Question: How to create a map when 2 lanes merging into 1 lane?

[felixf4xu]

Hi,

I would like to create a map like this: lanelet id 2 (circled in green) and lanelet id 3 (circled in yellow) are merging into lanelet id 1.

I would like to make lane change possible from lanelet 2 to lanelet 3, in this case, what is the relationship between id 2 and 3? I'm referrring to this type:

 enum class RelationType : uint8_t {
   None = 0,                 
   Successor = 0b1,          
   Left = 0b10,              
   Right = 0b100,            
   AdjacentLeft = 0b1000,    
   AdjacentRight = 0b10000,  
   Conflicting = 0b100000,   
   Area = 0b1000000          
 };

[poggenhans]

2 and 3 will be conflicting, to indicate a vehicle on 2 would be in the path of a vehicle on 3 (or vica versa) and hence a collision is possible.

It's not possible to make a lane change from 2 to 3, since they don't share a common border. If you want to indicate that a vehicle on 2 can use the whole area when driving towards 1, you could increase the left border of 2 so that 2 covers the whole area of 3.

[felixf4xu]

@poggenhans Thanks for the comment.

I tried to merge 2 and 3 into one new lanelet, but then I can't find a route from 4 (or 5) to 1. Lanelet 4 (or 5) does not take the new merged lanelet as its next lanelet.

I'm using RoutingGraph::getRoute() to get the route.

[poggenhans]

Merging the two into a single lanelet won't work. But you could e.g. extend the right border of lanelet 3 so that it also includes the first point of the right border of lanelet 2. The result is that a vehicle coming from 5 and driving towards 1 has the full combined area of 2 and 3 at its disposal for driving.