one of the lanelet within the route which serves as the reference for ego position.  

API description

Header function description average computational complexity illustration  
<autoware/lanelet2_utils/conversion.hpp> load_mgrs_coordinate_map(path, centerline_resolution) Instantiate a LaneletMap object from given path to .osm file. Also it sets more dense centerline(at the interval of centerline_resolution) than default Lanelet2 library, to help improve Planning accuracy.      
  instantiate_routing_graph_and_traffic_rules This function creates a RoutingGraph and TrafficRules object only from “road” lanes for Vehicle participant, which means “road_shoulder”,”bicycle_lane”, “crosswalk”, etc. Lanelets are inaccessible from left/right adjacency.      
  <ul><li>from_autoware_map_msgs(...)</li><li>to_autoware_map_msgs(...)</li></ul> Convert LaneletMap object from/to autoware_mapping_msgs::LaneletMapBin message      
           
<autoware/lanelet2_utils/kind.hpp> is_road_lane This function returns true if the input Lanelet is road subtype. $O(1)$    
  is_shoulder_lane This function returns true if the input Lanelet is road_shoulder subtype. $O(1)$    
  is_bicycle_lane This function returns true if the input Lanelet is bicycle_lane subtype. $O(1)$    
           
<autoware/lanelet2_utils/hatched_road_markings.hpp> get_adjacent_hatched_road_markings Returns polygons with type hatched_road_markings that touch the left/right bounds of the given lanelet sequence. Polygons are grouped by side and duplicates removed. $O(V)$ where $V$ is the number of boundary vertices inspected    
           
<autoware/lanelet2_utils/topology.hpp> left_opposite_lanelet same as below right_opposite_lanelet $O(1)$
see findUsage for detail
   
  right_opposite_lanelet This functions returns the right opposite Lanelet of the input Lanelet if available, otherwise returns null. $O(1)$
see findUsage for detail
In the first and second map, the green Lanelet is the right_opposite_lanelet of the orange Lanelet.
In the third map, the right_opposite_lanelet of the orange Lanelet is null.
right_opposite_lanelet
Open
 
  following_lanelets This function returns the following Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets to which the input is connected to.    
  previous_lanelets This function returns the previous Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets from which the input is connected from.    
  sibling_lanelets This function returns the sibling Lanelets of the input Lanelet excluding itself. The order is not defined. $O(E)$ where $E$ is the number of sibling Lanelets    
  from_ids This function returns Lanelet objects in the same order as the input IDs. $O(n)$    
           
<autoware/lanelet2_utils/intersection.hpp> is_intersection_lanelet This function returns true if and only if the input Lanelet has turn_direction attribute. $O(1)$    
  <ul><li>is_straight_lanelet</li><li>is_left_lanelet</li><li>is_right_lanelet</li></ul> This function returns true if and only if the input Lanelet has turn_direction attribute and its value is straight/left/right. $O(1)$    
           
<autoware/lanelet2_utils/lane_sequence.hpp class LaneSequence This class internally holds lanelet::ConstLanelets such that they are consecutive on the routing graph.      
  class invariance .as_lanelets() return Lanelets that are consecutive on the routing graph      
  create(lanelets, routing_graph) Return an optional of LaneSequence class that satisfies the invariance      
  .as_lanelets() Return the underlying lanelet::ConstLanelets      
           
<autoware/lanelet2_utils/nn_search.hpp> get_closest_lanelet(lanelets, pose) This function retrieves the lanelet which gives the smallest distance to given pose(if it is within a lanelet, it gives zero distance) and whose centerline is closest to the given orientation among them $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_closest_lanelet_within_constraint(lanelets, pose, dist_thresh, yaw_thresh) In addition to get_closest_lanelet, it filters lanelets whose distance to pose is $\leq$ dist_thresh and yaw angle difference is $\leq$ yaw_thresh $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_road_lanelets_at(lanelet_map, x, y) Retrieve all “road” Lanelets at given position R-tree    
  get_shoulder_lanelets_at(lanelet_map, x, y) Retrieve all “road_shoulder” Lanelets at given position R-tree    
  class LaneletRTree class LaneletRTree constructs R-tree structure from given Lanelets and provides more efficient operations.      
  .get_closest_lanelet(pose) Efficient version of get_closest_lanelet R-tree    
  .get_closest_lanelet_within_constraint(pose, dist_thresh, yaw_thresh) Efficient version of get_closest_lanelet_within_constraint R-tree    
           
<autoware/lanelet2_utils/map_handler.hpp> class MapHandler class MapHandler provides convenient functions related to adjacency, VRU lanes, etc. for Planning.      
  class invariance <ul><li>lanelet_map_ptr is not nullptr</li><li>routing_graph_ptr is not nullptr</li><li>traffic_rules_ptr is not nullptr</li></ul>      
  MapHandler::create(...) A factory function to construct under invariance      
  <ul><li>.lanelet_map_ptr()</li><li>.routing_graph_ptr()</li><li>.traffic_rules_ptr()</li></ul> Getter functions      
  .left_lanelet(lanelet, take_sibling, extra_vru) This function ignores the permission of lane change.
If extra_vru is:<ul><li>RoadOnly, it ignores shoulder and bicycle Lanelet</li><li>Shoulder, it searches shoulder Lanelet additionally</li><li>BicycleLane, it searches bicycle_lane Lanelet additionally</li><li>ShoulderAndBicycleLane, it searches shoulder and bicycle_lane Lanelet additionally</li></ul>
$O(1)$ In the first map, the green Lanelet is the left_lanelet of the orange Lanelet.
In the second and third map, the left_lanelet of the orange Lanelet is null.
left_lanelet
Open
 
  .right_lanelet(lanelet, take_sibling, extra_vru) same as above .left_lanelet() $O(1)$    
  .leftmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .left_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first and second map, the green Lanelet is the leftmost_lanelet of the orange Lanelet.
In the third map, the leftmost_lanelet of the orange Lanelet is null.
leftmost_lanelet
Open
 
  .rightmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .right_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelet is the rightmost_lanelet of the orange Lanelet.
In the second and third map, the rightmost_lanelet of the orange Lanelet is null.
rightmost_lanelet
Open
 
  .left_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from left to right. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the left_lanelets of the orange Lanelet.
In the second and third map, left_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the left opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
left_lanelets
Open
 
  .right_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from right to left. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the right_lanelets of the orange Lanelet.
In the second and third map, right_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the right opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
right_lanelets
Open
 
  .get_shoulder_lanelet_sequence(lanelet, forward, backward) This function computes (1) “road_shoulder” Lanelets behind of lanelet by up to backward and (2) “road_shoulder” Lanelets after lanelet by up to forward as a list $O(\textrm{total length})$    
  <ul><li>.left_shoulder_lanelet(lanelet)</li><li>.right_shoulder_lanelet(lanelet)</li><li>.left_bicycle_lanelet(lanelet)</li><li>.right_bicycle_lanelet(lanelet)</li></ul> Retrieve each VRU Lanelet of lanelet if it exists      
           
<autoware/lanelet2_utils/route_manager.hpp> class RouteManager EXTENDS MapHandler class RouteManager is responsible for properly tracking current_route_lanelet along the given route information, considering swerving maneuver and lane change. Also it provides several functions related to current_route_lanelet      
  class invariance <ul><li>current_pose may not be inside of any route_lanelets nor preferred_route_lanelets, because swerving and abrupt localization jump cannot be distinguished. For the same reason current_pose may not be inside of current_route_lanelet</li><li>current_route_lanelet matches one of the route_lanelets</li></ul>      
  RouteManager::create(...) A factory function to construct under invariance      
  Inherits MapHandler’s member functions        
  .update_current_pose(new_pose) This function updates current_route_lanelet on the route based on new_pose. This method should be used for all the cases excluding lane change completion, and current_route_lanelet is updated longitudinally. It is expected to be called in every cycle of planning. $O(1)$ Even if ego vehicle is in the middle swerving, update_current_pose decides next current_route_lanelet longitudinally, as illustrated in thin violet in the figure.
update_current_pose
Open
 
  .commit_lane_change(new_pose) This function updates current_route_lanelet on the route considering lane change.

:warning: It is expected to be called only when lane change execution has succeeded
R-tree Only when lane change has been completed, commit_lane_change() is expected to be called, as illustrated in the the last item of “(2) Lane Change Scenario”.
update_current_pose
Open
 
  .current_lanelet() Get current_route_lanelet Lanelet $O(1)$    
  .get_lanelet_sequence_on_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, only on the route without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output does not contain non-route Lanelets even if the sequence is below specified length, as illustrated in “(1)” in below figure.
get_lanelet_sequence_on_route
Open
 
  .get_lanelet_sequence_on_outward_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, extending to non-route Lanelet if necessary, without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output extends to non-route Lanelets if the route part of the sequence is below specified length, as illustrated in “(2)” in below figure.
get_lanelet_sequence_on_route
Open.
 
  .get_closest_preferred_route_lanelet(...) preferred route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
  .get_closest_route_lanelet_within_constraints(...) route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
           
Native R-tree API .laneletLayer, .pointLayer, etc. have following member functions<ul><li>PrimitiveLayer::nearest(point, n)</li><li>PrimitiveLayer::nearestUntil(point, cond)</li></ul> Against the input point, this function approximately returns elements of given layer in the ascending order of distance by specified number n(reference). Note that they can return inaccurate distance. R-tree    
  <ul><li>PrimitiveLayer::search(area)</li><li>PrimitiveLayer::searchUntil(area, cond)</li></ul> This function approximately searches for the object within the specified area(reference) R-tree    
<lanelet2_core/LaneletMap.h> findNearest(layer, point, n) On the given primitive layer, this function approximately returns n closest elements to given point in the ascending order of distance(reference) R-tree    
<lanelet2_core/geometry/LaneletMap.h> findWithin2d(layer, geometry, max_dist) On the given primitive layer, this function returns the elements whose distance to given geometry is less than max_dist precisely R-tree    

Notes

About Boost.Geometry R-tree

This slide is useful for understanding Boost.Geometry R-tree features.

!!! tip Tip

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CHANGELOG

Changelog for package autoware_lanelet2_utils

1.1.0 (2025-05-01)

  • refactor(autoware_lanelet2_utils)!: move everything to namespace experimental (#372)

  • refactor(autoware_lanelet2_utils): rewrite using modern C++ without API breakage (#347)

    • refactor using modern c++
    • precommit
    • fix
    • fix
    • precommit
    • use std::strcmp
    • precommit

    * Revert "refactor using modern c++" This reverts commit 3f7e4953c08f5237dc3bc75db3d896cc9c0640a3. ---------

  • Contributors: Mamoru Sobue, Yutaka Kondo

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble
  • chore: bump version to 1.3.0 (#554)
  • feat(autoware_lanelet2_utils): add hatched_road_markings utility (#565)
  • Contributors: Ryohsuke Mitsudome, Yukinari Hisaki

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat(autoware_trajectory): implement a function to construct trajectory class for reference path (#469) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

  • test(autoware_lanelet2_utils): fix threshold to avoid precision-related failures (#506)

  • feat: support ROS 2 Jazzy (#487)

    • fix ekf_localizer
    • fix lanelet2_map_loader_node
    • MUST REVERT
    • fix pybind
    • fix depend
    • add buildtool
    • remove
    • revert
    • find_package
    • wip
    • remove embed
    • find python_cmake_module
    • public
    • remove ament_cmake_python
    • fix autoware_trajectory
    • add .lcovrc
    • fix egm
    • use char*
    • use global
    • namespace
    • string view
    • clock
    • version
    • wait
    • fix egm2008-1
    • typo
    • fixing
    • fix egm2008-1
    • MUST REVERT
    • fix egm2008-1
    • fix twist_with_covariance

    * Revert "MUST REVERT" This reverts commit 93b7a57f99dccf571a01120132348460dbfa336e.

    • namespace
    • fix qos
    • revert some
    • comment

    * Revert "MUST REVERT" This reverts commit 7a680a796a875ba1dabc7e714eaea663d1e5c676.

    • fix dungling pointer
    • fix memory alignment
    • ignored

    * spellcheck ---------

  • feat(autoware_lanelet2_utils): refactor interpolation and

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Package symbol

autoware_lanelet2_utils package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-10-03
Dev Status DEVELOPED
Released RELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lanelet2_utils package

Additional Links

No additional links.

Maintainers

  • Mamoru Sobue
  • Maxime Clement
  • Kosuke Takeuchi

Authors

  • Mamoru Sobue

autoware_lanelet2_utils

Nomenclature

This package aims to strictly define the meaning of several words to clarify the documentation and API’s scope. In the table below, codespace words are given specific meanings when used in the API and API description. italic words are emphasized to indicate that it refers to social common sense which often comes with ambiguity. To help disambiguate the meaning, illustration is provided. “Lanelet” refers to the entity of alanelet::ConstLanelet object in order to distinguish with the word “lane” used in social customs. A and B stands for some Lanelets objects.

Word Meaning Illustration
driving The vehicle position belongs to the designated Lanelet. In each map, green Lanelet are the driving lanes of the vehicle.
driving
Open
boundary,
entry,
exit
The boundary of a Lanelet refers to the left or right Linestring. boundary_entry_exit
Open
adjacent If A is adjacent to B, A and B share a common boundary with same direction either on the left or right side. In each map, orange Lanelet is adjacent to green Lanelet.
adjacent
Open
same_direction Lanelet A and Lanelet B are same_direction if A and B are directly or indirectly adjacent to each other. In each map, orange Lanelets are same_direction as green Lanelet.
same_direction
Open
bundle A bundle refers to a transitive closure set of Lanelets which are same_direction to each other. The enclosed sets of Lanelets are bundles.
bundle
Open
opposite If A is opposite to B, A and B share a common boundary with opposite direction. In the first map, green Lanelet and orange Lanelet are opposite to each other.
In the second map, two red Lanelets are not opposite relation because they do not share a common LineString.
opposite
Open
opposite_direction If A and B are opposite_direction, the bundle of A and B are directly opposite to each other. In the each map, green Lanelet and orange Lanelet are opposite_direction because their bundles(enclosed in dotted line) are opposite relation.
opposite_direction
Open
connected A is connected to(from) B if and only if the exit(entry) of A is identical to the entry(exit) of B. A is connected to B, and B is connected from A.
connected
Open
following The following Lanelets of A is the list of Lanelets to which A is connected. In each map, orange Lanelets are the following of green Lanelet.
following
Open
previous The previous Lanelets of A is the list of Lanelets from which A is connected. In each map, orange Lanelets are the previous of green Lanelet.
previous
Open
conflicting A is conflicting with B if A and B are geometrically intersecting.  
merging A is said to be merging Lanelet of B if and only if A is conflicting with B and both A and B are connected to a common Lanelet. In each map, one of the orange Lanelet is a merging Lanelet of the other orange Lanelet.
merging
Open
sibling The designated Lanelets are referred to as sibling if all of them are connected from a common Lanelet. In each map, orange Lanelets are siblings.
sibling
Open
oncoming TBD TBD
upcoming TBD TBD
sequence sequence is a list of Lanelets whose each element is connected from or adjacent to the previous element. sequence
Open
current_route_lanelet current_route_lanelet is one of the lanelet within the route which serves as the reference for ego position.  

API description

Header function description average computational complexity illustration  
<autoware/lanelet2_utils/conversion.hpp> load_mgrs_coordinate_map(path, centerline_resolution) Instantiate a LaneletMap object from given path to .osm file. Also it sets more dense centerline(at the interval of centerline_resolution) than default Lanelet2 library, to help improve Planning accuracy.      
  instantiate_routing_graph_and_traffic_rules This function creates a RoutingGraph and TrafficRules object only from “road” lanes for Vehicle participant, which means “road_shoulder”,”bicycle_lane”, “crosswalk”, etc. Lanelets are inaccessible from left/right adjacency.      
  <ul><li>from_autoware_map_msgs(...)</li><li>to_autoware_map_msgs(...)</li></ul> Convert LaneletMap object from/to autoware_mapping_msgs::LaneletMapBin message      
           
<autoware/lanelet2_utils/kind.hpp> is_road_lane This function returns true if the input Lanelet is road subtype. $O(1)$    
  is_shoulder_lane This function returns true if the input Lanelet is road_shoulder subtype. $O(1)$    
  is_bicycle_lane This function returns true if the input Lanelet is bicycle_lane subtype. $O(1)$    
           
<autoware/lanelet2_utils/hatched_road_markings.hpp> get_adjacent_hatched_road_markings Returns polygons with type hatched_road_markings that touch the left/right bounds of the given lanelet sequence. Polygons are grouped by side and duplicates removed. $O(V)$ where $V$ is the number of boundary vertices inspected    
           
<autoware/lanelet2_utils/topology.hpp> left_opposite_lanelet same as below right_opposite_lanelet $O(1)$
see findUsage for detail
   
  right_opposite_lanelet This functions returns the right opposite Lanelet of the input Lanelet if available, otherwise returns null. $O(1)$
see findUsage for detail
In the first and second map, the green Lanelet is the right_opposite_lanelet of the orange Lanelet.
In the third map, the right_opposite_lanelet of the orange Lanelet is null.
right_opposite_lanelet
Open
 
  following_lanelets This function returns the following Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets to which the input is connected to.    
  previous_lanelets This function returns the previous Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets from which the input is connected from.    
  sibling_lanelets This function returns the sibling Lanelets of the input Lanelet excluding itself. The order is not defined. $O(E)$ where $E$ is the number of sibling Lanelets    
  from_ids This function returns Lanelet objects in the same order as the input IDs. $O(n)$    
           
<autoware/lanelet2_utils/intersection.hpp> is_intersection_lanelet This function returns true if and only if the input Lanelet has turn_direction attribute. $O(1)$    
  <ul><li>is_straight_lanelet</li><li>is_left_lanelet</li><li>is_right_lanelet</li></ul> This function returns true if and only if the input Lanelet has turn_direction attribute and its value is straight/left/right. $O(1)$    
           
<autoware/lanelet2_utils/lane_sequence.hpp class LaneSequence This class internally holds lanelet::ConstLanelets such that they are consecutive on the routing graph.      
  class invariance .as_lanelets() return Lanelets that are consecutive on the routing graph      
  create(lanelets, routing_graph) Return an optional of LaneSequence class that satisfies the invariance      
  .as_lanelets() Return the underlying lanelet::ConstLanelets      
           
<autoware/lanelet2_utils/nn_search.hpp> get_closest_lanelet(lanelets, pose) This function retrieves the lanelet which gives the smallest distance to given pose(if it is within a lanelet, it gives zero distance) and whose centerline is closest to the given orientation among them $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_closest_lanelet_within_constraint(lanelets, pose, dist_thresh, yaw_thresh) In addition to get_closest_lanelet, it filters lanelets whose distance to pose is $\leq$ dist_thresh and yaw angle difference is $\leq$ yaw_thresh $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_road_lanelets_at(lanelet_map, x, y) Retrieve all “road” Lanelets at given position R-tree    
  get_shoulder_lanelets_at(lanelet_map, x, y) Retrieve all “road_shoulder” Lanelets at given position R-tree    
  class LaneletRTree class LaneletRTree constructs R-tree structure from given Lanelets and provides more efficient operations.      
  .get_closest_lanelet(pose) Efficient version of get_closest_lanelet R-tree    
  .get_closest_lanelet_within_constraint(pose, dist_thresh, yaw_thresh) Efficient version of get_closest_lanelet_within_constraint R-tree    
           
<autoware/lanelet2_utils/map_handler.hpp> class MapHandler class MapHandler provides convenient functions related to adjacency, VRU lanes, etc. for Planning.      
  class invariance <ul><li>lanelet_map_ptr is not nullptr</li><li>routing_graph_ptr is not nullptr</li><li>traffic_rules_ptr is not nullptr</li></ul>      
  MapHandler::create(...) A factory function to construct under invariance      
  <ul><li>.lanelet_map_ptr()</li><li>.routing_graph_ptr()</li><li>.traffic_rules_ptr()</li></ul> Getter functions      
  .left_lanelet(lanelet, take_sibling, extra_vru) This function ignores the permission of lane change.
If extra_vru is:<ul><li>RoadOnly, it ignores shoulder and bicycle Lanelet</li><li>Shoulder, it searches shoulder Lanelet additionally</li><li>BicycleLane, it searches bicycle_lane Lanelet additionally</li><li>ShoulderAndBicycleLane, it searches shoulder and bicycle_lane Lanelet additionally</li></ul>
$O(1)$ In the first map, the green Lanelet is the left_lanelet of the orange Lanelet.
In the second and third map, the left_lanelet of the orange Lanelet is null.
left_lanelet
Open
 
  .right_lanelet(lanelet, take_sibling, extra_vru) same as above .left_lanelet() $O(1)$    
  .leftmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .left_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first and second map, the green Lanelet is the leftmost_lanelet of the orange Lanelet.
In the third map, the leftmost_lanelet of the orange Lanelet is null.
leftmost_lanelet
Open
 
  .rightmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .right_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelet is the rightmost_lanelet of the orange Lanelet.
In the second and third map, the rightmost_lanelet of the orange Lanelet is null.
rightmost_lanelet
Open
 
  .left_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from left to right. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the left_lanelets of the orange Lanelet.
In the second and third map, left_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the left opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
left_lanelets
Open
 
  .right_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from right to left. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the right_lanelets of the orange Lanelet.
In the second and third map, right_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the right opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
right_lanelets
Open
 
  .get_shoulder_lanelet_sequence(lanelet, forward, backward) This function computes (1) “road_shoulder” Lanelets behind of lanelet by up to backward and (2) “road_shoulder” Lanelets after lanelet by up to forward as a list $O(\textrm{total length})$    
  <ul><li>.left_shoulder_lanelet(lanelet)</li><li>.right_shoulder_lanelet(lanelet)</li><li>.left_bicycle_lanelet(lanelet)</li><li>.right_bicycle_lanelet(lanelet)</li></ul> Retrieve each VRU Lanelet of lanelet if it exists      
           
<autoware/lanelet2_utils/route_manager.hpp> class RouteManager EXTENDS MapHandler class RouteManager is responsible for properly tracking current_route_lanelet along the given route information, considering swerving maneuver and lane change. Also it provides several functions related to current_route_lanelet      
  class invariance <ul><li>current_pose may not be inside of any route_lanelets nor preferred_route_lanelets, because swerving and abrupt localization jump cannot be distinguished. For the same reason current_pose may not be inside of current_route_lanelet</li><li>current_route_lanelet matches one of the route_lanelets</li></ul>      
  RouteManager::create(...) A factory function to construct under invariance      
  Inherits MapHandler’s member functions        
  .update_current_pose(new_pose) This function updates current_route_lanelet on the route based on new_pose. This method should be used for all the cases excluding lane change completion, and current_route_lanelet is updated longitudinally. It is expected to be called in every cycle of planning. $O(1)$ Even if ego vehicle is in the middle swerving, update_current_pose decides next current_route_lanelet longitudinally, as illustrated in thin violet in the figure.
update_current_pose
Open
 
  .commit_lane_change(new_pose) This function updates current_route_lanelet on the route considering lane change.

:warning: It is expected to be called only when lane change execution has succeeded
R-tree Only when lane change has been completed, commit_lane_change() is expected to be called, as illustrated in the the last item of “(2) Lane Change Scenario”.
update_current_pose
Open
 
  .current_lanelet() Get current_route_lanelet Lanelet $O(1)$    
  .get_lanelet_sequence_on_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, only on the route without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output does not contain non-route Lanelets even if the sequence is below specified length, as illustrated in “(1)” in below figure.
get_lanelet_sequence_on_route
Open
 
  .get_lanelet_sequence_on_outward_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, extending to non-route Lanelet if necessary, without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output extends to non-route Lanelets if the route part of the sequence is below specified length, as illustrated in “(2)” in below figure.
get_lanelet_sequence_on_route
Open.
 
  .get_closest_preferred_route_lanelet(...) preferred route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
  .get_closest_route_lanelet_within_constraints(...) route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
           
Native R-tree API .laneletLayer, .pointLayer, etc. have following member functions<ul><li>PrimitiveLayer::nearest(point, n)</li><li>PrimitiveLayer::nearestUntil(point, cond)</li></ul> Against the input point, this function approximately returns elements of given layer in the ascending order of distance by specified number n(reference). Note that they can return inaccurate distance. R-tree    
  <ul><li>PrimitiveLayer::search(area)</li><li>PrimitiveLayer::searchUntil(area, cond)</li></ul> This function approximately searches for the object within the specified area(reference) R-tree    
<lanelet2_core/LaneletMap.h> findNearest(layer, point, n) On the given primitive layer, this function approximately returns n closest elements to given point in the ascending order of distance(reference) R-tree    
<lanelet2_core/geometry/LaneletMap.h> findWithin2d(layer, geometry, max_dist) On the given primitive layer, this function returns the elements whose distance to given geometry is less than max_dist precisely R-tree    

Notes

About Boost.Geometry R-tree

This slide is useful for understanding Boost.Geometry R-tree features.

!!! tip Tip

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CHANGELOG

Changelog for package autoware_lanelet2_utils

1.1.0 (2025-05-01)

  • refactor(autoware_lanelet2_utils)!: move everything to namespace experimental (#372)

  • refactor(autoware_lanelet2_utils): rewrite using modern C++ without API breakage (#347)

    • refactor using modern c++
    • precommit
    • fix
    • fix
    • precommit
    • use std::strcmp
    • precommit

    * Revert "refactor using modern c++" This reverts commit 3f7e4953c08f5237dc3bc75db3d896cc9c0640a3. ---------

  • Contributors: Mamoru Sobue, Yutaka Kondo

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble
  • chore: bump version to 1.3.0 (#554)
  • feat(autoware_lanelet2_utils): add hatched_road_markings utility (#565)
  • Contributors: Ryohsuke Mitsudome, Yukinari Hisaki

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat(autoware_trajectory): implement a function to construct trajectory class for reference path (#469) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

  • test(autoware_lanelet2_utils): fix threshold to avoid precision-related failures (#506)

  • feat: support ROS 2 Jazzy (#487)

    • fix ekf_localizer
    • fix lanelet2_map_loader_node
    • MUST REVERT
    • fix pybind
    • fix depend
    • add buildtool
    • remove
    • revert
    • find_package
    • wip
    • remove embed
    • find python_cmake_module
    • public
    • remove ament_cmake_python
    • fix autoware_trajectory
    • add .lcovrc
    • fix egm
    • use char*
    • use global
    • namespace
    • string view
    • clock
    • version
    • wait
    • fix egm2008-1
    • typo
    • fixing
    • fix egm2008-1
    • MUST REVERT
    • fix egm2008-1
    • fix twist_with_covariance

    * Revert "MUST REVERT" This reverts commit 93b7a57f99dccf571a01120132348460dbfa336e.

    • namespace
    • fix qos
    • revert some
    • comment

    * Revert "MUST REVERT" This reverts commit 7a680a796a875ba1dabc7e714eaea663d1e5c676.

    • fix dungling pointer
    • fix memory alignment
    • ignored

    * spellcheck ---------

  • feat(autoware_lanelet2_utils): refactor interpolation and

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Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-10-03
Dev Status DEVELOPED
Released RELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lanelet2_utils package

Additional Links

No additional links.

Maintainers

  • Mamoru Sobue
  • Maxime Clement
  • Kosuke Takeuchi

Authors

  • Mamoru Sobue

autoware_lanelet2_utils

Nomenclature

This package aims to strictly define the meaning of several words to clarify the documentation and API’s scope. In the table below, codespace words are given specific meanings when used in the API and API description. italic words are emphasized to indicate that it refers to social common sense which often comes with ambiguity. To help disambiguate the meaning, illustration is provided. “Lanelet” refers to the entity of alanelet::ConstLanelet object in order to distinguish with the word “lane” used in social customs. A and B stands for some Lanelets objects.

Word Meaning Illustration
driving The vehicle position belongs to the designated Lanelet. In each map, green Lanelet are the driving lanes of the vehicle.
driving
Open
boundary,
entry,
exit
The boundary of a Lanelet refers to the left or right Linestring. boundary_entry_exit
Open
adjacent If A is adjacent to B, A and B share a common boundary with same direction either on the left or right side. In each map, orange Lanelet is adjacent to green Lanelet.
adjacent
Open
same_direction Lanelet A and Lanelet B are same_direction if A and B are directly or indirectly adjacent to each other. In each map, orange Lanelets are same_direction as green Lanelet.
same_direction
Open
bundle A bundle refers to a transitive closure set of Lanelets which are same_direction to each other. The enclosed sets of Lanelets are bundles.
bundle
Open
opposite If A is opposite to B, A and B share a common boundary with opposite direction. In the first map, green Lanelet and orange Lanelet are opposite to each other.
In the second map, two red Lanelets are not opposite relation because they do not share a common LineString.
opposite
Open
opposite_direction If A and B are opposite_direction, the bundle of A and B are directly opposite to each other. In the each map, green Lanelet and orange Lanelet are opposite_direction because their bundles(enclosed in dotted line) are opposite relation.
opposite_direction
Open
connected A is connected to(from) B if and only if the exit(entry) of A is identical to the entry(exit) of B. A is connected to B, and B is connected from A.
connected
Open
following The following Lanelets of A is the list of Lanelets to which A is connected. In each map, orange Lanelets are the following of green Lanelet.
following
Open
previous The previous Lanelets of A is the list of Lanelets from which A is connected. In each map, orange Lanelets are the previous of green Lanelet.
previous
Open
conflicting A is conflicting with B if A and B are geometrically intersecting.  
merging A is said to be merging Lanelet of B if and only if A is conflicting with B and both A and B are connected to a common Lanelet. In each map, one of the orange Lanelet is a merging Lanelet of the other orange Lanelet.
merging
Open
sibling The designated Lanelets are referred to as sibling if all of them are connected from a common Lanelet. In each map, orange Lanelets are siblings.
sibling
Open
oncoming TBD TBD
upcoming TBD TBD
sequence sequence is a list of Lanelets whose each element is connected from or adjacent to the previous element. sequence
Open
current_route_lanelet current_route_lanelet is one of the lanelet within the route which serves as the reference for ego position.  

API description

Header function description average computational complexity illustration  
<autoware/lanelet2_utils/conversion.hpp> load_mgrs_coordinate_map(path, centerline_resolution) Instantiate a LaneletMap object from given path to .osm file. Also it sets more dense centerline(at the interval of centerline_resolution) than default Lanelet2 library, to help improve Planning accuracy.      
  instantiate_routing_graph_and_traffic_rules This function creates a RoutingGraph and TrafficRules object only from “road” lanes for Vehicle participant, which means “road_shoulder”,”bicycle_lane”, “crosswalk”, etc. Lanelets are inaccessible from left/right adjacency.      
  <ul><li>from_autoware_map_msgs(...)</li><li>to_autoware_map_msgs(...)</li></ul> Convert LaneletMap object from/to autoware_mapping_msgs::LaneletMapBin message      
           
<autoware/lanelet2_utils/kind.hpp> is_road_lane This function returns true if the input Lanelet is road subtype. $O(1)$    
  is_shoulder_lane This function returns true if the input Lanelet is road_shoulder subtype. $O(1)$    
  is_bicycle_lane This function returns true if the input Lanelet is bicycle_lane subtype. $O(1)$    
           
<autoware/lanelet2_utils/hatched_road_markings.hpp> get_adjacent_hatched_road_markings Returns polygons with type hatched_road_markings that touch the left/right bounds of the given lanelet sequence. Polygons are grouped by side and duplicates removed. $O(V)$ where $V$ is the number of boundary vertices inspected    
           
<autoware/lanelet2_utils/topology.hpp> left_opposite_lanelet same as below right_opposite_lanelet $O(1)$
see findUsage for detail
   
  right_opposite_lanelet This functions returns the right opposite Lanelet of the input Lanelet if available, otherwise returns null. $O(1)$
see findUsage for detail
In the first and second map, the green Lanelet is the right_opposite_lanelet of the orange Lanelet.
In the third map, the right_opposite_lanelet of the orange Lanelet is null.
right_opposite_lanelet
Open
 
  following_lanelets This function returns the following Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets to which the input is connected to.    
  previous_lanelets This function returns the previous Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets from which the input is connected from.    
  sibling_lanelets This function returns the sibling Lanelets of the input Lanelet excluding itself. The order is not defined. $O(E)$ where $E$ is the number of sibling Lanelets    
  from_ids This function returns Lanelet objects in the same order as the input IDs. $O(n)$    
           
<autoware/lanelet2_utils/intersection.hpp> is_intersection_lanelet This function returns true if and only if the input Lanelet has turn_direction attribute. $O(1)$    
  <ul><li>is_straight_lanelet</li><li>is_left_lanelet</li><li>is_right_lanelet</li></ul> This function returns true if and only if the input Lanelet has turn_direction attribute and its value is straight/left/right. $O(1)$    
           
<autoware/lanelet2_utils/lane_sequence.hpp class LaneSequence This class internally holds lanelet::ConstLanelets such that they are consecutive on the routing graph.      
  class invariance .as_lanelets() return Lanelets that are consecutive on the routing graph      
  create(lanelets, routing_graph) Return an optional of LaneSequence class that satisfies the invariance      
  .as_lanelets() Return the underlying lanelet::ConstLanelets      
           
<autoware/lanelet2_utils/nn_search.hpp> get_closest_lanelet(lanelets, pose) This function retrieves the lanelet which gives the smallest distance to given pose(if it is within a lanelet, it gives zero distance) and whose centerline is closest to the given orientation among them $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_closest_lanelet_within_constraint(lanelets, pose, dist_thresh, yaw_thresh) In addition to get_closest_lanelet, it filters lanelets whose distance to pose is $\leq$ dist_thresh and yaw angle difference is $\leq$ yaw_thresh $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_road_lanelets_at(lanelet_map, x, y) Retrieve all “road” Lanelets at given position R-tree    
  get_shoulder_lanelets_at(lanelet_map, x, y) Retrieve all “road_shoulder” Lanelets at given position R-tree    
  class LaneletRTree class LaneletRTree constructs R-tree structure from given Lanelets and provides more efficient operations.      
  .get_closest_lanelet(pose) Efficient version of get_closest_lanelet R-tree    
  .get_closest_lanelet_within_constraint(pose, dist_thresh, yaw_thresh) Efficient version of get_closest_lanelet_within_constraint R-tree    
           
<autoware/lanelet2_utils/map_handler.hpp> class MapHandler class MapHandler provides convenient functions related to adjacency, VRU lanes, etc. for Planning.      
  class invariance <ul><li>lanelet_map_ptr is not nullptr</li><li>routing_graph_ptr is not nullptr</li><li>traffic_rules_ptr is not nullptr</li></ul>      
  MapHandler::create(...) A factory function to construct under invariance      
  <ul><li>.lanelet_map_ptr()</li><li>.routing_graph_ptr()</li><li>.traffic_rules_ptr()</li></ul> Getter functions      
  .left_lanelet(lanelet, take_sibling, extra_vru) This function ignores the permission of lane change.
If extra_vru is:<ul><li>RoadOnly, it ignores shoulder and bicycle Lanelet</li><li>Shoulder, it searches shoulder Lanelet additionally</li><li>BicycleLane, it searches bicycle_lane Lanelet additionally</li><li>ShoulderAndBicycleLane, it searches shoulder and bicycle_lane Lanelet additionally</li></ul>
$O(1)$ In the first map, the green Lanelet is the left_lanelet of the orange Lanelet.
In the second and third map, the left_lanelet of the orange Lanelet is null.
left_lanelet
Open
 
  .right_lanelet(lanelet, take_sibling, extra_vru) same as above .left_lanelet() $O(1)$    
  .leftmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .left_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first and second map, the green Lanelet is the leftmost_lanelet of the orange Lanelet.
In the third map, the leftmost_lanelet of the orange Lanelet is null.
leftmost_lanelet
Open
 
  .rightmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .right_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelet is the rightmost_lanelet of the orange Lanelet.
In the second and third map, the rightmost_lanelet of the orange Lanelet is null.
rightmost_lanelet
Open
 
  .left_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from left to right. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the left_lanelets of the orange Lanelet.
In the second and third map, left_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the left opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
left_lanelets
Open
 
  .right_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from right to left. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the right_lanelets of the orange Lanelet.
In the second and third map, right_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the right opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
right_lanelets
Open
 
  .get_shoulder_lanelet_sequence(lanelet, forward, backward) This function computes (1) “road_shoulder” Lanelets behind of lanelet by up to backward and (2) “road_shoulder” Lanelets after lanelet by up to forward as a list $O(\textrm{total length})$    
  <ul><li>.left_shoulder_lanelet(lanelet)</li><li>.right_shoulder_lanelet(lanelet)</li><li>.left_bicycle_lanelet(lanelet)</li><li>.right_bicycle_lanelet(lanelet)</li></ul> Retrieve each VRU Lanelet of lanelet if it exists      
           
<autoware/lanelet2_utils/route_manager.hpp> class RouteManager EXTENDS MapHandler class RouteManager is responsible for properly tracking current_route_lanelet along the given route information, considering swerving maneuver and lane change. Also it provides several functions related to current_route_lanelet      
  class invariance <ul><li>current_pose may not be inside of any route_lanelets nor preferred_route_lanelets, because swerving and abrupt localization jump cannot be distinguished. For the same reason current_pose may not be inside of current_route_lanelet</li><li>current_route_lanelet matches one of the route_lanelets</li></ul>      
  RouteManager::create(...) A factory function to construct under invariance      
  Inherits MapHandler’s member functions        
  .update_current_pose(new_pose) This function updates current_route_lanelet on the route based on new_pose. This method should be used for all the cases excluding lane change completion, and current_route_lanelet is updated longitudinally. It is expected to be called in every cycle of planning. $O(1)$ Even if ego vehicle is in the middle swerving, update_current_pose decides next current_route_lanelet longitudinally, as illustrated in thin violet in the figure.
update_current_pose
Open
 
  .commit_lane_change(new_pose) This function updates current_route_lanelet on the route considering lane change.

:warning: It is expected to be called only when lane change execution has succeeded
R-tree Only when lane change has been completed, commit_lane_change() is expected to be called, as illustrated in the the last item of “(2) Lane Change Scenario”.
update_current_pose
Open
 
  .current_lanelet() Get current_route_lanelet Lanelet $O(1)$    
  .get_lanelet_sequence_on_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, only on the route without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output does not contain non-route Lanelets even if the sequence is below specified length, as illustrated in “(1)” in below figure.
get_lanelet_sequence_on_route
Open
 
  .get_lanelet_sequence_on_outward_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, extending to non-route Lanelet if necessary, without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output extends to non-route Lanelets if the route part of the sequence is below specified length, as illustrated in “(2)” in below figure.
get_lanelet_sequence_on_route
Open.
 
  .get_closest_preferred_route_lanelet(...) preferred route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
  .get_closest_route_lanelet_within_constraints(...) route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
           
Native R-tree API .laneletLayer, .pointLayer, etc. have following member functions<ul><li>PrimitiveLayer::nearest(point, n)</li><li>PrimitiveLayer::nearestUntil(point, cond)</li></ul> Against the input point, this function approximately returns elements of given layer in the ascending order of distance by specified number n(reference). Note that they can return inaccurate distance. R-tree    
  <ul><li>PrimitiveLayer::search(area)</li><li>PrimitiveLayer::searchUntil(area, cond)</li></ul> This function approximately searches for the object within the specified area(reference) R-tree    
<lanelet2_core/LaneletMap.h> findNearest(layer, point, n) On the given primitive layer, this function approximately returns n closest elements to given point in the ascending order of distance(reference) R-tree    
<lanelet2_core/geometry/LaneletMap.h> findWithin2d(layer, geometry, max_dist) On the given primitive layer, this function returns the elements whose distance to given geometry is less than max_dist precisely R-tree    

Notes

About Boost.Geometry R-tree

This slide is useful for understanding Boost.Geometry R-tree features.

!!! tip Tip

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_lanelet2_utils

1.1.0 (2025-05-01)

  • refactor(autoware_lanelet2_utils)!: move everything to namespace experimental (#372)

  • refactor(autoware_lanelet2_utils): rewrite using modern C++ without API breakage (#347)

    • refactor using modern c++
    • precommit
    • fix
    • fix
    • precommit
    • use std::strcmp
    • precommit

    * Revert "refactor using modern c++" This reverts commit 3f7e4953c08f5237dc3bc75db3d896cc9c0640a3. ---------

  • Contributors: Mamoru Sobue, Yutaka Kondo

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble
  • chore: bump version to 1.3.0 (#554)
  • feat(autoware_lanelet2_utils): add hatched_road_markings utility (#565)
  • Contributors: Ryohsuke Mitsudome, Yukinari Hisaki

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat(autoware_trajectory): implement a function to construct trajectory class for reference path (#469) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

  • test(autoware_lanelet2_utils): fix threshold to avoid precision-related failures (#506)

  • feat: support ROS 2 Jazzy (#487)

    • fix ekf_localizer
    • fix lanelet2_map_loader_node
    • MUST REVERT
    • fix pybind
    • fix depend
    • add buildtool
    • remove
    • revert
    • find_package
    • wip
    • remove embed
    • find python_cmake_module
    • public
    • remove ament_cmake_python
    • fix autoware_trajectory
    • add .lcovrc
    • fix egm
    • use char*
    • use global
    • namespace
    • string view
    • clock
    • version
    • wait
    • fix egm2008-1
    • typo
    • fixing
    • fix egm2008-1
    • MUST REVERT
    • fix egm2008-1
    • fix twist_with_covariance

    * Revert "MUST REVERT" This reverts commit 93b7a57f99dccf571a01120132348460dbfa336e.

    • namespace
    • fix qos
    • revert some
    • comment

    * Revert "MUST REVERT" This reverts commit 7a680a796a875ba1dabc7e714eaea663d1e5c676.

    • fix dungling pointer
    • fix memory alignment
    • ignored

    * spellcheck ---------

  • feat(autoware_lanelet2_utils): refactor interpolation and

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ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-10-03
Dev Status DEVELOPED
Released RELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lanelet2_utils package

Additional Links

No additional links.

Maintainers

  • Mamoru Sobue
  • Maxime Clement
  • Kosuke Takeuchi

Authors

  • Mamoru Sobue

autoware_lanelet2_utils

Nomenclature

This package aims to strictly define the meaning of several words to clarify the documentation and API’s scope. In the table below, codespace words are given specific meanings when used in the API and API description. italic words are emphasized to indicate that it refers to social common sense which often comes with ambiguity. To help disambiguate the meaning, illustration is provided. “Lanelet” refers to the entity of alanelet::ConstLanelet object in order to distinguish with the word “lane” used in social customs. A and B stands for some Lanelets objects.

Word Meaning Illustration
driving The vehicle position belongs to the designated Lanelet. In each map, green Lanelet are the driving lanes of the vehicle.
driving
Open
boundary,
entry,
exit
The boundary of a Lanelet refers to the left or right Linestring. boundary_entry_exit
Open
adjacent If A is adjacent to B, A and B share a common boundary with same direction either on the left or right side. In each map, orange Lanelet is adjacent to green Lanelet.
adjacent
Open
same_direction Lanelet A and Lanelet B are same_direction if A and B are directly or indirectly adjacent to each other. In each map, orange Lanelets are same_direction as green Lanelet.
same_direction
Open
bundle A bundle refers to a transitive closure set of Lanelets which are same_direction to each other. The enclosed sets of Lanelets are bundles.
bundle
Open
opposite If A is opposite to B, A and B share a common boundary with opposite direction. In the first map, green Lanelet and orange Lanelet are opposite to each other.
In the second map, two red Lanelets are not opposite relation because they do not share a common LineString.
opposite
Open
opposite_direction If A and B are opposite_direction, the bundle of A and B are directly opposite to each other. In the each map, green Lanelet and orange Lanelet are opposite_direction because their bundles(enclosed in dotted line) are opposite relation.
opposite_direction
Open
connected A is connected to(from) B if and only if the exit(entry) of A is identical to the entry(exit) of B. A is connected to B, and B is connected from A.
connected
Open
following The following Lanelets of A is the list of Lanelets to which A is connected. In each map, orange Lanelets are the following of green Lanelet.
following
Open
previous The previous Lanelets of A is the list of Lanelets from which A is connected. In each map, orange Lanelets are the previous of green Lanelet.
previous
Open
conflicting A is conflicting with B if A and B are geometrically intersecting.  
merging A is said to be merging Lanelet of B if and only if A is conflicting with B and both A and B are connected to a common Lanelet. In each map, one of the orange Lanelet is a merging Lanelet of the other orange Lanelet.
merging
Open
sibling The designated Lanelets are referred to as sibling if all of them are connected from a common Lanelet. In each map, orange Lanelets are siblings.
sibling
Open
oncoming TBD TBD
upcoming TBD TBD
sequence sequence is a list of Lanelets whose each element is connected from or adjacent to the previous element. sequence
Open
current_route_lanelet current_route_lanelet is one of the lanelet within the route which serves as the reference for ego position.  

API description

Header function description average computational complexity illustration  
<autoware/lanelet2_utils/conversion.hpp> load_mgrs_coordinate_map(path, centerline_resolution) Instantiate a LaneletMap object from given path to .osm file. Also it sets more dense centerline(at the interval of centerline_resolution) than default Lanelet2 library, to help improve Planning accuracy.      
  instantiate_routing_graph_and_traffic_rules This function creates a RoutingGraph and TrafficRules object only from “road” lanes for Vehicle participant, which means “road_shoulder”,”bicycle_lane”, “crosswalk”, etc. Lanelets are inaccessible from left/right adjacency.      
  <ul><li>from_autoware_map_msgs(...)</li><li>to_autoware_map_msgs(...)</li></ul> Convert LaneletMap object from/to autoware_mapping_msgs::LaneletMapBin message      
           
<autoware/lanelet2_utils/kind.hpp> is_road_lane This function returns true if the input Lanelet is road subtype. $O(1)$    
  is_shoulder_lane This function returns true if the input Lanelet is road_shoulder subtype. $O(1)$    
  is_bicycle_lane This function returns true if the input Lanelet is bicycle_lane subtype. $O(1)$    
           
<autoware/lanelet2_utils/hatched_road_markings.hpp> get_adjacent_hatched_road_markings Returns polygons with type hatched_road_markings that touch the left/right bounds of the given lanelet sequence. Polygons are grouped by side and duplicates removed. $O(V)$ where $V$ is the number of boundary vertices inspected    
           
<autoware/lanelet2_utils/topology.hpp> left_opposite_lanelet same as below right_opposite_lanelet $O(1)$
see findUsage for detail
   
  right_opposite_lanelet This functions returns the right opposite Lanelet of the input Lanelet if available, otherwise returns null. $O(1)$
see findUsage for detail
In the first and second map, the green Lanelet is the right_opposite_lanelet of the orange Lanelet.
In the third map, the right_opposite_lanelet of the orange Lanelet is null.
right_opposite_lanelet
Open
 
  following_lanelets This function returns the following Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets to which the input is connected to.    
  previous_lanelets This function returns the previous Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets from which the input is connected from.    
  sibling_lanelets This function returns the sibling Lanelets of the input Lanelet excluding itself. The order is not defined. $O(E)$ where $E$ is the number of sibling Lanelets    
  from_ids This function returns Lanelet objects in the same order as the input IDs. $O(n)$    
           
<autoware/lanelet2_utils/intersection.hpp> is_intersection_lanelet This function returns true if and only if the input Lanelet has turn_direction attribute. $O(1)$    
  <ul><li>is_straight_lanelet</li><li>is_left_lanelet</li><li>is_right_lanelet</li></ul> This function returns true if and only if the input Lanelet has turn_direction attribute and its value is straight/left/right. $O(1)$    
           
<autoware/lanelet2_utils/lane_sequence.hpp class LaneSequence This class internally holds lanelet::ConstLanelets such that they are consecutive on the routing graph.      
  class invariance .as_lanelets() return Lanelets that are consecutive on the routing graph      
  create(lanelets, routing_graph) Return an optional of LaneSequence class that satisfies the invariance      
  .as_lanelets() Return the underlying lanelet::ConstLanelets      
           
<autoware/lanelet2_utils/nn_search.hpp> get_closest_lanelet(lanelets, pose) This function retrieves the lanelet which gives the smallest distance to given pose(if it is within a lanelet, it gives zero distance) and whose centerline is closest to the given orientation among them $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_closest_lanelet_within_constraint(lanelets, pose, dist_thresh, yaw_thresh) In addition to get_closest_lanelet, it filters lanelets whose distance to pose is $\leq$ dist_thresh and yaw angle difference is $\leq$ yaw_thresh $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_road_lanelets_at(lanelet_map, x, y) Retrieve all “road” Lanelets at given position R-tree    
  get_shoulder_lanelets_at(lanelet_map, x, y) Retrieve all “road_shoulder” Lanelets at given position R-tree    
  class LaneletRTree class LaneletRTree constructs R-tree structure from given Lanelets and provides more efficient operations.      
  .get_closest_lanelet(pose) Efficient version of get_closest_lanelet R-tree    
  .get_closest_lanelet_within_constraint(pose, dist_thresh, yaw_thresh) Efficient version of get_closest_lanelet_within_constraint R-tree    
           
<autoware/lanelet2_utils/map_handler.hpp> class MapHandler class MapHandler provides convenient functions related to adjacency, VRU lanes, etc. for Planning.      
  class invariance <ul><li>lanelet_map_ptr is not nullptr</li><li>routing_graph_ptr is not nullptr</li><li>traffic_rules_ptr is not nullptr</li></ul>      
  MapHandler::create(...) A factory function to construct under invariance      
  <ul><li>.lanelet_map_ptr()</li><li>.routing_graph_ptr()</li><li>.traffic_rules_ptr()</li></ul> Getter functions      
  .left_lanelet(lanelet, take_sibling, extra_vru) This function ignores the permission of lane change.
If extra_vru is:<ul><li>RoadOnly, it ignores shoulder and bicycle Lanelet</li><li>Shoulder, it searches shoulder Lanelet additionally</li><li>BicycleLane, it searches bicycle_lane Lanelet additionally</li><li>ShoulderAndBicycleLane, it searches shoulder and bicycle_lane Lanelet additionally</li></ul>
$O(1)$ In the first map, the green Lanelet is the left_lanelet of the orange Lanelet.
In the second and third map, the left_lanelet of the orange Lanelet is null.
left_lanelet
Open
 
  .right_lanelet(lanelet, take_sibling, extra_vru) same as above .left_lanelet() $O(1)$    
  .leftmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .left_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first and second map, the green Lanelet is the leftmost_lanelet of the orange Lanelet.
In the third map, the leftmost_lanelet of the orange Lanelet is null.
leftmost_lanelet
Open
 
  .rightmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .right_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelet is the rightmost_lanelet of the orange Lanelet.
In the second and third map, the rightmost_lanelet of the orange Lanelet is null.
rightmost_lanelet
Open
 
  .left_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from left to right. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the left_lanelets of the orange Lanelet.
In the second and third map, left_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the left opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
left_lanelets
Open
 
  .right_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from right to left. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the right_lanelets of the orange Lanelet.
In the second and third map, right_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the right opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
right_lanelets
Open
 
  .get_shoulder_lanelet_sequence(lanelet, forward, backward) This function computes (1) “road_shoulder” Lanelets behind of lanelet by up to backward and (2) “road_shoulder” Lanelets after lanelet by up to forward as a list $O(\textrm{total length})$    
  <ul><li>.left_shoulder_lanelet(lanelet)</li><li>.right_shoulder_lanelet(lanelet)</li><li>.left_bicycle_lanelet(lanelet)</li><li>.right_bicycle_lanelet(lanelet)</li></ul> Retrieve each VRU Lanelet of lanelet if it exists      
           
<autoware/lanelet2_utils/route_manager.hpp> class RouteManager EXTENDS MapHandler class RouteManager is responsible for properly tracking current_route_lanelet along the given route information, considering swerving maneuver and lane change. Also it provides several functions related to current_route_lanelet      
  class invariance <ul><li>current_pose may not be inside of any route_lanelets nor preferred_route_lanelets, because swerving and abrupt localization jump cannot be distinguished. For the same reason current_pose may not be inside of current_route_lanelet</li><li>current_route_lanelet matches one of the route_lanelets</li></ul>      
  RouteManager::create(...) A factory function to construct under invariance      
  Inherits MapHandler’s member functions        
  .update_current_pose(new_pose) This function updates current_route_lanelet on the route based on new_pose. This method should be used for all the cases excluding lane change completion, and current_route_lanelet is updated longitudinally. It is expected to be called in every cycle of planning. $O(1)$ Even if ego vehicle is in the middle swerving, update_current_pose decides next current_route_lanelet longitudinally, as illustrated in thin violet in the figure.
update_current_pose
Open
 
  .commit_lane_change(new_pose) This function updates current_route_lanelet on the route considering lane change.

:warning: It is expected to be called only when lane change execution has succeeded
R-tree Only when lane change has been completed, commit_lane_change() is expected to be called, as illustrated in the the last item of “(2) Lane Change Scenario”.
update_current_pose
Open
 
  .current_lanelet() Get current_route_lanelet Lanelet $O(1)$    
  .get_lanelet_sequence_on_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, only on the route without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output does not contain non-route Lanelets even if the sequence is below specified length, as illustrated in “(1)” in below figure.
get_lanelet_sequence_on_route
Open
 
  .get_lanelet_sequence_on_outward_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, extending to non-route Lanelet if necessary, without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output extends to non-route Lanelets if the route part of the sequence is below specified length, as illustrated in “(2)” in below figure.
get_lanelet_sequence_on_route
Open.
 
  .get_closest_preferred_route_lanelet(...) preferred route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
  .get_closest_route_lanelet_within_constraints(...) route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
           
Native R-tree API .laneletLayer, .pointLayer, etc. have following member functions<ul><li>PrimitiveLayer::nearest(point, n)</li><li>PrimitiveLayer::nearestUntil(point, cond)</li></ul> Against the input point, this function approximately returns elements of given layer in the ascending order of distance by specified number n(reference). Note that they can return inaccurate distance. R-tree    
  <ul><li>PrimitiveLayer::search(area)</li><li>PrimitiveLayer::searchUntil(area, cond)</li></ul> This function approximately searches for the object within the specified area(reference) R-tree    
<lanelet2_core/LaneletMap.h> findNearest(layer, point, n) On the given primitive layer, this function approximately returns n closest elements to given point in the ascending order of distance(reference) R-tree    
<lanelet2_core/geometry/LaneletMap.h> findWithin2d(layer, geometry, max_dist) On the given primitive layer, this function returns the elements whose distance to given geometry is less than max_dist precisely R-tree    

Notes

About Boost.Geometry R-tree

This slide is useful for understanding Boost.Geometry R-tree features.

!!! tip Tip

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_lanelet2_utils

1.1.0 (2025-05-01)

  • refactor(autoware_lanelet2_utils)!: move everything to namespace experimental (#372)

  • refactor(autoware_lanelet2_utils): rewrite using modern C++ without API breakage (#347)

    • refactor using modern c++
    • precommit
    • fix
    • fix
    • precommit
    • use std::strcmp
    • precommit

    * Revert "refactor using modern c++" This reverts commit 3f7e4953c08f5237dc3bc75db3d896cc9c0640a3. ---------

  • Contributors: Mamoru Sobue, Yutaka Kondo

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble
  • chore: bump version to 1.3.0 (#554)
  • feat(autoware_lanelet2_utils): add hatched_road_markings utility (#565)
  • Contributors: Ryohsuke Mitsudome, Yukinari Hisaki

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat(autoware_trajectory): implement a function to construct trajectory class for reference path (#469) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

  • test(autoware_lanelet2_utils): fix threshold to avoid precision-related failures (#506)

  • feat: support ROS 2 Jazzy (#487)

    • fix ekf_localizer
    • fix lanelet2_map_loader_node
    • MUST REVERT
    • fix pybind
    • fix depend
    • add buildtool
    • remove
    • revert
    • find_package
    • wip
    • remove embed
    • find python_cmake_module
    • public
    • remove ament_cmake_python
    • fix autoware_trajectory
    • add .lcovrc
    • fix egm
    • use char*
    • use global
    • namespace
    • string view
    • clock
    • version
    • wait
    • fix egm2008-1
    • typo
    • fixing
    • fix egm2008-1
    • MUST REVERT
    • fix egm2008-1
    • fix twist_with_covariance

    * Revert "MUST REVERT" This reverts commit 93b7a57f99dccf571a01120132348460dbfa336e.

    • namespace
    • fix qos
    • revert some
    • comment

    * Revert "MUST REVERT" This reverts commit 7a680a796a875ba1dabc7e714eaea663d1e5c676.

    • fix dungling pointer
    • fix memory alignment
    • ignored

    * spellcheck ---------

  • feat(autoware_lanelet2_utils): refactor interpolation and

File truncated at 100 lines see the full file

Launch files

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Services

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Recent questions tagged autoware_lanelet2_utils at Robotics Stack Exchange

Package symbol

autoware_lanelet2_utils package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
github

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-10-03
Dev Status DEVELOPED
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lanelet2_utils package

Additional Links

No additional links.

Maintainers

  • Mamoru Sobue
  • Maxime Clement
  • Kosuke Takeuchi

Authors

  • Mamoru Sobue

autoware_lanelet2_utils

Nomenclature

This package aims to strictly define the meaning of several words to clarify the documentation and API’s scope. In the table below, codespace words are given specific meanings when used in the API and API description. italic words are emphasized to indicate that it refers to social common sense which often comes with ambiguity. To help disambiguate the meaning, illustration is provided. “Lanelet” refers to the entity of alanelet::ConstLanelet object in order to distinguish with the word “lane” used in social customs. A and B stands for some Lanelets objects.

Word Meaning Illustration
driving The vehicle position belongs to the designated Lanelet. In each map, green Lanelet are the driving lanes of the vehicle.
driving
Open
boundary,
entry,
exit
The boundary of a Lanelet refers to the left or right Linestring. boundary_entry_exit
Open
adjacent If A is adjacent to B, A and B share a common boundary with same direction either on the left or right side. In each map, orange Lanelet is adjacent to green Lanelet.
adjacent
Open
same_direction Lanelet A and Lanelet B are same_direction if A and B are directly or indirectly adjacent to each other. In each map, orange Lanelets are same_direction as green Lanelet.
same_direction
Open
bundle A bundle refers to a transitive closure set of Lanelets which are same_direction to each other. The enclosed sets of Lanelets are bundles.
bundle
Open
opposite If A is opposite to B, A and B share a common boundary with opposite direction. In the first map, green Lanelet and orange Lanelet are opposite to each other.
In the second map, two red Lanelets are not opposite relation because they do not share a common LineString.
opposite
Open
opposite_direction If A and B are opposite_direction, the bundle of A and B are directly opposite to each other. In the each map, green Lanelet and orange Lanelet are opposite_direction because their bundles(enclosed in dotted line) are opposite relation.
opposite_direction
Open
connected A is connected to(from) B if and only if the exit(entry) of A is identical to the entry(exit) of B. A is connected to B, and B is connected from A.
connected
Open
following The following Lanelets of A is the list of Lanelets to which A is connected. In each map, orange Lanelets are the following of green Lanelet.
following
Open
previous The previous Lanelets of A is the list of Lanelets from which A is connected. In each map, orange Lanelets are the previous of green Lanelet.
previous
Open
conflicting A is conflicting with B if A and B are geometrically intersecting.  
merging A is said to be merging Lanelet of B if and only if A is conflicting with B and both A and B are connected to a common Lanelet. In each map, one of the orange Lanelet is a merging Lanelet of the other orange Lanelet.
merging
Open
sibling The designated Lanelets are referred to as sibling if all of them are connected from a common Lanelet. In each map, orange Lanelets are siblings.
sibling
Open
oncoming TBD TBD
upcoming TBD TBD
sequence sequence is a list of Lanelets whose each element is connected from or adjacent to the previous element. sequence
Open
current_route_lanelet current_route_lanelet is one of the lanelet within the route which serves as the reference for ego position.  

API description

Header function description average computational complexity illustration  
<autoware/lanelet2_utils/conversion.hpp> load_mgrs_coordinate_map(path, centerline_resolution) Instantiate a LaneletMap object from given path to .osm file. Also it sets more dense centerline(at the interval of centerline_resolution) than default Lanelet2 library, to help improve Planning accuracy.      
  instantiate_routing_graph_and_traffic_rules This function creates a RoutingGraph and TrafficRules object only from “road” lanes for Vehicle participant, which means “road_shoulder”,”bicycle_lane”, “crosswalk”, etc. Lanelets are inaccessible from left/right adjacency.      
  <ul><li>from_autoware_map_msgs(...)</li><li>to_autoware_map_msgs(...)</li></ul> Convert LaneletMap object from/to autoware_mapping_msgs::LaneletMapBin message      
           
<autoware/lanelet2_utils/kind.hpp> is_road_lane This function returns true if the input Lanelet is road subtype. $O(1)$    
  is_shoulder_lane This function returns true if the input Lanelet is road_shoulder subtype. $O(1)$    
  is_bicycle_lane This function returns true if the input Lanelet is bicycle_lane subtype. $O(1)$    
           
<autoware/lanelet2_utils/hatched_road_markings.hpp> get_adjacent_hatched_road_markings Returns polygons with type hatched_road_markings that touch the left/right bounds of the given lanelet sequence. Polygons are grouped by side and duplicates removed. $O(V)$ where $V$ is the number of boundary vertices inspected    
           
<autoware/lanelet2_utils/topology.hpp> left_opposite_lanelet same as below right_opposite_lanelet $O(1)$
see findUsage for detail
   
  right_opposite_lanelet This functions returns the right opposite Lanelet of the input Lanelet if available, otherwise returns null. $O(1)$
see findUsage for detail
In the first and second map, the green Lanelet is the right_opposite_lanelet of the orange Lanelet.
In the third map, the right_opposite_lanelet of the orange Lanelet is null.
right_opposite_lanelet
Open
 
  following_lanelets This function returns the following Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets to which the input is connected to.    
  previous_lanelets This function returns the previous Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets from which the input is connected from.    
  sibling_lanelets This function returns the sibling Lanelets of the input Lanelet excluding itself. The order is not defined. $O(E)$ where $E$ is the number of sibling Lanelets    
  from_ids This function returns Lanelet objects in the same order as the input IDs. $O(n)$    
           
<autoware/lanelet2_utils/intersection.hpp> is_intersection_lanelet This function returns true if and only if the input Lanelet has turn_direction attribute. $O(1)$    
  <ul><li>is_straight_lanelet</li><li>is_left_lanelet</li><li>is_right_lanelet</li></ul> This function returns true if and only if the input Lanelet has turn_direction attribute and its value is straight/left/right. $O(1)$    
           
<autoware/lanelet2_utils/lane_sequence.hpp class LaneSequence This class internally holds lanelet::ConstLanelets such that they are consecutive on the routing graph.      
  class invariance .as_lanelets() return Lanelets that are consecutive on the routing graph      
  create(lanelets, routing_graph) Return an optional of LaneSequence class that satisfies the invariance      
  .as_lanelets() Return the underlying lanelet::ConstLanelets      
           
<autoware/lanelet2_utils/nn_search.hpp> get_closest_lanelet(lanelets, pose) This function retrieves the lanelet which gives the smallest distance to given pose(if it is within a lanelet, it gives zero distance) and whose centerline is closest to the given orientation among them $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_closest_lanelet_within_constraint(lanelets, pose, dist_thresh, yaw_thresh) In addition to get_closest_lanelet, it filters lanelets whose distance to pose is $\leq$ dist_thresh and yaw angle difference is $\leq$ yaw_thresh $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_road_lanelets_at(lanelet_map, x, y) Retrieve all “road” Lanelets at given position R-tree    
  get_shoulder_lanelets_at(lanelet_map, x, y) Retrieve all “road_shoulder” Lanelets at given position R-tree    
  class LaneletRTree class LaneletRTree constructs R-tree structure from given Lanelets and provides more efficient operations.      
  .get_closest_lanelet(pose) Efficient version of get_closest_lanelet R-tree    
  .get_closest_lanelet_within_constraint(pose, dist_thresh, yaw_thresh) Efficient version of get_closest_lanelet_within_constraint R-tree    
           
<autoware/lanelet2_utils/map_handler.hpp> class MapHandler class MapHandler provides convenient functions related to adjacency, VRU lanes, etc. for Planning.      
  class invariance <ul><li>lanelet_map_ptr is not nullptr</li><li>routing_graph_ptr is not nullptr</li><li>traffic_rules_ptr is not nullptr</li></ul>      
  MapHandler::create(...) A factory function to construct under invariance      
  <ul><li>.lanelet_map_ptr()</li><li>.routing_graph_ptr()</li><li>.traffic_rules_ptr()</li></ul> Getter functions      
  .left_lanelet(lanelet, take_sibling, extra_vru) This function ignores the permission of lane change.
If extra_vru is:<ul><li>RoadOnly, it ignores shoulder and bicycle Lanelet</li><li>Shoulder, it searches shoulder Lanelet additionally</li><li>BicycleLane, it searches bicycle_lane Lanelet additionally</li><li>ShoulderAndBicycleLane, it searches shoulder and bicycle_lane Lanelet additionally</li></ul>
$O(1)$ In the first map, the green Lanelet is the left_lanelet of the orange Lanelet.
In the second and third map, the left_lanelet of the orange Lanelet is null.
left_lanelet
Open
 
  .right_lanelet(lanelet, take_sibling, extra_vru) same as above .left_lanelet() $O(1)$    
  .leftmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .left_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first and second map, the green Lanelet is the leftmost_lanelet of the orange Lanelet.
In the third map, the leftmost_lanelet of the orange Lanelet is null.
leftmost_lanelet
Open
 
  .rightmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .right_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelet is the rightmost_lanelet of the orange Lanelet.
In the second and third map, the rightmost_lanelet of the orange Lanelet is null.
rightmost_lanelet
Open
 
  .left_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from left to right. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the left_lanelets of the orange Lanelet.
In the second and third map, left_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the left opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
left_lanelets
Open
 
  .right_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from right to left. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the right_lanelets of the orange Lanelet.
In the second and third map, right_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the right opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
right_lanelets
Open
 
  .get_shoulder_lanelet_sequence(lanelet, forward, backward) This function computes (1) “road_shoulder” Lanelets behind of lanelet by up to backward and (2) “road_shoulder” Lanelets after lanelet by up to forward as a list $O(\textrm{total length})$    
  <ul><li>.left_shoulder_lanelet(lanelet)</li><li>.right_shoulder_lanelet(lanelet)</li><li>.left_bicycle_lanelet(lanelet)</li><li>.right_bicycle_lanelet(lanelet)</li></ul> Retrieve each VRU Lanelet of lanelet if it exists      
           
<autoware/lanelet2_utils/route_manager.hpp> class RouteManager EXTENDS MapHandler class RouteManager is responsible for properly tracking current_route_lanelet along the given route information, considering swerving maneuver and lane change. Also it provides several functions related to current_route_lanelet      
  class invariance <ul><li>current_pose may not be inside of any route_lanelets nor preferred_route_lanelets, because swerving and abrupt localization jump cannot be distinguished. For the same reason current_pose may not be inside of current_route_lanelet</li><li>current_route_lanelet matches one of the route_lanelets</li></ul>      
  RouteManager::create(...) A factory function to construct under invariance      
  Inherits MapHandler’s member functions        
  .update_current_pose(new_pose) This function updates current_route_lanelet on the route based on new_pose. This method should be used for all the cases excluding lane change completion, and current_route_lanelet is updated longitudinally. It is expected to be called in every cycle of planning. $O(1)$ Even if ego vehicle is in the middle swerving, update_current_pose decides next current_route_lanelet longitudinally, as illustrated in thin violet in the figure.
update_current_pose
Open
 
  .commit_lane_change(new_pose) This function updates current_route_lanelet on the route considering lane change.

:warning: It is expected to be called only when lane change execution has succeeded
R-tree Only when lane change has been completed, commit_lane_change() is expected to be called, as illustrated in the the last item of “(2) Lane Change Scenario”.
update_current_pose
Open
 
  .current_lanelet() Get current_route_lanelet Lanelet $O(1)$    
  .get_lanelet_sequence_on_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, only on the route without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output does not contain non-route Lanelets even if the sequence is below specified length, as illustrated in “(1)” in below figure.
get_lanelet_sequence_on_route
Open
 
  .get_lanelet_sequence_on_outward_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, extending to non-route Lanelet if necessary, without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output extends to non-route Lanelets if the route part of the sequence is below specified length, as illustrated in “(2)” in below figure.
get_lanelet_sequence_on_route
Open.
 
  .get_closest_preferred_route_lanelet(...) preferred route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
  .get_closest_route_lanelet_within_constraints(...) route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
           
Native R-tree API .laneletLayer, .pointLayer, etc. have following member functions<ul><li>PrimitiveLayer::nearest(point, n)</li><li>PrimitiveLayer::nearestUntil(point, cond)</li></ul> Against the input point, this function approximately returns elements of given layer in the ascending order of distance by specified number n(reference). Note that they can return inaccurate distance. R-tree    
  <ul><li>PrimitiveLayer::search(area)</li><li>PrimitiveLayer::searchUntil(area, cond)</li></ul> This function approximately searches for the object within the specified area(reference) R-tree    
<lanelet2_core/LaneletMap.h> findNearest(layer, point, n) On the given primitive layer, this function approximately returns n closest elements to given point in the ascending order of distance(reference) R-tree    
<lanelet2_core/geometry/LaneletMap.h> findWithin2d(layer, geometry, max_dist) On the given primitive layer, this function returns the elements whose distance to given geometry is less than max_dist precisely R-tree    

Notes

About Boost.Geometry R-tree

This slide is useful for understanding Boost.Geometry R-tree features.

!!! tip Tip

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_lanelet2_utils

1.1.0 (2025-05-01)

  • refactor(autoware_lanelet2_utils)!: move everything to namespace experimental (#372)

  • refactor(autoware_lanelet2_utils): rewrite using modern C++ without API breakage (#347)

    • refactor using modern c++
    • precommit
    • fix
    • fix
    • precommit
    • use std::strcmp
    • precommit

    * Revert "refactor using modern c++" This reverts commit 3f7e4953c08f5237dc3bc75db3d896cc9c0640a3. ---------

  • Contributors: Mamoru Sobue, Yutaka Kondo

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble
  • chore: bump version to 1.3.0 (#554)
  • feat(autoware_lanelet2_utils): add hatched_road_markings utility (#565)
  • Contributors: Ryohsuke Mitsudome, Yukinari Hisaki

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat(autoware_trajectory): implement a function to construct trajectory class for reference path (#469) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

  • test(autoware_lanelet2_utils): fix threshold to avoid precision-related failures (#506)

  • feat: support ROS 2 Jazzy (#487)

    • fix ekf_localizer
    • fix lanelet2_map_loader_node
    • MUST REVERT
    • fix pybind
    • fix depend
    • add buildtool
    • remove
    • revert
    • find_package
    • wip
    • remove embed
    • find python_cmake_module
    • public
    • remove ament_cmake_python
    • fix autoware_trajectory
    • add .lcovrc
    • fix egm
    • use char*
    • use global
    • namespace
    • string view
    • clock
    • version
    • wait
    • fix egm2008-1
    • typo
    • fixing
    • fix egm2008-1
    • MUST REVERT
    • fix egm2008-1
    • fix twist_with_covariance

    * Revert "MUST REVERT" This reverts commit 93b7a57f99dccf571a01120132348460dbfa336e.

    • namespace
    • fix qos
    • revert some
    • comment

    * Revert "MUST REVERT" This reverts commit 7a680a796a875ba1dabc7e714eaea663d1e5c676.

    • fix dungling pointer
    • fix memory alignment
    • ignored

    * spellcheck ---------

  • feat(autoware_lanelet2_utils): refactor interpolation and

File truncated at 100 lines see the full file

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Messages

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Services

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Plugins

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Recent questions tagged autoware_lanelet2_utils at Robotics Stack Exchange

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Package symbol

autoware_lanelet2_utils package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-10-03
Dev Status DEVELOPED
Released RELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lanelet2_utils package

Additional Links

No additional links.

Maintainers

  • Mamoru Sobue
  • Maxime Clement
  • Kosuke Takeuchi

Authors

  • Mamoru Sobue

autoware_lanelet2_utils

Nomenclature

This package aims to strictly define the meaning of several words to clarify the documentation and API’s scope. In the table below, codespace words are given specific meanings when used in the API and API description. italic words are emphasized to indicate that it refers to social common sense which often comes with ambiguity. To help disambiguate the meaning, illustration is provided. “Lanelet” refers to the entity of alanelet::ConstLanelet object in order to distinguish with the word “lane” used in social customs. A and B stands for some Lanelets objects.

Word Meaning Illustration
driving The vehicle position belongs to the designated Lanelet. In each map, green Lanelet are the driving lanes of the vehicle.
driving
Open
boundary,
entry,
exit
The boundary of a Lanelet refers to the left or right Linestring. boundary_entry_exit
Open
adjacent If A is adjacent to B, A and B share a common boundary with same direction either on the left or right side. In each map, orange Lanelet is adjacent to green Lanelet.
adjacent
Open
same_direction Lanelet A and Lanelet B are same_direction if A and B are directly or indirectly adjacent to each other. In each map, orange Lanelets are same_direction as green Lanelet.
same_direction
Open
bundle A bundle refers to a transitive closure set of Lanelets which are same_direction to each other. The enclosed sets of Lanelets are bundles.
bundle
Open
opposite If A is opposite to B, A and B share a common boundary with opposite direction. In the first map, green Lanelet and orange Lanelet are opposite to each other.
In the second map, two red Lanelets are not opposite relation because they do not share a common LineString.
opposite
Open
opposite_direction If A and B are opposite_direction, the bundle of A and B are directly opposite to each other. In the each map, green Lanelet and orange Lanelet are opposite_direction because their bundles(enclosed in dotted line) are opposite relation.
opposite_direction
Open
connected A is connected to(from) B if and only if the exit(entry) of A is identical to the entry(exit) of B. A is connected to B, and B is connected from A.
connected
Open
following The following Lanelets of A is the list of Lanelets to which A is connected. In each map, orange Lanelets are the following of green Lanelet.
following
Open
previous The previous Lanelets of A is the list of Lanelets from which A is connected. In each map, orange Lanelets are the previous of green Lanelet.
previous
Open
conflicting A is conflicting with B if A and B are geometrically intersecting.  
merging A is said to be merging Lanelet of B if and only if A is conflicting with B and both A and B are connected to a common Lanelet. In each map, one of the orange Lanelet is a merging Lanelet of the other orange Lanelet.
merging
Open
sibling The designated Lanelets are referred to as sibling if all of them are connected from a common Lanelet. In each map, orange Lanelets are siblings.
sibling
Open
oncoming TBD TBD
upcoming TBD TBD
sequence sequence is a list of Lanelets whose each element is connected from or adjacent to the previous element. sequence
Open
current_route_lanelet current_route_lanelet is one of the lanelet within the route which serves as the reference for ego position.  

API description

Header function description average computational complexity illustration  
<autoware/lanelet2_utils/conversion.hpp> load_mgrs_coordinate_map(path, centerline_resolution) Instantiate a LaneletMap object from given path to .osm file. Also it sets more dense centerline(at the interval of centerline_resolution) than default Lanelet2 library, to help improve Planning accuracy.      
  instantiate_routing_graph_and_traffic_rules This function creates a RoutingGraph and TrafficRules object only from “road” lanes for Vehicle participant, which means “road_shoulder”,”bicycle_lane”, “crosswalk”, etc. Lanelets are inaccessible from left/right adjacency.      
  <ul><li>from_autoware_map_msgs(...)</li><li>to_autoware_map_msgs(...)</li></ul> Convert LaneletMap object from/to autoware_mapping_msgs::LaneletMapBin message      
           
<autoware/lanelet2_utils/kind.hpp> is_road_lane This function returns true if the input Lanelet is road subtype. $O(1)$    
  is_shoulder_lane This function returns true if the input Lanelet is road_shoulder subtype. $O(1)$    
  is_bicycle_lane This function returns true if the input Lanelet is bicycle_lane subtype. $O(1)$    
           
<autoware/lanelet2_utils/hatched_road_markings.hpp> get_adjacent_hatched_road_markings Returns polygons with type hatched_road_markings that touch the left/right bounds of the given lanelet sequence. Polygons are grouped by side and duplicates removed. $O(V)$ where $V$ is the number of boundary vertices inspected    
           
<autoware/lanelet2_utils/topology.hpp> left_opposite_lanelet same as below right_opposite_lanelet $O(1)$
see findUsage for detail
   
  right_opposite_lanelet This functions returns the right opposite Lanelet of the input Lanelet if available, otherwise returns null. $O(1)$
see findUsage for detail
In the first and second map, the green Lanelet is the right_opposite_lanelet of the orange Lanelet.
In the third map, the right_opposite_lanelet of the orange Lanelet is null.
right_opposite_lanelet
Open
 
  following_lanelets This function returns the following Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets to which the input is connected to.    
  previous_lanelets This function returns the previous Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets from which the input is connected from.    
  sibling_lanelets This function returns the sibling Lanelets of the input Lanelet excluding itself. The order is not defined. $O(E)$ where $E$ is the number of sibling Lanelets    
  from_ids This function returns Lanelet objects in the same order as the input IDs. $O(n)$    
           
<autoware/lanelet2_utils/intersection.hpp> is_intersection_lanelet This function returns true if and only if the input Lanelet has turn_direction attribute. $O(1)$    
  <ul><li>is_straight_lanelet</li><li>is_left_lanelet</li><li>is_right_lanelet</li></ul> This function returns true if and only if the input Lanelet has turn_direction attribute and its value is straight/left/right. $O(1)$    
           
<autoware/lanelet2_utils/lane_sequence.hpp class LaneSequence This class internally holds lanelet::ConstLanelets such that they are consecutive on the routing graph.      
  class invariance .as_lanelets() return Lanelets that are consecutive on the routing graph      
  create(lanelets, routing_graph) Return an optional of LaneSequence class that satisfies the invariance      
  .as_lanelets() Return the underlying lanelet::ConstLanelets      
           
<autoware/lanelet2_utils/nn_search.hpp> get_closest_lanelet(lanelets, pose) This function retrieves the lanelet which gives the smallest distance to given pose(if it is within a lanelet, it gives zero distance) and whose centerline is closest to the given orientation among them $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_closest_lanelet_within_constraint(lanelets, pose, dist_thresh, yaw_thresh) In addition to get_closest_lanelet, it filters lanelets whose distance to pose is $\leq$ dist_thresh and yaw angle difference is $\leq$ yaw_thresh $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_road_lanelets_at(lanelet_map, x, y) Retrieve all “road” Lanelets at given position R-tree    
  get_shoulder_lanelets_at(lanelet_map, x, y) Retrieve all “road_shoulder” Lanelets at given position R-tree    
  class LaneletRTree class LaneletRTree constructs R-tree structure from given Lanelets and provides more efficient operations.      
  .get_closest_lanelet(pose) Efficient version of get_closest_lanelet R-tree    
  .get_closest_lanelet_within_constraint(pose, dist_thresh, yaw_thresh) Efficient version of get_closest_lanelet_within_constraint R-tree    
           
<autoware/lanelet2_utils/map_handler.hpp> class MapHandler class MapHandler provides convenient functions related to adjacency, VRU lanes, etc. for Planning.      
  class invariance <ul><li>lanelet_map_ptr is not nullptr</li><li>routing_graph_ptr is not nullptr</li><li>traffic_rules_ptr is not nullptr</li></ul>      
  MapHandler::create(...) A factory function to construct under invariance      
  <ul><li>.lanelet_map_ptr()</li><li>.routing_graph_ptr()</li><li>.traffic_rules_ptr()</li></ul> Getter functions      
  .left_lanelet(lanelet, take_sibling, extra_vru) This function ignores the permission of lane change.
If extra_vru is:<ul><li>RoadOnly, it ignores shoulder and bicycle Lanelet</li><li>Shoulder, it searches shoulder Lanelet additionally</li><li>BicycleLane, it searches bicycle_lane Lanelet additionally</li><li>ShoulderAndBicycleLane, it searches shoulder and bicycle_lane Lanelet additionally</li></ul>
$O(1)$ In the first map, the green Lanelet is the left_lanelet of the orange Lanelet.
In the second and third map, the left_lanelet of the orange Lanelet is null.
left_lanelet
Open
 
  .right_lanelet(lanelet, take_sibling, extra_vru) same as above .left_lanelet() $O(1)$    
  .leftmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .left_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first and second map, the green Lanelet is the leftmost_lanelet of the orange Lanelet.
In the third map, the leftmost_lanelet of the orange Lanelet is null.
leftmost_lanelet
Open
 
  .rightmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .right_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelet is the rightmost_lanelet of the orange Lanelet.
In the second and third map, the rightmost_lanelet of the orange Lanelet is null.
rightmost_lanelet
Open
 
  .left_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from left to right. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the left_lanelets of the orange Lanelet.
In the second and third map, left_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the left opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
left_lanelets
Open
 
  .right_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from right to left. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the right_lanelets of the orange Lanelet.
In the second and third map, right_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the right opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
right_lanelets
Open
 
  .get_shoulder_lanelet_sequence(lanelet, forward, backward) This function computes (1) “road_shoulder” Lanelets behind of lanelet by up to backward and (2) “road_shoulder” Lanelets after lanelet by up to forward as a list $O(\textrm{total length})$    
  <ul><li>.left_shoulder_lanelet(lanelet)</li><li>.right_shoulder_lanelet(lanelet)</li><li>.left_bicycle_lanelet(lanelet)</li><li>.right_bicycle_lanelet(lanelet)</li></ul> Retrieve each VRU Lanelet of lanelet if it exists      
           
<autoware/lanelet2_utils/route_manager.hpp> class RouteManager EXTENDS MapHandler class RouteManager is responsible for properly tracking current_route_lanelet along the given route information, considering swerving maneuver and lane change. Also it provides several functions related to current_route_lanelet      
  class invariance <ul><li>current_pose may not be inside of any route_lanelets nor preferred_route_lanelets, because swerving and abrupt localization jump cannot be distinguished. For the same reason current_pose may not be inside of current_route_lanelet</li><li>current_route_lanelet matches one of the route_lanelets</li></ul>      
  RouteManager::create(...) A factory function to construct under invariance      
  Inherits MapHandler’s member functions        
  .update_current_pose(new_pose) This function updates current_route_lanelet on the route based on new_pose. This method should be used for all the cases excluding lane change completion, and current_route_lanelet is updated longitudinally. It is expected to be called in every cycle of planning. $O(1)$ Even if ego vehicle is in the middle swerving, update_current_pose decides next current_route_lanelet longitudinally, as illustrated in thin violet in the figure.
update_current_pose
Open
 
  .commit_lane_change(new_pose) This function updates current_route_lanelet on the route considering lane change.

:warning: It is expected to be called only when lane change execution has succeeded
R-tree Only when lane change has been completed, commit_lane_change() is expected to be called, as illustrated in the the last item of “(2) Lane Change Scenario”.
update_current_pose
Open
 
  .current_lanelet() Get current_route_lanelet Lanelet $O(1)$    
  .get_lanelet_sequence_on_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, only on the route without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output does not contain non-route Lanelets even if the sequence is below specified length, as illustrated in “(1)” in below figure.
get_lanelet_sequence_on_route
Open
 
  .get_lanelet_sequence_on_outward_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, extending to non-route Lanelet if necessary, without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output extends to non-route Lanelets if the route part of the sequence is below specified length, as illustrated in “(2)” in below figure.
get_lanelet_sequence_on_route
Open.
 
  .get_closest_preferred_route_lanelet(...) preferred route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
  .get_closest_route_lanelet_within_constraints(...) route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
           
Native R-tree API .laneletLayer, .pointLayer, etc. have following member functions<ul><li>PrimitiveLayer::nearest(point, n)</li><li>PrimitiveLayer::nearestUntil(point, cond)</li></ul> Against the input point, this function approximately returns elements of given layer in the ascending order of distance by specified number n(reference). Note that they can return inaccurate distance. R-tree    
  <ul><li>PrimitiveLayer::search(area)</li><li>PrimitiveLayer::searchUntil(area, cond)</li></ul> This function approximately searches for the object within the specified area(reference) R-tree    
<lanelet2_core/LaneletMap.h> findNearest(layer, point, n) On the given primitive layer, this function approximately returns n closest elements to given point in the ascending order of distance(reference) R-tree    
<lanelet2_core/geometry/LaneletMap.h> findWithin2d(layer, geometry, max_dist) On the given primitive layer, this function returns the elements whose distance to given geometry is less than max_dist precisely R-tree    

Notes

About Boost.Geometry R-tree

This slide is useful for understanding Boost.Geometry R-tree features.

!!! tip Tip

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CHANGELOG

Changelog for package autoware_lanelet2_utils

1.1.0 (2025-05-01)

  • refactor(autoware_lanelet2_utils)!: move everything to namespace experimental (#372)

  • refactor(autoware_lanelet2_utils): rewrite using modern C++ without API breakage (#347)

    • refactor using modern c++
    • precommit
    • fix
    • fix
    • precommit
    • use std::strcmp
    • precommit

    * Revert "refactor using modern c++" This reverts commit 3f7e4953c08f5237dc3bc75db3d896cc9c0640a3. ---------

  • Contributors: Mamoru Sobue, Yutaka Kondo

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble
  • chore: bump version to 1.3.0 (#554)
  • feat(autoware_lanelet2_utils): add hatched_road_markings utility (#565)
  • Contributors: Ryohsuke Mitsudome, Yukinari Hisaki

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat(autoware_trajectory): implement a function to construct trajectory class for reference path (#469) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

  • test(autoware_lanelet2_utils): fix threshold to avoid precision-related failures (#506)

  • feat: support ROS 2 Jazzy (#487)

    • fix ekf_localizer
    • fix lanelet2_map_loader_node
    • MUST REVERT
    • fix pybind
    • fix depend
    • add buildtool
    • remove
    • revert
    • find_package
    • wip
    • remove embed
    • find python_cmake_module
    • public
    • remove ament_cmake_python
    • fix autoware_trajectory
    • add .lcovrc
    • fix egm
    • use char*
    • use global
    • namespace
    • string view
    • clock
    • version
    • wait
    • fix egm2008-1
    • typo
    • fixing
    • fix egm2008-1
    • MUST REVERT
    • fix egm2008-1
    • fix twist_with_covariance

    * Revert "MUST REVERT" This reverts commit 93b7a57f99dccf571a01120132348460dbfa336e.

    • namespace
    • fix qos
    • revert some
    • comment

    * Revert "MUST REVERT" This reverts commit 7a680a796a875ba1dabc7e714eaea663d1e5c676.

    • fix dungling pointer
    • fix memory alignment
    • ignored

    * spellcheck ---------

  • feat(autoware_lanelet2_utils): refactor interpolation and

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Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-10-03
Dev Status DEVELOPED
Released RELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lanelet2_utils package

Additional Links

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Maintainers

  • Mamoru Sobue
  • Maxime Clement
  • Kosuke Takeuchi

Authors

  • Mamoru Sobue

autoware_lanelet2_utils

Nomenclature

This package aims to strictly define the meaning of several words to clarify the documentation and API’s scope. In the table below, codespace words are given specific meanings when used in the API and API description. italic words are emphasized to indicate that it refers to social common sense which often comes with ambiguity. To help disambiguate the meaning, illustration is provided. “Lanelet” refers to the entity of alanelet::ConstLanelet object in order to distinguish with the word “lane” used in social customs. A and B stands for some Lanelets objects.

Word Meaning Illustration
driving The vehicle position belongs to the designated Lanelet. In each map, green Lanelet are the driving lanes of the vehicle.
driving
Open
boundary,
entry,
exit
The boundary of a Lanelet refers to the left or right Linestring. boundary_entry_exit
Open
adjacent If A is adjacent to B, A and B share a common boundary with same direction either on the left or right side. In each map, orange Lanelet is adjacent to green Lanelet.
adjacent
Open
same_direction Lanelet A and Lanelet B are same_direction if A and B are directly or indirectly adjacent to each other. In each map, orange Lanelets are same_direction as green Lanelet.
same_direction
Open
bundle A bundle refers to a transitive closure set of Lanelets which are same_direction to each other. The enclosed sets of Lanelets are bundles.
bundle
Open
opposite If A is opposite to B, A and B share a common boundary with opposite direction. In the first map, green Lanelet and orange Lanelet are opposite to each other.
In the second map, two red Lanelets are not opposite relation because they do not share a common LineString.
opposite
Open
opposite_direction If A and B are opposite_direction, the bundle of A and B are directly opposite to each other. In the each map, green Lanelet and orange Lanelet are opposite_direction because their bundles(enclosed in dotted line) are opposite relation.
opposite_direction
Open
connected A is connected to(from) B if and only if the exit(entry) of A is identical to the entry(exit) of B. A is connected to B, and B is connected from A.
connected
Open
following The following Lanelets of A is the list of Lanelets to which A is connected. In each map, orange Lanelets are the following of green Lanelet.
following
Open
previous The previous Lanelets of A is the list of Lanelets from which A is connected. In each map, orange Lanelets are the previous of green Lanelet.
previous
Open
conflicting A is conflicting with B if A and B are geometrically intersecting.  
merging A is said to be merging Lanelet of B if and only if A is conflicting with B and both A and B are connected to a common Lanelet. In each map, one of the orange Lanelet is a merging Lanelet of the other orange Lanelet.
merging
Open
sibling The designated Lanelets are referred to as sibling if all of them are connected from a common Lanelet. In each map, orange Lanelets are siblings.
sibling
Open
oncoming TBD TBD
upcoming TBD TBD
sequence sequence is a list of Lanelets whose each element is connected from or adjacent to the previous element. sequence
Open
current_route_lanelet current_route_lanelet is one of the lanelet within the route which serves as the reference for ego position.  

API description

Header function description average computational complexity illustration  
<autoware/lanelet2_utils/conversion.hpp> load_mgrs_coordinate_map(path, centerline_resolution) Instantiate a LaneletMap object from given path to .osm file. Also it sets more dense centerline(at the interval of centerline_resolution) than default Lanelet2 library, to help improve Planning accuracy.      
  instantiate_routing_graph_and_traffic_rules This function creates a RoutingGraph and TrafficRules object only from “road” lanes for Vehicle participant, which means “road_shoulder”,”bicycle_lane”, “crosswalk”, etc. Lanelets are inaccessible from left/right adjacency.      
  <ul><li>from_autoware_map_msgs(...)</li><li>to_autoware_map_msgs(...)</li></ul> Convert LaneletMap object from/to autoware_mapping_msgs::LaneletMapBin message      
           
<autoware/lanelet2_utils/kind.hpp> is_road_lane This function returns true if the input Lanelet is road subtype. $O(1)$    
  is_shoulder_lane This function returns true if the input Lanelet is road_shoulder subtype. $O(1)$    
  is_bicycle_lane This function returns true if the input Lanelet is bicycle_lane subtype. $O(1)$    
           
<autoware/lanelet2_utils/hatched_road_markings.hpp> get_adjacent_hatched_road_markings Returns polygons with type hatched_road_markings that touch the left/right bounds of the given lanelet sequence. Polygons are grouped by side and duplicates removed. $O(V)$ where $V$ is the number of boundary vertices inspected    
           
<autoware/lanelet2_utils/topology.hpp> left_opposite_lanelet same as below right_opposite_lanelet $O(1)$
see findUsage for detail
   
  right_opposite_lanelet This functions returns the right opposite Lanelet of the input Lanelet if available, otherwise returns null. $O(1)$
see findUsage for detail
In the first and second map, the green Lanelet is the right_opposite_lanelet of the orange Lanelet.
In the third map, the right_opposite_lanelet of the orange Lanelet is null.
right_opposite_lanelet
Open
 
  following_lanelets This function returns the following Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets to which the input is connected to.    
  previous_lanelets This function returns the previous Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets from which the input is connected from.    
  sibling_lanelets This function returns the sibling Lanelets of the input Lanelet excluding itself. The order is not defined. $O(E)$ where $E$ is the number of sibling Lanelets    
  from_ids This function returns Lanelet objects in the same order as the input IDs. $O(n)$    
           
<autoware/lanelet2_utils/intersection.hpp> is_intersection_lanelet This function returns true if and only if the input Lanelet has turn_direction attribute. $O(1)$    
  <ul><li>is_straight_lanelet</li><li>is_left_lanelet</li><li>is_right_lanelet</li></ul> This function returns true if and only if the input Lanelet has turn_direction attribute and its value is straight/left/right. $O(1)$    
           
<autoware/lanelet2_utils/lane_sequence.hpp class LaneSequence This class internally holds lanelet::ConstLanelets such that they are consecutive on the routing graph.      
  class invariance .as_lanelets() return Lanelets that are consecutive on the routing graph      
  create(lanelets, routing_graph) Return an optional of LaneSequence class that satisfies the invariance      
  .as_lanelets() Return the underlying lanelet::ConstLanelets      
           
<autoware/lanelet2_utils/nn_search.hpp> get_closest_lanelet(lanelets, pose) This function retrieves the lanelet which gives the smallest distance to given pose(if it is within a lanelet, it gives zero distance) and whose centerline is closest to the given orientation among them $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_closest_lanelet_within_constraint(lanelets, pose, dist_thresh, yaw_thresh) In addition to get_closest_lanelet, it filters lanelets whose distance to pose is $\leq$ dist_thresh and yaw angle difference is $\leq$ yaw_thresh $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_road_lanelets_at(lanelet_map, x, y) Retrieve all “road” Lanelets at given position R-tree    
  get_shoulder_lanelets_at(lanelet_map, x, y) Retrieve all “road_shoulder” Lanelets at given position R-tree    
  class LaneletRTree class LaneletRTree constructs R-tree structure from given Lanelets and provides more efficient operations.      
  .get_closest_lanelet(pose) Efficient version of get_closest_lanelet R-tree    
  .get_closest_lanelet_within_constraint(pose, dist_thresh, yaw_thresh) Efficient version of get_closest_lanelet_within_constraint R-tree    
           
<autoware/lanelet2_utils/map_handler.hpp> class MapHandler class MapHandler provides convenient functions related to adjacency, VRU lanes, etc. for Planning.      
  class invariance <ul><li>lanelet_map_ptr is not nullptr</li><li>routing_graph_ptr is not nullptr</li><li>traffic_rules_ptr is not nullptr</li></ul>      
  MapHandler::create(...) A factory function to construct under invariance      
  <ul><li>.lanelet_map_ptr()</li><li>.routing_graph_ptr()</li><li>.traffic_rules_ptr()</li></ul> Getter functions      
  .left_lanelet(lanelet, take_sibling, extra_vru) This function ignores the permission of lane change.
If extra_vru is:<ul><li>RoadOnly, it ignores shoulder and bicycle Lanelet</li><li>Shoulder, it searches shoulder Lanelet additionally</li><li>BicycleLane, it searches bicycle_lane Lanelet additionally</li><li>ShoulderAndBicycleLane, it searches shoulder and bicycle_lane Lanelet additionally</li></ul>
$O(1)$ In the first map, the green Lanelet is the left_lanelet of the orange Lanelet.
In the second and third map, the left_lanelet of the orange Lanelet is null.
left_lanelet
Open
 
  .right_lanelet(lanelet, take_sibling, extra_vru) same as above .left_lanelet() $O(1)$    
  .leftmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .left_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first and second map, the green Lanelet is the leftmost_lanelet of the orange Lanelet.
In the third map, the leftmost_lanelet of the orange Lanelet is null.
leftmost_lanelet
Open
 
  .rightmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .right_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelet is the rightmost_lanelet of the orange Lanelet.
In the second and third map, the rightmost_lanelet of the orange Lanelet is null.
rightmost_lanelet
Open
 
  .left_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from left to right. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the left_lanelets of the orange Lanelet.
In the second and third map, left_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the left opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
left_lanelets
Open
 
  .right_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from right to left. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the right_lanelets of the orange Lanelet.
In the second and third map, right_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the right opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
right_lanelets
Open
 
  .get_shoulder_lanelet_sequence(lanelet, forward, backward) This function computes (1) “road_shoulder” Lanelets behind of lanelet by up to backward and (2) “road_shoulder” Lanelets after lanelet by up to forward as a list $O(\textrm{total length})$    
  <ul><li>.left_shoulder_lanelet(lanelet)</li><li>.right_shoulder_lanelet(lanelet)</li><li>.left_bicycle_lanelet(lanelet)</li><li>.right_bicycle_lanelet(lanelet)</li></ul> Retrieve each VRU Lanelet of lanelet if it exists      
           
<autoware/lanelet2_utils/route_manager.hpp> class RouteManager EXTENDS MapHandler class RouteManager is responsible for properly tracking current_route_lanelet along the given route information, considering swerving maneuver and lane change. Also it provides several functions related to current_route_lanelet      
  class invariance <ul><li>current_pose may not be inside of any route_lanelets nor preferred_route_lanelets, because swerving and abrupt localization jump cannot be distinguished. For the same reason current_pose may not be inside of current_route_lanelet</li><li>current_route_lanelet matches one of the route_lanelets</li></ul>      
  RouteManager::create(...) A factory function to construct under invariance      
  Inherits MapHandler’s member functions        
  .update_current_pose(new_pose) This function updates current_route_lanelet on the route based on new_pose. This method should be used for all the cases excluding lane change completion, and current_route_lanelet is updated longitudinally. It is expected to be called in every cycle of planning. $O(1)$ Even if ego vehicle is in the middle swerving, update_current_pose decides next current_route_lanelet longitudinally, as illustrated in thin violet in the figure.
update_current_pose
Open
 
  .commit_lane_change(new_pose) This function updates current_route_lanelet on the route considering lane change.

:warning: It is expected to be called only when lane change execution has succeeded
R-tree Only when lane change has been completed, commit_lane_change() is expected to be called, as illustrated in the the last item of “(2) Lane Change Scenario”.
update_current_pose
Open
 
  .current_lanelet() Get current_route_lanelet Lanelet $O(1)$    
  .get_lanelet_sequence_on_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, only on the route without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output does not contain non-route Lanelets even if the sequence is below specified length, as illustrated in “(1)” in below figure.
get_lanelet_sequence_on_route
Open
 
  .get_lanelet_sequence_on_outward_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, extending to non-route Lanelet if necessary, without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output extends to non-route Lanelets if the route part of the sequence is below specified length, as illustrated in “(2)” in below figure.
get_lanelet_sequence_on_route
Open.
 
  .get_closest_preferred_route_lanelet(...) preferred route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
  .get_closest_route_lanelet_within_constraints(...) route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
           
Native R-tree API .laneletLayer, .pointLayer, etc. have following member functions<ul><li>PrimitiveLayer::nearest(point, n)</li><li>PrimitiveLayer::nearestUntil(point, cond)</li></ul> Against the input point, this function approximately returns elements of given layer in the ascending order of distance by specified number n(reference). Note that they can return inaccurate distance. R-tree    
  <ul><li>PrimitiveLayer::search(area)</li><li>PrimitiveLayer::searchUntil(area, cond)</li></ul> This function approximately searches for the object within the specified area(reference) R-tree    
<lanelet2_core/LaneletMap.h> findNearest(layer, point, n) On the given primitive layer, this function approximately returns n closest elements to given point in the ascending order of distance(reference) R-tree    
<lanelet2_core/geometry/LaneletMap.h> findWithin2d(layer, geometry, max_dist) On the given primitive layer, this function returns the elements whose distance to given geometry is less than max_dist precisely R-tree    

Notes

About Boost.Geometry R-tree

This slide is useful for understanding Boost.Geometry R-tree features.

!!! tip Tip

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CHANGELOG

Changelog for package autoware_lanelet2_utils

1.1.0 (2025-05-01)

  • refactor(autoware_lanelet2_utils)!: move everything to namespace experimental (#372)

  • refactor(autoware_lanelet2_utils): rewrite using modern C++ without API breakage (#347)

    • refactor using modern c++
    • precommit
    • fix
    • fix
    • precommit
    • use std::strcmp
    • precommit

    * Revert "refactor using modern c++" This reverts commit 3f7e4953c08f5237dc3bc75db3d896cc9c0640a3. ---------

  • Contributors: Mamoru Sobue, Yutaka Kondo

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble
  • chore: bump version to 1.3.0 (#554)
  • feat(autoware_lanelet2_utils): add hatched_road_markings utility (#565)
  • Contributors: Ryohsuke Mitsudome, Yukinari Hisaki

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat(autoware_trajectory): implement a function to construct trajectory class for reference path (#469) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

  • test(autoware_lanelet2_utils): fix threshold to avoid precision-related failures (#506)

  • feat: support ROS 2 Jazzy (#487)

    • fix ekf_localizer
    • fix lanelet2_map_loader_node
    • MUST REVERT
    • fix pybind
    • fix depend
    • add buildtool
    • remove
    • revert
    • find_package
    • wip
    • remove embed
    • find python_cmake_module
    • public
    • remove ament_cmake_python
    • fix autoware_trajectory
    • add .lcovrc
    • fix egm
    • use char*
    • use global
    • namespace
    • string view
    • clock
    • version
    • wait
    • fix egm2008-1
    • typo
    • fixing
    • fix egm2008-1
    • MUST REVERT
    • fix egm2008-1
    • fix twist_with_covariance

    * Revert "MUST REVERT" This reverts commit 93b7a57f99dccf571a01120132348460dbfa336e.

    • namespace
    • fix qos
    • revert some
    • comment

    * Revert "MUST REVERT" This reverts commit 7a680a796a875ba1dabc7e714eaea663d1e5c676.

    • fix dungling pointer
    • fix memory alignment
    • ignored

    * spellcheck ---------

  • feat(autoware_lanelet2_utils): refactor interpolation and

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ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-10-03
Dev Status DEVELOPED
Released RELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lanelet2_utils package

Additional Links

No additional links.

Maintainers

  • Mamoru Sobue
  • Maxime Clement
  • Kosuke Takeuchi

Authors

  • Mamoru Sobue

autoware_lanelet2_utils

Nomenclature

This package aims to strictly define the meaning of several words to clarify the documentation and API’s scope. In the table below, codespace words are given specific meanings when used in the API and API description. italic words are emphasized to indicate that it refers to social common sense which often comes with ambiguity. To help disambiguate the meaning, illustration is provided. “Lanelet” refers to the entity of alanelet::ConstLanelet object in order to distinguish with the word “lane” used in social customs. A and B stands for some Lanelets objects.

Word Meaning Illustration
driving The vehicle position belongs to the designated Lanelet. In each map, green Lanelet are the driving lanes of the vehicle.
driving
Open
boundary,
entry,
exit
The boundary of a Lanelet refers to the left or right Linestring. boundary_entry_exit
Open
adjacent If A is adjacent to B, A and B share a common boundary with same direction either on the left or right side. In each map, orange Lanelet is adjacent to green Lanelet.
adjacent
Open
same_direction Lanelet A and Lanelet B are same_direction if A and B are directly or indirectly adjacent to each other. In each map, orange Lanelets are same_direction as green Lanelet.
same_direction
Open
bundle A bundle refers to a transitive closure set of Lanelets which are same_direction to each other. The enclosed sets of Lanelets are bundles.
bundle
Open
opposite If A is opposite to B, A and B share a common boundary with opposite direction. In the first map, green Lanelet and orange Lanelet are opposite to each other.
In the second map, two red Lanelets are not opposite relation because they do not share a common LineString.
opposite
Open
opposite_direction If A and B are opposite_direction, the bundle of A and B are directly opposite to each other. In the each map, green Lanelet and orange Lanelet are opposite_direction because their bundles(enclosed in dotted line) are opposite relation.
opposite_direction
Open
connected A is connected to(from) B if and only if the exit(entry) of A is identical to the entry(exit) of B. A is connected to B, and B is connected from A.
connected
Open
following The following Lanelets of A is the list of Lanelets to which A is connected. In each map, orange Lanelets are the following of green Lanelet.
following
Open
previous The previous Lanelets of A is the list of Lanelets from which A is connected. In each map, orange Lanelets are the previous of green Lanelet.
previous
Open
conflicting A is conflicting with B if A and B are geometrically intersecting.  
merging A is said to be merging Lanelet of B if and only if A is conflicting with B and both A and B are connected to a common Lanelet. In each map, one of the orange Lanelet is a merging Lanelet of the other orange Lanelet.
merging
Open
sibling The designated Lanelets are referred to as sibling if all of them are connected from a common Lanelet. In each map, orange Lanelets are siblings.
sibling
Open
oncoming TBD TBD
upcoming TBD TBD
sequence sequence is a list of Lanelets whose each element is connected from or adjacent to the previous element. sequence
Open
current_route_lanelet current_route_lanelet is one of the lanelet within the route which serves as the reference for ego position.  

API description

Header function description average computational complexity illustration  
<autoware/lanelet2_utils/conversion.hpp> load_mgrs_coordinate_map(path, centerline_resolution) Instantiate a LaneletMap object from given path to .osm file. Also it sets more dense centerline(at the interval of centerline_resolution) than default Lanelet2 library, to help improve Planning accuracy.      
  instantiate_routing_graph_and_traffic_rules This function creates a RoutingGraph and TrafficRules object only from “road” lanes for Vehicle participant, which means “road_shoulder”,”bicycle_lane”, “crosswalk”, etc. Lanelets are inaccessible from left/right adjacency.      
  <ul><li>from_autoware_map_msgs(...)</li><li>to_autoware_map_msgs(...)</li></ul> Convert LaneletMap object from/to autoware_mapping_msgs::LaneletMapBin message      
           
<autoware/lanelet2_utils/kind.hpp> is_road_lane This function returns true if the input Lanelet is road subtype. $O(1)$    
  is_shoulder_lane This function returns true if the input Lanelet is road_shoulder subtype. $O(1)$    
  is_bicycle_lane This function returns true if the input Lanelet is bicycle_lane subtype. $O(1)$    
           
<autoware/lanelet2_utils/hatched_road_markings.hpp> get_adjacent_hatched_road_markings Returns polygons with type hatched_road_markings that touch the left/right bounds of the given lanelet sequence. Polygons are grouped by side and duplicates removed. $O(V)$ where $V$ is the number of boundary vertices inspected    
           
<autoware/lanelet2_utils/topology.hpp> left_opposite_lanelet same as below right_opposite_lanelet $O(1)$
see findUsage for detail
   
  right_opposite_lanelet This functions returns the right opposite Lanelet of the input Lanelet if available, otherwise returns null. $O(1)$
see findUsage for detail
In the first and second map, the green Lanelet is the right_opposite_lanelet of the orange Lanelet.
In the third map, the right_opposite_lanelet of the orange Lanelet is null.
right_opposite_lanelet
Open
 
  following_lanelets This function returns the following Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets to which the input is connected to.    
  previous_lanelets This function returns the previous Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets from which the input is connected from.    
  sibling_lanelets This function returns the sibling Lanelets of the input Lanelet excluding itself. The order is not defined. $O(E)$ where $E$ is the number of sibling Lanelets    
  from_ids This function returns Lanelet objects in the same order as the input IDs. $O(n)$    
           
<autoware/lanelet2_utils/intersection.hpp> is_intersection_lanelet This function returns true if and only if the input Lanelet has turn_direction attribute. $O(1)$    
  <ul><li>is_straight_lanelet</li><li>is_left_lanelet</li><li>is_right_lanelet</li></ul> This function returns true if and only if the input Lanelet has turn_direction attribute and its value is straight/left/right. $O(1)$    
           
<autoware/lanelet2_utils/lane_sequence.hpp class LaneSequence This class internally holds lanelet::ConstLanelets such that they are consecutive on the routing graph.      
  class invariance .as_lanelets() return Lanelets that are consecutive on the routing graph      
  create(lanelets, routing_graph) Return an optional of LaneSequence class that satisfies the invariance      
  .as_lanelets() Return the underlying lanelet::ConstLanelets      
           
<autoware/lanelet2_utils/nn_search.hpp> get_closest_lanelet(lanelets, pose) This function retrieves the lanelet which gives the smallest distance to given pose(if it is within a lanelet, it gives zero distance) and whose centerline is closest to the given orientation among them $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_closest_lanelet_within_constraint(lanelets, pose, dist_thresh, yaw_thresh) In addition to get_closest_lanelet, it filters lanelets whose distance to pose is $\leq$ dist_thresh and yaw angle difference is $\leq$ yaw_thresh $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_road_lanelets_at(lanelet_map, x, y) Retrieve all “road” Lanelets at given position R-tree    
  get_shoulder_lanelets_at(lanelet_map, x, y) Retrieve all “road_shoulder” Lanelets at given position R-tree    
  class LaneletRTree class LaneletRTree constructs R-tree structure from given Lanelets and provides more efficient operations.      
  .get_closest_lanelet(pose) Efficient version of get_closest_lanelet R-tree    
  .get_closest_lanelet_within_constraint(pose, dist_thresh, yaw_thresh) Efficient version of get_closest_lanelet_within_constraint R-tree    
           
<autoware/lanelet2_utils/map_handler.hpp> class MapHandler class MapHandler provides convenient functions related to adjacency, VRU lanes, etc. for Planning.      
  class invariance <ul><li>lanelet_map_ptr is not nullptr</li><li>routing_graph_ptr is not nullptr</li><li>traffic_rules_ptr is not nullptr</li></ul>      
  MapHandler::create(...) A factory function to construct under invariance      
  <ul><li>.lanelet_map_ptr()</li><li>.routing_graph_ptr()</li><li>.traffic_rules_ptr()</li></ul> Getter functions      
  .left_lanelet(lanelet, take_sibling, extra_vru) This function ignores the permission of lane change.
If extra_vru is:<ul><li>RoadOnly, it ignores shoulder and bicycle Lanelet</li><li>Shoulder, it searches shoulder Lanelet additionally</li><li>BicycleLane, it searches bicycle_lane Lanelet additionally</li><li>ShoulderAndBicycleLane, it searches shoulder and bicycle_lane Lanelet additionally</li></ul>
$O(1)$ In the first map, the green Lanelet is the left_lanelet of the orange Lanelet.
In the second and third map, the left_lanelet of the orange Lanelet is null.
left_lanelet
Open
 
  .right_lanelet(lanelet, take_sibling, extra_vru) same as above .left_lanelet() $O(1)$    
  .leftmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .left_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first and second map, the green Lanelet is the leftmost_lanelet of the orange Lanelet.
In the third map, the leftmost_lanelet of the orange Lanelet is null.
leftmost_lanelet
Open
 
  .rightmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .right_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelet is the rightmost_lanelet of the orange Lanelet.
In the second and third map, the rightmost_lanelet of the orange Lanelet is null.
rightmost_lanelet
Open
 
  .left_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from left to right. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the left_lanelets of the orange Lanelet.
In the second and third map, left_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the left opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
left_lanelets
Open
 
  .right_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from right to left. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the right_lanelets of the orange Lanelet.
In the second and third map, right_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the right opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
right_lanelets
Open
 
  .get_shoulder_lanelet_sequence(lanelet, forward, backward) This function computes (1) “road_shoulder” Lanelets behind of lanelet by up to backward and (2) “road_shoulder” Lanelets after lanelet by up to forward as a list $O(\textrm{total length})$    
  <ul><li>.left_shoulder_lanelet(lanelet)</li><li>.right_shoulder_lanelet(lanelet)</li><li>.left_bicycle_lanelet(lanelet)</li><li>.right_bicycle_lanelet(lanelet)</li></ul> Retrieve each VRU Lanelet of lanelet if it exists      
           
<autoware/lanelet2_utils/route_manager.hpp> class RouteManager EXTENDS MapHandler class RouteManager is responsible for properly tracking current_route_lanelet along the given route information, considering swerving maneuver and lane change. Also it provides several functions related to current_route_lanelet      
  class invariance <ul><li>current_pose may not be inside of any route_lanelets nor preferred_route_lanelets, because swerving and abrupt localization jump cannot be distinguished. For the same reason current_pose may not be inside of current_route_lanelet</li><li>current_route_lanelet matches one of the route_lanelets</li></ul>      
  RouteManager::create(...) A factory function to construct under invariance      
  Inherits MapHandler’s member functions        
  .update_current_pose(new_pose) This function updates current_route_lanelet on the route based on new_pose. This method should be used for all the cases excluding lane change completion, and current_route_lanelet is updated longitudinally. It is expected to be called in every cycle of planning. $O(1)$ Even if ego vehicle is in the middle swerving, update_current_pose decides next current_route_lanelet longitudinally, as illustrated in thin violet in the figure.
update_current_pose
Open
 
  .commit_lane_change(new_pose) This function updates current_route_lanelet on the route considering lane change.

:warning: It is expected to be called only when lane change execution has succeeded
R-tree Only when lane change has been completed, commit_lane_change() is expected to be called, as illustrated in the the last item of “(2) Lane Change Scenario”.
update_current_pose
Open
 
  .current_lanelet() Get current_route_lanelet Lanelet $O(1)$    
  .get_lanelet_sequence_on_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, only on the route without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output does not contain non-route Lanelets even if the sequence is below specified length, as illustrated in “(1)” in below figure.
get_lanelet_sequence_on_route
Open
 
  .get_lanelet_sequence_on_outward_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, extending to non-route Lanelet if necessary, without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output extends to non-route Lanelets if the route part of the sequence is below specified length, as illustrated in “(2)” in below figure.
get_lanelet_sequence_on_route
Open.
 
  .get_closest_preferred_route_lanelet(...) preferred route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
  .get_closest_route_lanelet_within_constraints(...) route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
           
Native R-tree API .laneletLayer, .pointLayer, etc. have following member functions<ul><li>PrimitiveLayer::nearest(point, n)</li><li>PrimitiveLayer::nearestUntil(point, cond)</li></ul> Against the input point, this function approximately returns elements of given layer in the ascending order of distance by specified number n(reference). Note that they can return inaccurate distance. R-tree    
  <ul><li>PrimitiveLayer::search(area)</li><li>PrimitiveLayer::searchUntil(area, cond)</li></ul> This function approximately searches for the object within the specified area(reference) R-tree    
<lanelet2_core/LaneletMap.h> findNearest(layer, point, n) On the given primitive layer, this function approximately returns n closest elements to given point in the ascending order of distance(reference) R-tree    
<lanelet2_core/geometry/LaneletMap.h> findWithin2d(layer, geometry, max_dist) On the given primitive layer, this function returns the elements whose distance to given geometry is less than max_dist precisely R-tree    

Notes

About Boost.Geometry R-tree

This slide is useful for understanding Boost.Geometry R-tree features.

!!! tip Tip

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_lanelet2_utils

1.1.0 (2025-05-01)

  • refactor(autoware_lanelet2_utils)!: move everything to namespace experimental (#372)

  • refactor(autoware_lanelet2_utils): rewrite using modern C++ without API breakage (#347)

    • refactor using modern c++
    • precommit
    • fix
    • fix
    • precommit
    • use std::strcmp
    • precommit

    * Revert "refactor using modern c++" This reverts commit 3f7e4953c08f5237dc3bc75db3d896cc9c0640a3. ---------

  • Contributors: Mamoru Sobue, Yutaka Kondo

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble
  • chore: bump version to 1.3.0 (#554)
  • feat(autoware_lanelet2_utils): add hatched_road_markings utility (#565)
  • Contributors: Ryohsuke Mitsudome, Yukinari Hisaki

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat(autoware_trajectory): implement a function to construct trajectory class for reference path (#469) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

  • test(autoware_lanelet2_utils): fix threshold to avoid precision-related failures (#506)

  • feat: support ROS 2 Jazzy (#487)

    • fix ekf_localizer
    • fix lanelet2_map_loader_node
    • MUST REVERT
    • fix pybind
    • fix depend
    • add buildtool
    • remove
    • revert
    • find_package
    • wip
    • remove embed
    • find python_cmake_module
    • public
    • remove ament_cmake_python
    • fix autoware_trajectory
    • add .lcovrc
    • fix egm
    • use char*
    • use global
    • namespace
    • string view
    • clock
    • version
    • wait
    • fix egm2008-1
    • typo
    • fixing
    • fix egm2008-1
    • MUST REVERT
    • fix egm2008-1
    • fix twist_with_covariance

    * Revert "MUST REVERT" This reverts commit 93b7a57f99dccf571a01120132348460dbfa336e.

    • namespace
    • fix qos
    • revert some
    • comment

    * Revert "MUST REVERT" This reverts commit 7a680a796a875ba1dabc7e714eaea663d1e5c676.

    • fix dungling pointer
    • fix memory alignment
    • ignored

    * spellcheck ---------

  • feat(autoware_lanelet2_utils): refactor interpolation and

File truncated at 100 lines see the full file

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autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

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humble

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-10-03
Dev Status DEVELOPED
Released RELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lanelet2_utils package

Additional Links

No additional links.

Maintainers

  • Mamoru Sobue
  • Maxime Clement
  • Kosuke Takeuchi

Authors

  • Mamoru Sobue

autoware_lanelet2_utils

Nomenclature

This package aims to strictly define the meaning of several words to clarify the documentation and API’s scope. In the table below, codespace words are given specific meanings when used in the API and API description. italic words are emphasized to indicate that it refers to social common sense which often comes with ambiguity. To help disambiguate the meaning, illustration is provided. “Lanelet” refers to the entity of alanelet::ConstLanelet object in order to distinguish with the word “lane” used in social customs. A and B stands for some Lanelets objects.

Word Meaning Illustration
driving The vehicle position belongs to the designated Lanelet. In each map, green Lanelet are the driving lanes of the vehicle.
driving
Open
boundary,
entry,
exit
The boundary of a Lanelet refers to the left or right Linestring. boundary_entry_exit
Open
adjacent If A is adjacent to B, A and B share a common boundary with same direction either on the left or right side. In each map, orange Lanelet is adjacent to green Lanelet.
adjacent
Open
same_direction Lanelet A and Lanelet B are same_direction if A and B are directly or indirectly adjacent to each other. In each map, orange Lanelets are same_direction as green Lanelet.
same_direction
Open
bundle A bundle refers to a transitive closure set of Lanelets which are same_direction to each other. The enclosed sets of Lanelets are bundles.
bundle
Open
opposite If A is opposite to B, A and B share a common boundary with opposite direction. In the first map, green Lanelet and orange Lanelet are opposite to each other.
In the second map, two red Lanelets are not opposite relation because they do not share a common LineString.
opposite
Open
opposite_direction If A and B are opposite_direction, the bundle of A and B are directly opposite to each other. In the each map, green Lanelet and orange Lanelet are opposite_direction because their bundles(enclosed in dotted line) are opposite relation.
opposite_direction
Open
connected A is connected to(from) B if and only if the exit(entry) of A is identical to the entry(exit) of B. A is connected to B, and B is connected from A.
connected
Open
following The following Lanelets of A is the list of Lanelets to which A is connected. In each map, orange Lanelets are the following of green Lanelet.
following
Open
previous The previous Lanelets of A is the list of Lanelets from which A is connected. In each map, orange Lanelets are the previous of green Lanelet.
previous
Open
conflicting A is conflicting with B if A and B are geometrically intersecting.  
merging A is said to be merging Lanelet of B if and only if A is conflicting with B and both A and B are connected to a common Lanelet. In each map, one of the orange Lanelet is a merging Lanelet of the other orange Lanelet.
merging
Open
sibling The designated Lanelets are referred to as sibling if all of them are connected from a common Lanelet. In each map, orange Lanelets are siblings.
sibling
Open
oncoming TBD TBD
upcoming TBD TBD
sequence sequence is a list of Lanelets whose each element is connected from or adjacent to the previous element. sequence
Open
current_route_lanelet current_route_lanelet is one of the lanelet within the route which serves as the reference for ego position.  

API description

Header function description average computational complexity illustration  
<autoware/lanelet2_utils/conversion.hpp> load_mgrs_coordinate_map(path, centerline_resolution) Instantiate a LaneletMap object from given path to .osm file. Also it sets more dense centerline(at the interval of centerline_resolution) than default Lanelet2 library, to help improve Planning accuracy.      
  instantiate_routing_graph_and_traffic_rules This function creates a RoutingGraph and TrafficRules object only from “road” lanes for Vehicle participant, which means “road_shoulder”,”bicycle_lane”, “crosswalk”, etc. Lanelets are inaccessible from left/right adjacency.      
  <ul><li>from_autoware_map_msgs(...)</li><li>to_autoware_map_msgs(...)</li></ul> Convert LaneletMap object from/to autoware_mapping_msgs::LaneletMapBin message      
           
<autoware/lanelet2_utils/kind.hpp> is_road_lane This function returns true if the input Lanelet is road subtype. $O(1)$    
  is_shoulder_lane This function returns true if the input Lanelet is road_shoulder subtype. $O(1)$    
  is_bicycle_lane This function returns true if the input Lanelet is bicycle_lane subtype. $O(1)$    
           
<autoware/lanelet2_utils/hatched_road_markings.hpp> get_adjacent_hatched_road_markings Returns polygons with type hatched_road_markings that touch the left/right bounds of the given lanelet sequence. Polygons are grouped by side and duplicates removed. $O(V)$ where $V$ is the number of boundary vertices inspected    
           
<autoware/lanelet2_utils/topology.hpp> left_opposite_lanelet same as below right_opposite_lanelet $O(1)$
see findUsage for detail
   
  right_opposite_lanelet This functions returns the right opposite Lanelet of the input Lanelet if available, otherwise returns null. $O(1)$
see findUsage for detail
In the first and second map, the green Lanelet is the right_opposite_lanelet of the orange Lanelet.
In the third map, the right_opposite_lanelet of the orange Lanelet is null.
right_opposite_lanelet
Open
 
  following_lanelets This function returns the following Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets to which the input is connected to.    
  previous_lanelets This function returns the previous Lanelets of the input Lanelet. The order is not defined. $O(E)$ where $E$ is the number of Lanelets from which the input is connected from.    
  sibling_lanelets This function returns the sibling Lanelets of the input Lanelet excluding itself. The order is not defined. $O(E)$ where $E$ is the number of sibling Lanelets    
  from_ids This function returns Lanelet objects in the same order as the input IDs. $O(n)$    
           
<autoware/lanelet2_utils/intersection.hpp> is_intersection_lanelet This function returns true if and only if the input Lanelet has turn_direction attribute. $O(1)$    
  <ul><li>is_straight_lanelet</li><li>is_left_lanelet</li><li>is_right_lanelet</li></ul> This function returns true if and only if the input Lanelet has turn_direction attribute and its value is straight/left/right. $O(1)$    
           
<autoware/lanelet2_utils/lane_sequence.hpp class LaneSequence This class internally holds lanelet::ConstLanelets such that they are consecutive on the routing graph.      
  class invariance .as_lanelets() return Lanelets that are consecutive on the routing graph      
  create(lanelets, routing_graph) Return an optional of LaneSequence class that satisfies the invariance      
  .as_lanelets() Return the underlying lanelet::ConstLanelets      
           
<autoware/lanelet2_utils/nn_search.hpp> get_closest_lanelet(lanelets, pose) This function retrieves the lanelet which gives the smallest distance to given pose(if it is within a lanelet, it gives zero distance) and whose centerline is closest to the given orientation among them $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_closest_lanelet_within_constraint(lanelets, pose, dist_thresh, yaw_thresh) In addition to get_closest_lanelet, it filters lanelets whose distance to pose is $\leq$ dist_thresh and yaw angle difference is $\leq$ yaw_thresh $O(N)$ where $N$ is the number of input lanelets

:warning: “Native R-tree API” and LaneletRTree is much more efficient
   
  get_road_lanelets_at(lanelet_map, x, y) Retrieve all “road” Lanelets at given position R-tree    
  get_shoulder_lanelets_at(lanelet_map, x, y) Retrieve all “road_shoulder” Lanelets at given position R-tree    
  class LaneletRTree class LaneletRTree constructs R-tree structure from given Lanelets and provides more efficient operations.      
  .get_closest_lanelet(pose) Efficient version of get_closest_lanelet R-tree    
  .get_closest_lanelet_within_constraint(pose, dist_thresh, yaw_thresh) Efficient version of get_closest_lanelet_within_constraint R-tree    
           
<autoware/lanelet2_utils/map_handler.hpp> class MapHandler class MapHandler provides convenient functions related to adjacency, VRU lanes, etc. for Planning.      
  class invariance <ul><li>lanelet_map_ptr is not nullptr</li><li>routing_graph_ptr is not nullptr</li><li>traffic_rules_ptr is not nullptr</li></ul>      
  MapHandler::create(...) A factory function to construct under invariance      
  <ul><li>.lanelet_map_ptr()</li><li>.routing_graph_ptr()</li><li>.traffic_rules_ptr()</li></ul> Getter functions      
  .left_lanelet(lanelet, take_sibling, extra_vru) This function ignores the permission of lane change.
If extra_vru is:<ul><li>RoadOnly, it ignores shoulder and bicycle Lanelet</li><li>Shoulder, it searches shoulder Lanelet additionally</li><li>BicycleLane, it searches bicycle_lane Lanelet additionally</li><li>ShoulderAndBicycleLane, it searches shoulder and bicycle_lane Lanelet additionally</li></ul>
$O(1)$ In the first map, the green Lanelet is the left_lanelet of the orange Lanelet.
In the second and third map, the left_lanelet of the orange Lanelet is null.
left_lanelet
Open
 
  .right_lanelet(lanelet, take_sibling, extra_vru) same as above .left_lanelet() $O(1)$    
  .leftmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .left_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first and second map, the green Lanelet is the leftmost_lanelet of the orange Lanelet.
In the third map, the leftmost_lanelet of the orange Lanelet is null.
leftmost_lanelet
Open
 
  .rightmost_lanelet(lanelet, take_sibling, extra_vru) This function recursively searches .right_lanelet() of input lanelet. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelet is the rightmost_lanelet of the orange Lanelet.
In the second and third map, the rightmost_lanelet of the orange Lanelet is null.
rightmost_lanelet
Open
 
  .left_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from left to right. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the left_lanelets of the orange Lanelet.
In the second and third map, left_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the left opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
left_lanelets
Open
 
  .right_lanelets(lanelet, include_opposite) The input Lanelet is not included in the output, and output is ordered from right to left. $O(W)$ where $W$ is the size of the bundle. In the first map, the green Lanelets are the right_lanelets of the orange Lanelet.
In the second and third map, right_lanelets of the orange Lanelet is empty.
If the flag include_opposite = true, the right opposite Lanelet and all of its same_direction Lanelets area also retrieved as illustrated in the fourth and fifth maps.
right_lanelets
Open
 
  .get_shoulder_lanelet_sequence(lanelet, forward, backward) This function computes (1) “road_shoulder” Lanelets behind of lanelet by up to backward and (2) “road_shoulder” Lanelets after lanelet by up to forward as a list $O(\textrm{total length})$    
  <ul><li>.left_shoulder_lanelet(lanelet)</li><li>.right_shoulder_lanelet(lanelet)</li><li>.left_bicycle_lanelet(lanelet)</li><li>.right_bicycle_lanelet(lanelet)</li></ul> Retrieve each VRU Lanelet of lanelet if it exists      
           
<autoware/lanelet2_utils/route_manager.hpp> class RouteManager EXTENDS MapHandler class RouteManager is responsible for properly tracking current_route_lanelet along the given route information, considering swerving maneuver and lane change. Also it provides several functions related to current_route_lanelet      
  class invariance <ul><li>current_pose may not be inside of any route_lanelets nor preferred_route_lanelets, because swerving and abrupt localization jump cannot be distinguished. For the same reason current_pose may not be inside of current_route_lanelet</li><li>current_route_lanelet matches one of the route_lanelets</li></ul>      
  RouteManager::create(...) A factory function to construct under invariance      
  Inherits MapHandler’s member functions        
  .update_current_pose(new_pose) This function updates current_route_lanelet on the route based on new_pose. This method should be used for all the cases excluding lane change completion, and current_route_lanelet is updated longitudinally. It is expected to be called in every cycle of planning. $O(1)$ Even if ego vehicle is in the middle swerving, update_current_pose decides next current_route_lanelet longitudinally, as illustrated in thin violet in the figure.
update_current_pose
Open
 
  .commit_lane_change(new_pose) This function updates current_route_lanelet on the route considering lane change.

:warning: It is expected to be called only when lane change execution has succeeded
R-tree Only when lane change has been completed, commit_lane_change() is expected to be called, as illustrated in the the last item of “(2) Lane Change Scenario”.
update_current_pose
Open
 
  .current_lanelet() Get current_route_lanelet Lanelet $O(1)$    
  .get_lanelet_sequence_on_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, only on the route without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output does not contain non-route Lanelets even if the sequence is below specified length, as illustrated in “(1)” in below figure.
get_lanelet_sequence_on_route
Open
 
  .get_lanelet_sequence_on_outward_route(forward, backward) This function computes (1) Lanelets behind of current_route_lanelet by up to backward and (2) Lanelets after current_route_lanelet by up to forward as a list, extending to non-route Lanelet if necessary, without lane change. The length is measured from current_pose with respect to current_route_lanelet. $O(\textrm{total length})$ From current_route_lanelet, the output contains the Lanelets by up to given distance in backward/forward direction. The output extends to non-route Lanelets if the route part of the sequence is below specified length, as illustrated in “(2)” in below figure.
get_lanelet_sequence_on_route
Open.
 
  .get_closest_preferred_route_lanelet(...) preferred route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
  .get_closest_route_lanelet_within_constraints(...) route lanelet limited version of get_closest_lanelet_within_constraint R-tree    
           
Native R-tree API .laneletLayer, .pointLayer, etc. have following member functions<ul><li>PrimitiveLayer::nearest(point, n)</li><li>PrimitiveLayer::nearestUntil(point, cond)</li></ul> Against the input point, this function approximately returns elements of given layer in the ascending order of distance by specified number n(reference). Note that they can return inaccurate distance. R-tree    
  <ul><li>PrimitiveLayer::search(area)</li><li>PrimitiveLayer::searchUntil(area, cond)</li></ul> This function approximately searches for the object within the specified area(reference) R-tree    
<lanelet2_core/LaneletMap.h> findNearest(layer, point, n) On the given primitive layer, this function approximately returns n closest elements to given point in the ascending order of distance(reference) R-tree    
<lanelet2_core/geometry/LaneletMap.h> findWithin2d(layer, geometry, max_dist) On the given primitive layer, this function returns the elements whose distance to given geometry is less than max_dist precisely R-tree    

Notes

About Boost.Geometry R-tree

This slide is useful for understanding Boost.Geometry R-tree features.

!!! tip Tip

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_lanelet2_utils

1.1.0 (2025-05-01)

  • refactor(autoware_lanelet2_utils)!: move everything to namespace experimental (#372)

  • refactor(autoware_lanelet2_utils): rewrite using modern C++ without API breakage (#347)

    • refactor using modern c++
    • precommit
    • fix
    • fix
    • precommit
    • use std::strcmp
    • precommit

    * Revert "refactor using modern c++" This reverts commit 3f7e4953c08f5237dc3bc75db3d896cc9c0640a3. ---------

  • Contributors: Mamoru Sobue, Yutaka Kondo

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble
  • chore: bump version to 1.3.0 (#554)
  • feat(autoware_lanelet2_utils): add hatched_road_markings utility (#565)
  • Contributors: Ryohsuke Mitsudome, Yukinari Hisaki

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat(autoware_trajectory): implement a function to construct trajectory class for reference path (#469) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

  • test(autoware_lanelet2_utils): fix threshold to avoid precision-related failures (#506)

  • feat: support ROS 2 Jazzy (#487)

    • fix ekf_localizer
    • fix lanelet2_map_loader_node
    • MUST REVERT
    • fix pybind
    • fix depend
    • add buildtool
    • remove
    • revert
    • find_package
    • wip
    • remove embed
    • find python_cmake_module
    • public
    • remove ament_cmake_python
    • fix autoware_trajectory
    • add .lcovrc
    • fix egm
    • use char*
    • use global
    • namespace
    • string view
    • clock
    • version
    • wait
    • fix egm2008-1
    • typo
    • fixing
    • fix egm2008-1
    • MUST REVERT
    • fix egm2008-1
    • fix twist_with_covariance

    * Revert "MUST REVERT" This reverts commit 93b7a57f99dccf571a01120132348460dbfa336e.

    • namespace
    • fix qos
    • revert some
    • comment

    * Revert "MUST REVERT" This reverts commit 7a680a796a875ba1dabc7e714eaea663d1e5c676.

    • fix dungling pointer
    • fix memory alignment
    • ignored

    * spellcheck ---------

  • feat(autoware_lanelet2_utils): refactor interpolation and

File truncated at 100 lines see the full file

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