Method and system for conversion of geodatabase mapping formats into opendrive HD map formats

Abstract

A method of conversion of mapping formats into OpenDrive HD map formats is provided. The method includes retrieving geodatabase data to form a SQL Server or a PostgreSQL database. The method also includes reading one or more shapefiles and one or more OpenStreetMap (OSM) files for extracting relevant road network data. The method also includes checking for one or more missing tables or one or more fields in the database or shapefiles to ensure that one or more required fields are non-null. The method also includes processing the relevant road network data and preparing for conversion. The method also includes creating an OpenDrive (.XODR) file from the relevant road network data, tailored to meet one or more regional traffic simulation specifications for generating an OpenDrive map. The method also includes rendering the OpenDrive map via a user interface to a user, wherein the user is allowed to specify one or more input parameters for editing one or more map elements in the OpenDrive map.

Description

METHOD AND SYSTEM FOR CONVERSION OF GEODATABASE MAPPING FORMATS INTO OPENDRIVE HD MAP FORMATSCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to and the benefit of the provisional patent application titled “METHOD AND SYSTEM FOR CONVERSION OF GEODATABASE MAPPING FORMATS INTO OPENDRIVE HD MAP FORMATS”, with application number 63 / 722,209, filed in the United States Patent and Trade-mark Office on November 19, 2024. The specification of the above referenced patent application is incorporated herein by reference in its entirety.BACKGROUNDTechnical Field

[0002] The present invention generally relates to the field of OpenDrive HD map formats. The present invention more particularly relates to a method and system for conversion of geodatabase mapping formats into OpenDrive HD map formats.Description of the Related Art

[0003] Typically, the development of autonomous driving technology has led to the need for standardized map formats for high-definition (HD) maps. The OpenDrive format is a widely adopted standard for representing road networks in driving simulation environments. However, creating OpenDrive maps is challenging due to the lack of systems that convert commonly used mapping formats such as Geodatabase and OpenStreetMap (OSM) into OpenDrive. The current market has software map format converters which only converts from OpenDrive to other formats and not vice versa and current solutions predominantly convert from OpenDrive to other formats, leaving a gap in the reverse conversion. Another problem in converting Geodatabases with geographical and topological road features is the need to go through a transformation from a point-based feature description into a geometry-based feature description. Currently, the conventional method of doing so is by converting a point-based format like Geodatabase (gdb) to another point-based format, e.g. Apollo OpenDrive format. The benefits of using a geometry-based format is in the compactness of the map file and the ability to perform seamless simulations and visualization using it. This is totally missed when using point-based feature description.

[0004] Hence there is a need to develop a method and system for conversion of geodatabase mapping formats into OpenDrive HD map formats.

[0005] The above-mentioned shortcomings, disadvantages, and problems are addressed herein and will be understood by reading and studying the following specifications.OBJECT OF THE TECHNOLOGY

[0006] A primary object of the embodiments of the present technology is to provide a method for conversion of mapping formats into an OpenDrive HD Map formats.

[0007] Yet another object of the embodiments of the present technology converts a format with features described by 3D points as their building blocks (geodatabase and OSM) to the OpenDrive.

[0008] Yet another object of the embodiments of the present technology creates HD maps and driving scenario simulations.

[0009] Yet another object of the embodiments of the present technology provides a standardized representation of road networks that can be easily exchanged between different systems and applications.

[0010] These and other objectives and advantages of the embodiments of the present technology will become readily apparent from the following detailed description taken in conjunction with the accompanying drawings.SUMMARY

[0011] This summary is provided to introduce a selection of concepts in a simplified form that are further disclosed in the detailed description. This summary is not intended to determine the scope of the claimed subject matter.

[0012] The embodiments herein address the above-recited needs for a system and a method for conversion of geodatabase mapping formats into OpenDrive HD map formats.

[0013] In one aspect a method of conversion of mapping formats into OpenDrive HD map formats is provided. The method includes retrieving geodatabase data form a SQL Server or a PostgreSQL database. The method also includes reading one or more shapefiles and one or more OpenStreetMap (OSM) files for extracting relevant road network data. The method also includes checking for one or more missing tables or one or more fields in the database or shapeflies for ensuring that one or more required fields are non-null. The method also includes processing the relevant road network data and preparing for conversion. The method alsoincludes creating an OpenDrive (. XODR) file from the relevant road network data, tailored to meet one or more regional traffic simulation specifications for generating an OpenDrive map. The method also includes rendering the OpenDrive map via a user interface to a user, where the user is allowed to specify one or more input parameters for editing one or more map elements in the OpenDrive map.

[0014] According to an embodiment, the method further includes receiving one or more connection parameters from a user for the database or selecting a folder including one or more shapefiles or an OpenStreetMap (OSM) file from the user. The method also includes retrieving and validating the connection parameters or the selected folder. The method also includes converting the validated data from a processing module into an OpenDrive format and the method also includes visualizing and editing the OpenDrive map by the user using a user interface.

[0015] According to an embodiment, the one or more connection parameters includes at least database type (SQL Server, PostgreSQL), server IP / name, database name, authentication type (usemame / password, or OS user), username and password which connects to database instance.

[0016] According to an embodiment, the method further includes converting by a processing module a format including of features described by 3D points as building blocks (geodatabase and OSM) into the OpenDrive.

[0017] According to an embodiment, the conversion is built on geometry -based features, which are geometrically described in the format of shape equation parameters.

[0018] According to an embodiment, the OpenDrive HD map format represents a plurality of road networks, from simple roads to complex highway systems, with reliance on a geometry-based feature description.

[0019] According to an embodiment, the OpenDrive format describes road networks and related infrastructure including of at least traffic signs, road markings, and traffic lights for creating HD maps and driving scenario simulations.

[0020] According to an embodiment, OpenDrive describes four types of geometries including of lines, spirals, arcs, and polynomials.

[0021] According to an embodiment, the method further includes an alpha version of the Geo2OpenDrive system, where the system operates by a conversion of ESRI GeoDatabase (SQL database format), ESRI Shapefiles, OpenStreetMap (OSM) to OpenDrive (. XODR) format.

[0022] In another aspect a system for conversion of mapping formats into anOpenDrive HD Map formats is provided. The system includes a processor to fetch and execute computer-readable instructions stored in the memory of the system. The system also includes a memory to store one or more computer-readable instructions or routines in a non-transitory computer-readable storage medium, the one or more computer-readable instructions including one or more executable modules including, a connection module for retrieving geodatabase data form a SQL Server or a PostgreSQL database, a reading module for reading one or more shapefiles and one or more OpenStreetMap (OSM) files for extracting relevant road network data, a validation module for checking for one or more missing tables or one or more fields in the database or shapefiles for ensuring that one or more required fields are non-null, a processing module for processing the relevant road network data and preparing for conversion, a generation module for creating an OpenDrive (. XODR) file from the relevant road network data, tailored to meet one or more regional traffic simulation specifications for generating an OpenDrive map and a user interface module for rendering the OpenDrive map via a user interface to a user, where the user is allowed to specify one or more input parameters for editing one or more map elements in the OpenDrive map.

[0023] According to an embodiment, the system further includes conversion of mapping formats into OpenDrive by receiving one or more connection parameters from a user for the database or selecting a folder including one or more shapefiles or a OpenStreetMap (OSM) file from a user, retrieving and validating the connection parameters or the selected folder, converting the validated data from a processing module into a OpenDrive format and visualizing and editing the OpenDrive map by the user using a user interface.

[0024] According to an embodiment, the one or more connection parameters includes at least database type (SQL Server, PostgreSQL), server IP / name, database name, authentication type (usemame / password, or OS user), username and password which connects to database instance.

[0025] According to an embodiment, the system further includes converting by a processing module a format including of features described by 3D points as building blocks (geodatabase and OSM) into the OpenDrive.

[0026] According to an embodiment, the conversion is built on geometry-based features, which are geometrically described in the format of shape equation parameters.

[0027] According to an embodiment, the OpenDrive HD map format represent a plurality of road networks, from simple roads to complex highway systems, with reliance on a geometry-based feature description.

[0028] According to an embodiment, the OpenDrive format describes road networksand related infrastructure includes at least traffic signs, road markings, and traffic lights for creating HD maps and driving scenario simulations.

[0029] According to an embodiment, OpenDrive describes four types of geometries includes of lines, spirals, arcs, and polynomials.

[0030] According to an embodiment, the system further includes an alpha version of the Geo2OpenDrive system, wherein the system operates by a conversion of ESRI GeoDatabase (SQL database format), ESRI Shapefiles, OpenStreetMap (OSM) to OpenDrive (. XODR) format.

[0031] The Geo2OpenDrive system offers several significant advantages over existing technologies and tools available in the market. Unlike current tools that only convert OpenDrive to other formats, the Geo2OpenDrive system enables the conversion of Geodatabase and OpenStreetMap (OSM) formats to OpenDrive. This unique capability addresses a critical gap in the market. Mapping companies can now easily create OpenDrive maps from their existing data sources without the need for multiple tools or manual conversions. The system includes an advanced validation module that ensures data integrity by checking for required tables, fields, non-null values, and consistency between related data segments. Users can be confident that the converted OpenDrive maps are accurate and reliable, reducing the risk of errors in autonomous driving simulations. Users can specify various conversion parameters, such as traffic direction, country-specific traffic signals, and lane width, to tailor the OpenDrive output to regional standards. The resulting OpenDrive maps are compliant with local regulations and specifications, making them more useful and applicable in different regions. The system features a user-friendly graphical user interface (GUI) that simplifies the input process, provides visualization tools, and allows for interactive editing of map elements. Users can easily inspect and modify the converted OpenDrive maps, enhancing the accuracy and usability of the final product. The Geo2OpenDrive system supports various data formats, including ESRI GeoDatabase, Shapefiles, and OSM files. This versatility allows users to convert a wide range of mapping data sources into OpenDrive format, making the system applicable to diverse mapping projects. The system can automatically generate traffic lights and junctions based on the input data. This feature ensures that the converted OpenDrive maps are comprehensive and ready for use in driving simulations, saving users time and effort. The system is designed to handle large datasets efficiently, making it suitable for both small-scale and large-scale mapping projects. Users can rely on the system for quick and accurate conversions, regardless of the size of the data, improving overall productivity. The Geo2OpenDrive system eliminates the need for expensive licenses associated with other mapformats like NDS. Companies can reduce costs by using this open-source-based solution, making high-quality map conversion more accessible and affordable. The system is designed to be intuitive and easy to use, even for users with limited technical expertise. Users can quickly leam and operate the system, reducing training time and increasing operational efficiency.

[0032] It is to be understood that the aspects and embodiments of the disclosure described above may be used in any combination with each other. Several of the aspects and embodiments may be combined to form a further embodiment of the disclosure.

[0033] The foregoing summary is illustrative only and is not intended to be in any way limiting. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features will become apparent by reference to the drawings and the following detailed description.

[0034] These and other objects and advantages will become more apparent when reference is made to the following description and accompanying drawings.BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The other objects, features and advantages will occur to those skilled in the art from the following description of the preferred embodiment and the accompanying drawings in which:

[0036] FIG. 1A illustrates an exemplary block diagram of a system and method for conversion of geodatabase mapping formats into OpenDrive HD map formats, in accordance with an embodiment of the present technology;

[0037] FIG. IB illustrates OpenDrive tool components of an OpenDrive format, in accordance with an embodiment of the present technology;

[0038] FIG. 2A illustrates a graphical representation of a straight line of OpenDrive main geometries used for feature and object description, in accordance with an embodiment of the present technology;

[0039] FIG. 2B illustrates a graphical representation of a spiral of OpenDrive main geometries used for feature and object description, in accordance with an embodiment of the present technology;

[0040] FIG. 2C illustrates a graphical representation of an arc of OpenDrive main geometries used for feature and object description, in accordance with an embodiment of the present technology;

[0041] FIG. 2D illustrates a graphical representation of a cubic polynomials of OpenDrive main geometries used for feature and object description, in accordance with an embodiment of the present technology;

[0042] FIG. 2E illustrates a graphical representation of a parametric cubic polynomials of OpenDrive main geometries used for feature and object description, in accordance with an embodiment of the present technology;

[0043] FIG. 3 illustrates a flow diagram depicting a method of conversion of mapping formats into OpenDrive HD Map formats, in accordance with an embodiment;

[0044] FIG. 4 illustrates an exemplary computer system in which or with which embodiments of the present disclosure may be implemented;

[0045] Although the specific features of the embodiments herein are shown in some drawings and not in others. This is done for convenience only as each feature may be combined with any or all of the other features in accordance with the embodiments herein.DETAILED DESCRIPTION OF THE DRAWINGS

[0046] The detailed description of various exemplary embodiments of the disclosure is described herein with reference to the accompanying drawings. It should be noted that the embodiments are described herein in such details as to clearly communicate the disclosure. However, the amount of details provided herein is not intended to limit the anticipated variations of embodiments; on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present disclosure as defined by the appended claims.

[0047] It is also to be understood that various arrangements may be devised that, although not explicitly described or shown herein, embody the principles of the present disclosure. Moreover, all statements herein reciting principles, aspects, and embodiments of the present disclosure, as well as specific examples, are intended to encompass equivalents thereof.

[0048] While the disclosure is susceptible to various modifications and alternative forms, specific embodiment thereof has been shown by way of example in the drawings and will be described in detail below. It should be understood, however, that it is not intended to limit the disclosure to the forms disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternatives falling within the scope of the disclosure.

[0049] The detailed description of various exemplary embodiments of the disclosure is described herein with reference to the accompanying drawings. It should be noted that theembodiments are described herein in such details as to clearly communicate the disclosure. However, the details provided herein is not intended to limit the anticipated variations of embodiments; on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present disclosure as defined by the appended claims.

[0050] It is also to be understood that various arrangements may be devised that, although not explicitly described or shown herein, embody the principles of the present disclosure. Moreover, all statements herein reciting principles, aspects, and embodiments of the present disclosure, as well as specific examples, are intended to encompass equivalents thereof.

[0051] While the disclosure is susceptible to various modifications and alternative forms, specific embodiment thereof has been shown by way of example in the drawings and will be described in detail below. It should be understood however, it is not intended to limit the disclosure to the forms disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternatives falling within the scope of the disclosure.

[0052] The various embodiments of the present technology provide an efficient technique for the conversion of mapping formats into OpenDrive HD Map formats. OpenDrive is an open, XML-based, and standardized format for describing road networks and related infrastructure, such as traffic signs, road markings, and traffic lights. OpenDrive is used for creating HD maps and driving scenario simulations. OpenDrive is widely used in the automotive industry, and it provides a standardized representation of road networks that can be easily exchanged between different systems and applications. The OpenDrive tool mainly converts a format that has features described by 3D points as their building blocks (geodatabase and OSM) to the OpenDrive which is built on geometry -based features, which are features that are geometrically described in the format of shape equation parameters.

[0053] The Geo2OpenDrive system aims to streamline and facilitate the conversion of commonly used mapping formats, such as Geodatabase and OpenStreetMap (OSM), into the OpenDrive format. This enables mapping companies to efficiently produce OpenDrive maps, which are essential for autonomous driving simulations and development. The system provides an industry-ready solution that simplifies the map conversion process. Current solutions predominantly convert from OpenDrive to other formats, leaving a gap in the reverse conversion. The present technology addresses this gap by providing a system that facilitates the conversion of Geodatabase and OSM formats into OpenDrive format, thus enabling mapping companies to produce OpenDrive maps without the need for expensive licenses or the use of less industry-ready formats like Lanelet2. METI provides a breakthrough solution for themapping industry. The target customer is a mapping company that offer its services in the automotive industry without having to license the expensive NDS format and provides a Lanelet2 format which is not industry -ready. METI’s OpenDrive conversion tool “Geo2opendrive” converts from geodatabase or shipfile to an OpenDrive formatted map, visualize for the resulting OpenDrive map and edit the OpenDrive map elements.

[0054] FIG. 1A illustrates an exemplary block diagram of a system 100 and a method for conversion of geodatabase mapping formats into OpenDrive HD map formats, in accordance with an embodiment of the present technology. The system 100 includes a processor 102, a memory 104, a user interface 106, a processing engine 108, a connection module 110, a reading module 112, a validation module 114, a processing module 116, a generation module 118, a user interface module 120 and a database 122. The processors 102 and the memory 104 may be communicably coupled to one or more other processors. The one or more processor(s) may be implemented as one or more microprocessors, microcomputers, microcontrollers, edge or fog microcontrollers, digital signal processors, central processing units, logic circuitries, and / or any devices that process data based on operational instructions. Among other capabilities, one or more processor(s) may be configured to fetch and execute computer-readable instructions stored in the memory 104 of the system 100. The processor 102 is configured to fetch and execute computer-readable instructions stored in the memory 104. The memory 104 may be configured to store one or more computer-readable instructions or routines in a non-transitory computer-readable storage medium, which may be fetched and executed to create or share data packets over a network service. The memory 104 may include any non-transitory storage device including, for example, volatile memory such as Random-Access Memory (RAM), or non-volatile memory such as Erasable Programmable Read-Only Memory (EPROM), flash memory, and the like. The memory 104 may be configured to store one or more computer-readable instructions or routines in a non-transitory computer-readable storage medium, fetched and executed to create or share data packets over a network service.

[0055] The processing engine 108 is configured to convert mapping formats into OpenDrive HD Map formats. The connection module 110 retrieves geodatabase data from a SQL Server or a PostgreSQL database and allows the user to specify server details, database name, and authentication type. As used herein the term “geodatabase” refers to an integrated collection of spatial data that is expertly organized and managed as a single, cohesive unit. This all-encompassing repository serves as a powerful tool for storing, managing, and analyzing various types of spatial data, ranging from geographic features to attributes and relationships. The reading module 112 reads one or more shapefiles and one or more OpenStreetMap (OSM)files for extracting relevant road network data. As used herein the term “road network data” refers to data associated with a road network including a set of intersecting roads and their interconnections allowing the selection of several different travel paths between the start and end points, that enables the modeling of pertinent aspects of a road-network infrastructure. The validation module 114 checks for one or more missing tables or one or more fields in the database or shapefiles for ensuring that one or more required fields are non-null. The processing module 116 process the relevant road network data and prepares for conversion. The processing module 116 is further configured for formatting a format comprising of features described by 3D points as building blocks (geodatabase and OSM) into the OpenDrive. For the other way around, the processing module 116 sample evenly spaced 3D points based on the 3D geometry shape parameters in the OpenDrive format. Generating these 3D point-based features is sufficient to create a database of point-based features necessary to create a Geodatabase or OSM map format.

[0056] The generation module 118 creates an OpenDrive (. XODR) file from the relevant road network data, tailored to meet one or more regional traffic simulation specifications for generating an OpenDrive map and the user interface module renders the OpenDrive map via a user interface to a user, where the user is allowed to specify one or more input parameters for editing one or more map elements in the OpenDrive map and it offers visualization tools to inspect the resulting map and ensure accuracy. The generation module 118 receives one or more connection parameters from a user for the database or selecting a folder comprising one or more shapefiles or a OpenStreetMap (OSM) file from a user. The connection parameters includes at least: database type (SQL Server, PostgreSQL), server IP / name, database name, authentication type (usemame / password, or OS user), username and password which connects to database instance. The generation module 118, retrieves and validates the connection parameters or the selected folder. The generation module 118 converts the validated data from a processing module into a OpenDrive format. The conversion is built on geometry-based features, which are geometrically described in the format of shape equation parameters. The OpenDrive map is visualized and edited by the user using the user interface 106. The OpenDrive HD map format represent a plurality of road networks, from simple roads to complex highway systems, with reliance on a geometry-based feature description. The OpenDrive format describes road networks and related infrastructure comprising of at least: traffic signs, road markings, and traffic lights for creating HD maps and driving scenario simulations. The OpenDrive format describes four types of geometries comprises of: lines, spirals, arcs, and polynomials. The system 100 further includes an alpha version of theGeo2OpenDrive system, wherein the system operates by a conversion of ESRI GeoDatabase (SQL database format), ESRI Shapefiles, OpenStreetMap (OSM) to OpenDrive (. XODR) format.

[0057] FIG. IB illustrates OpenDrive tool components of an OpenDrive format 124, in accordance with an embodiment of the present technology. A UI 126 manages and connects the SQL Server. All user inputs 128 show details about the input, connection parameters 132 connects to the data source selected and get the data from it and a GIS data 134 is a geographic information system which displays geographically referenced information, The utils 138, adapter 140, reader 136, converter 130 with the information of user inputs 128, connection parameters 132, GIS data 134 and OpenDrive data 142 together helps in converting commonly used mapping formats into the OpenDrive format.

[0058] FIG. 2 A illustrates a graphical representation 200 of a straight line of OpenDrive main geometries used for feature and object description, in accordance with an embodiment of the present technology. Here x-axis 202 and y-axis 204 stands for distance in meters.

[0059] FIG. 2B illustrates a graphical representation 206 of a spiral of OpenDrive main geometries used for feature and object description, in accordance with an embodiment of the present technology. Here x-axis 208 and y-axis 210 stands for distance in meters.

[0060] FIG. 2C illustrates a graphical representation 212 of an arc of OpenDrive main geometries used for feature and object description, in accordance with an embodiment of the present technology. Here x-axis 214 and y-axis 216 stands for distance in meters.

[0061] FIG. 2D illustrates a graphical representation 218 of a cubic polynomials of OpenDrive main geometries used for feature and object description, in accordance with an embodiment of the present technology. Here x-axis 220 and y-axis 222 stands for distance in meters.

[0062] FIG. 2E illustrates a graphical representation 224 of parametric cubic polynomials of OpenDrive main geometries used for feature and object description, in accordance with an embodiment of the present technology. Here x-axis 226 and y-axis 228 stands for distance in meters. The geometry-based feature description helps to represent different types of road networks, from simple roads to complex highway systems.

[0063] The OpenDrive tool mainly converts a format that has features described by 3D points as their building blocks (geodatabase and OSM) to the OpenDrive which is built on geometry-based features, which are features that are geometrically described in the format ofshape equation parameters. For generating the files, OpenDrive is an XML-based format, so the tool creates the XML object according to the standard and populate it with the geometry parameters and features descriptors necessary described in detail in the below table 1.Table 1:Attributes Usage GeometryX X coordinate of the start AllpositionY Y coordinate of the start AllpositionHdg Orientation of the start position All Length Length of the element Allcurv Start Curvature at the start of the SpiralelementcurvEnd Curvature at the end of the Spiralelementcurvature Constant curvature throughout Arcthe elementa Polynom parameter a PolynomialB Polynom parameter b PolynomialC Polynom parameter c PolynomialD Polynom parameter d Polynomial

[0064] Table 1 represents attributes used in OpenDrive HD Map element geometry description. The main attributes in the description of any element in the OpenDrive specifications are depicted in Table 1. For polynomials, OpenDrive used to use the cubic polynomials equation in (1):v(u)=a+b*u+c*u2+d*u3vu=a+b*u+c*u2+d*u3(1)

[0065] This Cubic polynomial model is deprecated and replaced by the parametric cubic curve models in the following equation (2) to allow for more road shape varieties.u(p)=aU+bU*p+cU*p2+dU *p3, v(p)=aV +bV *p+cV *p2+dV *p3up=aU+b U *p+cU*p2+dU*p3, vp=aV+bV*p+cV*p2+dV*p3 (2)

[0066] The processing module 116, processes the first group the 3D point-based features (like points belonging to the same curb line in the same lane segment) are processed according to their position as features belonging to the same geometry-based features (like the curb line of a certain lane segment). Then, system 100 performs a curve-fitting process to arrive at the parameters describing the shape of the geometry -based feature. The shape would belong to one of the shapes.

[0067] After completing the creation of all the geometry-based features, then the generation module 118 starts organizing these features to provide a comprehensive description of each feature.

[0068] FIG. 3 illustrates a flow diagram 300 depicting a method of conversion of mapping formats into OpenDrive HD Map formats, in accordance with an embodiment of the present technology. At step 302, geodatabase data is retrieved to form a SQL Server or a PostgreSQL database. At step 304, one or more shapefiles and one or more OpenStreetMap (OSM) files is read for extracting relevant road network data. At step 306, one or more missing tables or one or more fields are checked in the database or shapefiles for ensuring that one or more required fields are non-null. At step 308, the relevant road network data is processed and prepared for conversion. At step 310, an OpenDrive (. XODR) file is created from the relevant road network data, tailored to meet one or more regional traffic simulation specifications for generating an OpenDrive map. At step 312, the OpenDrive map is rendered via a user interface to a user and the user is allowed to specify one or more input parameters for editing one or more map elements in the OpenDrive map.

[0069] According to an embodiment, the method further includes receiving one or more connection parameters from a user for the database or selecting a folder including one or more shapefiles or an OpenStreetMap (OSM) file from the user. The method also includes retrieving and validating the connection parameters or the selected folder. The method also includes converting the validated data from a processing module into an OpenDrive format and the method also includes visualizing and editing the OpenDrive map by the user using a user interface.

[0070] According to an embodiment, the one or more connection parameters includes at least database type (SQL Server, PostgreSQL), server IP / name, database name, authentication type (usemame / password, or OS user), username and password which connects to database instance.

[0071] According to an embodiment, the method further includes converting by a processing module a format including of features described by 3D points as building blocks (geodatabase and OSM) into the OpenDrive.

[0072] According to an embodiment, the conversion is built on geometry-based features, which are geometrically described in the format of shape equation parameters.

[0073] According to an embodiment, the OpenDrive HD map format represents a plurality of road networks, from simple roads to complex highway systems, with reliance on a geometry-based feature description.

[0074] According to an embodiment, the OpenDrive format describes road networks and related infrastructure including of at least traffic signs, road markings, and traffic lights for creating HD maps and driving scenario simulations.

[0075] According to an embodiment, OpenDrive describes four types of geometries includes of lines, spirals, arcs, and polynomials.

[0076] According to an embodiment, the method further includes an alpha version of the Geo2OpenDrive system, wherein the system operates by a conversion of ESRI GeoDatabase (SQL database format), ESRI Shapefiles, OpenStreetMap (OSM) to OpenDrive (. XODR) format.

[0077] FIG. 4 illustrates an exemplary computer system 400 in which or with which embodiments of the present disclosure may be implemented. The computer system 300 may include an external storage device 410, a bus 420, a main memory 430, a read-only memory 440, a mass storage device 450, a communication port(s) 460, and a processor 470. A person skilled in the art will appreciate that the computer system 400 may include more than one processor and communication ports. The processor 470 may include various modules associated with embodiments of the present disclosure. The communication port(s) 460 may be any of an RS-232 port for use with a modem-based dialup connection, a 10 / 100 Ethernet port, a Gigabit or 10 Gigabit port using copper or fiber, a serial port, a parallel port, or other existing or future ports. The communication ports(s) 460 may be chosen depending on a network, suchas a Local Area Network (LAN), Wide Area Network (WAN), or any network to which the computer system 400 connects.

[0078] In an embodiment, the main memory 430 may be Random Access Memory (RAM), or any other dynamic storage device commonly known in the art. The read-only memory 440 may be any static storage device(s) e.g., but not limited to, a Programmable Read Only Memory (PROM) chip for storing static information e.g., start-up or basic input / output system (BIOS) instructions for the processor 470. The mass storage device 450 may be any current or future mass storage solution, which can be used to store information and / or instructions. Exemplary mass storage solutions include, but are not limited to, Parallel Advanced Technology Attachment (PATA) or Serial Advanced Technology Attachment (SATA) hard disk drives or solid-state drives (internal or external, e.g., having Universal Serial Bus (USB) and / or Firewire interfaces).

[0079] In an embodiment, the bus 420 may communicatively couple the processor(s) 470 with the other memory, storage, and communication blocks. The bus 420 may be, e.g. a Peripheral Component Interconnect PCI) / PCI Extended (PCI-X) bus, Small Computer System Interface (SCSI), USB, or the like, for connecting expansion cards, drives, and other subsystems as well as other buses, such a front side bus (FSB), which connects the processor 470 to the computer system 400.

[0080] According to an embodiment, the inventive elements of the Geo2OpenDrive system includes, the ability to convert Geodatabase and OSM formats to OpenDrive, addressing the market gap where only conversions from OpenDrive to other formats are typically available. It ensures data integrity by validating the presence of required tables and fields, checking for null values, and verifying consistency between related data segments. It allows users to specify traffic direction, country-specific traffic signals, lane width, and other parameters to tailor the OpenDrive output to various regional standards. It provides an intuitive interface for specifying inputs, visualizing the converted map, and making necessary edits, enhancing user experience and map accuracy. It supports ESRI GeoDatabase, Shapefiles, and OSM files, making it versatile and widely applicable across different mapping data sources.

[0081] The various embodiments of the present disclosure present several novel aspects that distinguish it from existing technologies and tools. The Geo2OpenDrive system uniquely enables the conversion of Geodatabase and OpenStreetMap (OSM) formats to the OpenDrive format, filling a significant gap in the current market where only conversions from OpenDrive to other formats are available. The system includes an advanced validation module that checks for the presence of required tables and fields, ensures non-null values where necessary, andverifies the consistency between related data segments using a custom set of attributes that should be added to the feature table in the Geodatabase format. This comprehensive validation process ensures data integrity and accuracy in the converted OpenDrive maps. The system allows users to specify various conversion parameters, such as traffic direction, country-specific traffic signals, lane width, and other regional specifications. This customization ensures that the resulting OpenDrive maps meet local standards and requirements. The Geo2OpenDrive system features a user-friendly GUI that not only simplifies the input process but also provides visualization tools to inspect the resulting OpenDrive maps. Users can interactively edit the map elements within the OpenDrive format, enhancing the usability and precision of the final output. The system supports multiple data formats, including ESRI GeoDatabase, Shapefiles, and OSM files, making it versatile and applicable across various mapping data sources. This integration allows for seamless conversion from widely used mapping formats to the OpenDrive format. The system includes functionality to automatically generate traffic lights and junctions based on the input data, ensuring that the converted OpenDrive maps are comprehensive and ready for use in driving simulations. The Geo2OpenDrive system is designed to handle large datasets efficiently, making it scalable for use in various mapping projects, from small-scale to large-scale applications. These novel aspects of the Geo2OpenDrive system collectively provide a robust, efficient, and user-friendly solution for converting commonly used mapping formats into the OpenDrive format, addressing a critical need in the autonomous driving and mapping industries.

[0082] According to an embodiment a prototype has been developed for the Geo2OpenDrive system. The current alpha version of the Geo2OpenDrive system has been developed and is operational. It includes conversion from ESRI GeoDatabase (SQL database format) to OpenDrive (. XODR) format, conversion from ESRI Shapefiles to OpenDrive (. XODR) format, conversion from OpenStreetMap (OSM) formats to OpenDrive (. XODR) format, a graphical user interface (GUI) for user-friendly interaction and input specification, visualization capabilities for inspecting the resulting OpenDrive maps, initial quality control (QC) testing cycles conducted with mapping and navigation engineers. An extensive user guide is completed and extended testing commenced with the utilization of OpenDrive maps in positioning processes, several QC testing cycles have been conducted to validate the conversion process.

[0083] The further development of the Geo2OpenDrive system is both necessary and in progress. There are also scheduled milestones for future enhancements and feature additions which includes adding tools to visualize the exported OpenDrive version of the map, enablingusers to interactively edit the resulting OpenDrive format map using visualized output, comprehensive testing of all features in the beta version to identify and fix any GUI and logic bugs, expanding support for additional data formats to increase the system's versatility, improving the efficiency and performance of the conversion process to handle larger datasets more effectively and further refining the GUI based on user feedback to enhance usability and user experience, developing integration capabilities with other mapping and simulation tools to provide a more comprehensive solution. The ongoing and scheduled development activities include continued testing to ensure robustness and reliability, gathering feedback from initial users and incorporating their suggestions into future versions of the system and ongoing improvements to user guides and documentation to support users in effectively utilizing the system. The automotive industry, particularly companies involved in developing autonomous vehicles and advanced driver-assistance systems (ADAS), would be highly interested in the Geo2OpenDrive system. The ability to convert mapping data into the OpenDrive format is crucial for creating accurate simulation environments needed for testing and developing autonomous driving technologies. Companies specializing in geographic information systems (GIS), mapping, and surveying need tools to convert their data into various formats for different applications. The Geo2OpenDrive system provides a versatile and efficient solution for converting geospatial data into the OpenDrive format, which is useful for urban planning, infrastructure development, and other mapping applications. Government agencies and organizations involved in transportation planning and traffic management require standardized map data for simulation and management systems. The Geo2OpenDrive system can help these agencies convert existing data into the OpenDrive format, aiding in the planning and management of transportation networks. GIS service providers can expand their range of services by offering conversion services using the Geo2OpenDrive system. This allows them to meet the specific needs of clients who require their mapping data in the OpenDrive format. Automotive Manufacturer companies like Tesla, Ford, General Motors, Toyota, BMW are heavily invested in autonomous vehicle technology and ADAS. They require accurate and standardized map data for simulations, making the Geo2OpenDrive system an invaluable tool. Autonomous Driving Technology Firms like Waymo, Uber ATG, Cruise, Aurora developing autonomous driving technology need reliable tools to convert mapping data into formats suitable for simulation and testing environments. The Geo2OpenDrive system fulfills this need efficiently. Mapping and Surveying Companies like ESRI, HERE Technologies, TomTom, Leica Geosystems produce high-definition maps and geospatial data that need to be converted into various formats for different applications. The Geo2OpenDrive system provides thenecessary conversion capabilities. GIS Service Providers like Trimble, Hexagon, Navlnfo, DigitalGlobe can leverage the Geo2OpenDrive system to offer new services to clients, particularly those in the automotive and transportation sectors who need OpenDrive format maps. Transportation and Traffic Management agencies like U. S. Department of Transportation, European Union Agency for Railways, Japan Ministry of Land, Infrastructure, Transport, and Tourism are responsible for planning and managing transportation networks and require accurate and standardized map data for simulations and management systems. The Geo2OpenDrive system can help convert existing data into the OpenDrive format, aiding in their planning and management efforts.

[0084] The Geo2OpenDrive system can be used by companies developing autonomous vehicles to convert their mapping data into the OpenDrive format, which is widely used for driving simulations and scenario testing. It provides accurate and standardized map data for simulation environments, improving the development and testing of autonomous driving systems. Companies specializing in mapping and surveying can use the system to convert their geospatial data into OpenDrive format for use in various applications, including urban planning and infrastructure development. It enables the integration of high-definition maps into simulation and planning tools, enhancing the accuracy and utility of the data. Automotive manufacturers can use the Geo2OpenDrive system to create detailed road network maps for use in advanced driver-assistance systems (ADAS) and other navigation technologies. It supports the development of safer and more reliable ADAS by providing high-quality map data. GIS service providers can offer conversion services using the Geo2OpenDrive system to clients who need their mapping data in OpenDrive format. It expands the range of services offered and meets the specific needs of clients in the automotive and autonomous driving sectors. Government agencies and organizations involved in transportation and traffic management can use the system to convert and utilize mapping data for traffic simulation and management systems. It enhances the planning and management of transportation networks, improving traffic flow and safety.

[0085] The Geo2OpenDrive system offers several significant advantages over existing technologies and tools available in the market. Unlike current tools that only convert OpenDrive to other formats, the Geo2OpenDrive system enables the conversion of Geodatabase and OpenStreetMap (OSM) formats to OpenDrive. This unique capability addresses a critical gap in the market. Mapping companies can now easily create OpenDrive maps from their existing data sources without the need for multiple tools or manualconversions. The system includes an advanced validation module that ensures data integrity by checking for required tables, fields, non-null values, and consistency between related data segments. Users can be confident that the converted OpenDrive maps are accurate and reliable, reducing the risk of errors in autonomous driving simulations. Users can specify various conversion parameters, such as traffic direction, country-specific traffic signals, and lane width, to tailor the OpenDrive output to regional standards. The resulting OpenDrive maps are compliant with local regulations and specifications, making them more useful and applicable in different regions. The system features a user-friendly graphical user interface (GUI) that simplifies the input process, provides visualization tools, and allows for interactive editing of map elements. Users can easily inspect and modify the converted OpenDrive maps, enhancing the accuracy and usability of the final product. The Geo2OpenDrive system supports various data formats, including ESRI GeoDatabase, Shapefiles, and OSM files. This versatility allows users to convert a wide range of mapping data sources into OpenDrive format, making the system applicable to diverse mapping projects. The system can automatically generate traffic lights and junctions based on the input data. This feature ensures that the converted OpenDrive maps are comprehensive and ready for use in driving simulations, saving users time and effort. The system is designed to handle large datasets efficiently, making it suitable for both small-scale and large-scale mapping projects. Users can rely on the system for quick and accurate conversions, regardless of the size of the data, improving overall productivity. The Geo2OpenDrive system eliminates the need for expensive licenses associated with other map formats like NDS. Companies can reduce costs by using this open-source-based solution, making high-quality map conversion more accessible and affordable. The system is designed to be intuitive and easy to use, even for users with limited technical expertise. Users can quickly leam and operate the system, reducing training time and increasing operational efficiency. One of the key advantages of the OpenDrive HD map format is its interoperability. The format is widely used in the automotive industry, and it is supported by many software tools and applications. This makes it easy for developers to exchange data and work with different systems and applications. Another advantage of the OpenDrive HD map format is its flexibility. The format can be used to represent different types of road networks, from simple roads to complex highway systems, due to its reliance on a geometry-based feature description instead of the traditionally used point-based description. So, instead of describing a feature or object using a set of points, OpenDrive describes four types of geometries; lines, spirals, arcs, and polynomials.

[0086] The foregoing description of the specific embodiments will so fully reveal the general nature of the embodiments herein that others can, by applying current knowledge, readily modify and / or adapt for various applications such as specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments. It is to be understood that the phraseology or terminology employed herein is for the purpose of description and not of limitation. Therefore, while the embodiments herein have been described in terms of preferred embodiments, those skilled in the art will recognize that the embodiments herein can be practiced with modifications. However, all such modifications are deemed to be within the scope of the claims. The scope of the embodiments will be ascertained by the claims to be submitted at the time of filing a complete specification.

Claims

CLAIMSWhat is claimed is:

1. A method for converting mapping formats into an OpenDrive HD map format, the method comprising;retrieving geodatabase data from a SQL Server or a PostgreSQL database; reading one or more shapefdes and one or more OpenStreetMap (OSM) fdes to extract relevant road network data;verifying the presence of required tables and fields in the database or shapefiles to ensure that required fields are non-null;processing the extracted road network data and preparing for conversion; creating an OpenDrive (. XODR) file from the processed road network data, tailored to meet one or more regional traffic simulation specifications; and rendering the OpenDrive map via a user interface, wherein the user is allowed to specify one or more input parameters for editing one or more map elements in the OpenDrive map.

2. The method of claim 1, further comprising:receiving one or more connection parameters from a user for the database, or enabling the user to select a folder comprising one or more shapefdes or an OpenStreetMap (OSM) file;retrieving and validating the connection parameters or selected folder; converting the validated data into the OpenDrive format via a processing module; andenabling the user to visualize and edit the OpenDrive map via the user interface.

3. The method of claim 1, wherein the one or more connection parameters comprise at least: database type (SQL Server, PostgreSQL), server IP or server name, database name, authentication type (usemame / password, or OS user), and credentials for connecting to the database instance.

4. The method of claim 1, further comprising converting, via a processing module, a format comprising features described by 3D points as building blocks (e.g., geodatabase and OSM) into the OpenDrive format.

5. The method of claim 4, wherein the conversion is based on geometry-defined features described using shape equation parameters.

6. The method of claim 1, wherein the OpenDrive HD map format represents a plurality of road networks, from simple roads to complex highway systems, utilizing geometry-based feature descriptions.

7. The method of claim 1, wherein the OpenDrive format describes road networks and related infrastructure comprising at least traffic signs, road markings, and traffic lights to support HD map creation and driving scenario simulations.

8. The method of claim 1, wherein OpenDrive defines four types of geometries comprising lines, spirals, arcs, and polynomials.

9. The method of claim 1, further comprising an alpha version of a Geo2OpenDrive system, wherein the system performs conversion of ESRI GeoDatabase (SQL database format), ESRI Shapefiles, and OpenStreetMap (OSM) files into the OpenDrive (. XODR) format.

10. A system for converting mapping formats into an OpenDrive HD map format, the system comprising;a processor configured to fetch and execute computer-readable instructions; a memory for storing one or more computer-readable instructions on a non- transitory computer-readable storage medium, the instructions comprising a plurality of executable modules, including:a connection module configured to retrieve geodatabase data from a SQL Server or a PostgreSQL database;a reading module configured to read one or more shapefiles and one or more OpenStreetMap (OSM) files to extract relevant road network data;a validation module configured to verify the presence of required tables and fields in the database or shapefiles to ensure required fields are non-null;a processing module configured to process the extracted road network data for conversion;a generation module configured to create an OpenDrive (. XODR) file from the processed road network data tailored to one or more regional traffic simulation specifications; anda user interface module configured to render the OpenDrive map to a user, wherein the user is allowed to specify one or more input parameters for editing one or more map elements in the OpenDrive map.

11. The system of claim 10, wherein the generation module is further configured to:receive one or more connection parameters from a user for the database, or accept a user-selected folder comprising one or more shapefiles or an OpenStreetMap (OSM) file;retrieve and validate the connection parameters or selected folder; convert the validated data into the OpenDrive format via the processing module; andenable visualization and editing of the OpenDrive map through the user interface.

12. The system of claim 11, wherein the one or more connection parameters comprise at least: database type (SQL Server, PostgreSQL), serverIP or server name, database name, authentication type (usemame / password or OS user), and credentials for connecting to the database instance.

13. The system of claim 10, wherein the processing module is further configured to convert data formats comprising features described by 3D points as building blocks (e.g., geodatabase and OSM) into the OpenDrive format.

14. The system of claim 10, wherein the conversion process is based on geometry- defined features described using shape equation parameters.

15. The system of claim 10, wherein the OpenDrive HD format represents a plurality of road networks, from simple roads to complex highway systems, utilizing geometrybased feature descriptions.

16. The system of claim 10, wherein the OpenDrive format describes road networks and related infrastructure comprising at least: traffic signs, road markings, and traffic lights to support HD map creation and driving scenario simulations.

17. The system of claim 10, wherein OpenDrive format defines four types of geometries comprising lines, spirals, arcs, and polynomials.

18. The system of claim 10, further comprising an alpha version of a Geo2OpenDrive system, wherein the system performs conversion of ESRI GeoDatabase (SQL database format), ESRI Shapefiles, and OpenStreetMap (OSM) files into the OpenDrive (. XODR) format.

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