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AutowareFoundation

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carla-ue5-maps

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The Autoware Foundation 24

Town10HD_Opt's 33 stop lines (30 traffic lights, 3 stop signs) sat 0.4-4.1 m short of the stop lines CARLA paints, measured along the lane. Each now lies on the StopLine object the town's OpenDRIVE places across its lane, which is where the paint is.

Why it matters. A vehicle that stops at the painted line had already crossed the map's stop line, so anything that judges a stop by the map, such as a red-light check, failed a car that stopped where the road says to. Checked in CARLA: an ego with its bumper 0.4-3.9 m short of the paint was reported as having crossed the line.

How each line was moved.

• The StopLine outline is evaluated from the OpenDRIVE geometry: the reference line (lines and arcs) at the object's s, offset by t, with the outline turned by the road's heading plus the object's hdg. The OpenDRIVE inertial frame is this map's local frame.
• The lane direction comes from the centreline of the lanelet that carries the stop line's regulatory element, as Lanelet2 reads it.
• Each end of the stop line moves along that direction onto the StopLine that crosses the lane.

The edit.

• 51 new nodes, one per old end node: an end two neighbouring stop lines shared (15 of them) is still one node, at the mean of where the two lines put it (they agree to within millimetres). local_x/local_y are as computed; lat/lon come from the map's own linear relation to them (a least-squares fit over every node, residual under 0.1 mm); ele is 0.0 like the rest of the map.
• The 33 stop_line ways now reference the new nodes. Their old end nodes are the lane bounds' points and stay where they were.
• Nothing else changes: no ids are renumbered, and the regulatory elements, lanelets and bounds are untouched.

Checked.

• Re-measured against the OpenDRIVE, every stop line reads 0.00 m.
• Rendered top-down in CARLA (Town10HD_Opt, UE5), the moved lines lie on the paint, including the ones that were drawn skewed.
• Loaded by autoware_carla_scenario: the 10 runs of a red-light sweep that it had judged as crossing on red end 0.38-4.1 m before the moved line, as the paint shows.

🤖 Generated with Claude Code

https://claude.ai/code/session_01RVDWXJs3WKZx7KruLfASrT