Map manager
OpenCDA now adds a new component map_manager for each cav. It will dynamically load road topology, traffic light information, and dynamic
objects information around the ego vehicle and save them into rasterized map, which can be useful for RL planning, HDMap learning, scene understanding, etc.
Key elements in the rasterization map:
- Drivable space colored by black
- Lanes
- Red lane: the lanes that are controlled by red traffic lights
- Green lane: the lanes that are controlled by green traffic lights
- Yellow lane: the lanes that are not effected by any traffic light
- Objects are colored by white and represented as rectangles