Pathfinding and routing in Lanelet2
Poggenhans & Janosovits, IEEE ITSC 2020: Lanelet2 builds the routing graph at runtime rather than storing it, so the same map can be queried for the ego vehicle, other road users, and changing traffic rules.
The Lanelet2 library, documentation, Python package, and first-party papers — start here.
The C++ library with Python bindings, ROS/ROS2, Docker, and Conan. BSD-3 licensed.
Open repository ↗Primitives, architecture, geometry, projections, and map tagging — the official docs site.
Read the docs ↗Install the Python bindings with pip: pip install lanelet2.
View on PyPI ↗Poggenhans et al., IEEE ITSC 2018: the original HD-map framework paper — consistent primitives, routing, and an extensible model for autonomous driving.
PDF ↗Poggenhans & Janosovits, IEEE ITSC 2020: Lanelet2 builds the routing graph at runtime rather than storing it, so the same map can be queried for the ego vehicle, other road users, and changing traffic rules.
