Apollo HDmap Traffic Light Deployment

[HandsomeAIccx]

I followed the guide from the link to set up traffic lights, as shown in the image:

After exporting to Apollo’s format and loading it in Dreamview, I can see the traffic lights displayed, as shown in the image:

However, during simulation, the planning module seems to not recognize these traffic lights. If it did, I would expect to see a signal identified as “unknown” in the planning channel of cyber_monitor, and the vehicle would stop.
For comparison, using Apollo’s built-in “Sunnyvale with Two Offices” map, the traffic lights are recognized as follows:

Therefore, my question is: How can I ensure that the HD map module and the planning module are aware of the deployed traffic lights? Are there any additional steps I need to take in Roadrunner?

System information

• OS Platform and Distribution (Orin，Linux Ubuntu 20.04):
• Apollo installed from (source):
• Apollo version (9.0):
• Output of apollo.sh config if on master branch:

[YuqiHuai]

Not sure if I can help much. Did you try running https://github.com/ApolloAuto/apollo/tree/master/modules/tools/manual_traffic_light to see if this publishes the traffic light messages you are looking for?

[HandsomeAIccx]

Yes, I do use the manual traffic light to observe. I found that in the Sunnvale map, it publishes traffic light messages, but it doesn’t function properly in my map. Therefore, I’m not sure what the key reason is that the HDmap module does not recognize my traffic light.
By the way, Thanks. You always help me.
I use Roadrunner to create the map and then export it with apollo format then I got a .txt file, I use
./bazel-bin/modules/tools/create_map/convert_map_txt2bin
./bazel-bin/modules/map/tools/sim_map_generator
./bazel-bin/modules/routing/topo_creator
and then I have 3 .bin file and put them into map/data/my_map
Are there some steps I forgot?

[YuqiHuai]

Glad to help. I’ll try my best. I’m not familiar with RoadRunner, but if you send me the Hd map binary file I might be able to take a closer look.

[HandsomeAIccx]

map_file.zip
Thanks! Looking forward to your insights.

[YuqiHuai]

@HandsomeAIccx I have some guesses of where the problem is coming from, but I could not fix it yet. I am still trying to fix the issue and I'll keep you updated.

Update Feb 28 13:06:
Some immediate problems that I know about your map file is

1. Apollo uses overlap ids to track which signals control which lane. For example, if Signal 1 controls Lane 1, then in the HD Map, they share the same overlap id (e.g., overlap_siganl_1_lane_1). But your map bin file did not setup overlapping id correctly.
2. Even after I added the overlap ids, I still couldn't get lights to be recognized. I am still working on this.

[YuqiHuai]

Essentially your HD map has mismatched overlap ids. Lanes and signals need to have the same overlap id for Apollo to recognize signals on lanes. It will be a combination adding overlap id to lanes, signals, hd map itself, and setting correct value for overlap info objects.

I managed to set up 3 signals (194, 195, 196) for 1 lane (5_0_1), the process includes using a HD map viewer https://github.com/YuqiHuai/ApolloHDMapViewer to find the signal id and the lane id you want to connect.

Running the script I temporarily created to fix HD Map

map_analysis.zip

Then manual traffic light / planning module itself should be able to recognize the traffic light.

[YuqiHuai]

I managed to fix (I think) all signal issues in the map. map_file_fixed.zip

[HandsomeAIccx]

You are amazing. I will try it. The traffic lights in the map are just for test. I will create traffic lights at other accurate locations. I will go and try now. Really appreciate it so much!

I managed to fix (I think) all signal issues in the map. map_file_fixed.zip

[YuqiHuai]

Always glad to help! I am in the process of building/collecting good tools/scripts to make Apollo easier to work with. I automated the script to fix this map issue https://github.com/YuqiHuai/baidu_apollo_map_tools/blob/main/tools/missing_overlap_relation/add_overlap.py

Probably not 100% correct, so please let me know if you see any other issues!