feat(lanelet2_map_validator): add validator to check whether intersec…

…tion lanelets have valid turn_direction tags (#186) * Added validator which checks the "turn_direction" tag in intersection_areas Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * Added test code for mapping.intersection.turn_direction_tagging Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * Added document for mapping.intersection.turn_direction_tagging Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * Added mapping.intersection.turn_direction_tagging to autoware_requirement_set.json Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * Fixed spelling errors Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> * Removed crosswalk boundaries from test map Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> --------- Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
autowarefoundation · Jan 14, 2025 · 6883c3d · 6883c3d
1 parent efcedc2
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diff --git a/map/autoware_lanelet2_map_validator/autoware_requirement_set.json b/map/autoware_lanelet2_map_validator/autoware_requirement_set.json
@@ -16,6 +16,14 @@
         }
       ]
     },
+    {
+      "id": "vm-03-02",
+      "validators": [
+        {
+          "name": "mapping.intersection.turn_direction_tagging"
+        }
+      ]
+    },
     {
       "id": "vm-03-08",
       "validators": [

diff --git a/map/autoware_lanelet2_map_validator/docs/intersection/turn_direction_tagging.md b/map/autoware_lanelet2_map_validator/docs/intersection/turn_direction_tagging.md
@@ -0,0 +1,21 @@
+# turn_direction_tagging
+
+## Validator name
+
+mapping.intersection.turn_direction_tagging
+
+## Feature
+
+This validator checks whether lanelets inside the `intersection_area` polygon have a `turn_direction` tag and it is set to "straight", "left", or "right".
+
+The validator will output the following issues with the corresponding primitive ID.
+
+| Issue Code                            | Message                                              | Severity | Primitive | Description                                                                                                        | Approach                                                                                                                                                             |
+| ------------------------------------- | ---------------------------------------------------- | -------- | --------- | ------------------------------------------------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Intersection.TurnDirectionTagging-001 | "This lanelet is missing a turn_direction tag."      | Error    | Lanelet   | Lanelets at intersections must have a `turn_direction` tag but this lanelet doesn't have it.                       | Set a `turn_direction` tag to the lanelet with a value of `straight`, `left` or `right`. This tells the vehicle whether to use the blinkers or not at intersections. |
+| Intersection.TurnDirectionTagging-002 | "Invalid turn_direction tag <INVALID_TAG> is found." | Error    | Lanelet   | The `turn_direction` tag of this lanelet is set to <INVALID_TAG> while it has to be `straight`, `left` or `right`. | Fix the tag value to `straight`, `left` or `right`.                                                                                                                  |
+
+## Related source codes
+
+- turn_direction_tagging.cpp
+- turn_direction_tagging.hpp
diff --git a/...tor/src/include/lanelet2_map_validator/validators/intersection/turn_direction_tagging.hpp b/...tor/src/include/lanelet2_map_validator/validators/intersection/turn_direction_tagging.hpp
@@ -0,0 +1,39 @@
+// Copyright 2025 Autoware Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__TURN_DIRECTION_TAGGING_HPP_  // NOLINT
+#define LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__TURN_DIRECTION_TAGGING_HPP_  // NOLINT
+
+#include <lanelet2_validation/Validation.h>
+#include <lanelet2_validation/ValidatorFactory.h>
+
+namespace lanelet::autoware::validation
+{
+class IntersectionTurnDirectionTaggingValidator : public lanelet::validation::MapValidator
+{
+public:
+  constexpr static const char * name() { return "mapping.intersection.turn_direction_tagging"; }
+
+  lanelet::validation::Issues operator()(const lanelet::LaneletMap & map) override;
+
+private:
+  lanelet::validation::Issues checkTurnDirectionTagging(const lanelet::LaneletMap & map);
+  bool lanelet_is_within_intersection_area2d(
+    const lanelet::BasicPolygon2d & intersection_area2d, const lanelet::ConstLanelet & lanelet);
+};
+}  // namespace lanelet::autoware::validation
+
+// clang-format off
+#endif  // LANELET2_MAP_VALIDATOR__VALIDATORS__INTERSECTION__TURN_DIRECTION_TAGGING_HPP_  // NOLINT
+// clang-format on
diff --git a/map/autoware_lanelet2_map_validator/src/validators/intersection/turn_direction_tagging.cpp b/map/autoware_lanelet2_map_validator/src/validators/intersection/turn_direction_tagging.cpp
@@ -0,0 +1,112 @@
+// Copyright 2025 Autoware Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "lanelet2_map_validator/validators/intersection/turn_direction_tagging.hpp"
+
+#include "lanelet2_map_validator/utils.hpp"
+
+#include <boost/geometry/geometry.hpp>
+
+#include <lanelet2_core/LaneletMap.h>
+#include <lanelet2_core/geometry/Polygon.h>
+#include <lanelet2_core/primitives/BoundingBox.h>
+#include <lanelet2_core/primitives/Polygon.h>
+
+#include <set>
+#include <string>
+
+namespace lanelet::autoware::validation
+{
+namespace
+{
+lanelet::validation::RegisterMapValidator<IntersectionTurnDirectionTaggingValidator> reg;
+}
+
+lanelet::validation::Issues IntersectionTurnDirectionTaggingValidator::operator()(
+  const lanelet::LaneletMap & map)
+{
+  lanelet::validation::Issues issues;
+
+  lanelet::autoware::validation::appendIssues(issues, checkTurnDirectionTagging(map));
+
+  return issues;
+}
+
+lanelet::validation::Issues IntersectionTurnDirectionTaggingValidator::checkTurnDirectionTagging(
+  const lanelet::LaneletMap & map)
+{
+  lanelet::validation::Issues issues;
+  const std::set<std::string> direction_set = {"left", "straight", "right"};
+
+  for (const lanelet::ConstPolygon3d & polygon3d : map.polygonLayer) {
+    if (
+      !polygon3d.hasAttribute(lanelet::AttributeName::Type) ||
+      polygon3d.attribute(lanelet::AttributeName::Type).value() != "intersection_area") {
+      continue;
+    }
+
+    lanelet::BasicPolygon2d intersection_area2d = lanelet::traits::toBasicPolygon2d(polygon3d);
+    lanelet::BoundingBox2d bbox2d = lanelet::geometry::boundingBox2d(intersection_area2d);
+    lanelet::ConstLanelets nearby_lanelets = map.laneletLayer.search(bbox2d);
+
+    for (const auto & lane : nearby_lanelets) {
+      // Skip lanelets that are not roads and not inside the intersection_area
+      if (
+        !lane.hasAttribute(lanelet::AttributeName::Subtype) ||
+        lane.attribute(lanelet::AttributeName::Subtype).value() !=
+          lanelet::AttributeValueString::Road) {
+        continue;
+      }
+      if (!lanelet_is_within_intersection_area2d(intersection_area2d, lane)) {
+        continue;
+      }
+
+      if (!lane.hasAttribute("turn_direction")) {
+        issues.emplace_back(
+          lanelet::validation::Severity::Error, lanelet::validation::Primitive::Lanelet, lane.id(),
+          append_issue_code_prefix(
+            this->name(), 1, "This lanelet is missing a turn_direction tag."));
+        continue;
+      }
+
+      std::string turn_direction = lane.attribute("turn_direction").value();
+      if (direction_set.find(turn_direction) == direction_set.end()) {
+        issues.emplace_back(
+          lanelet::validation::Severity::Error, lanelet::validation::Primitive::Lanelet, lane.id(),
+          append_issue_code_prefix(
+            this->name(), 2, "Invalid turn_direction tag \"" + turn_direction + "\" is found."));
+      }
+    }
+  }
+
+  return issues;
+}
+
+bool IntersectionTurnDirectionTaggingValidator::lanelet_is_within_intersection_area2d(
+  const lanelet::BasicPolygon2d & intersection_area2d, const lanelet::ConstLanelet & lanelet)
+{
+  for (const auto & left_point : lanelet.leftBound2d()) {
+    if (!boost::geometry::covered_by(left_point.basicPoint(), intersection_area2d)) {
+      return false;
+    }
+  }
+  for (const auto & right_point : lanelet.rightBound2d()) {
+    if (!boost::geometry::covered_by(right_point.basicPoint(), intersection_area2d)) {
+      return false;
+    }
+  }
+  return true;
+}
+
+}  // namespace lanelet::autoware::validation