Carla-Autoware. Carla Vector Map with Traffic Light

[habby1012]

It seems that there isn’t an official vector map for Carla’s Town 1 that includes traffic lights. Therefore, I followed the instructions on this webpage to build one myself. After completing the map, I made several adjustments to ensure the camera could detect the traffic lights correctly, such as fine-tuning the camera’s TF, calibrating the camera extrinsics, and ensuring the traffic light recognition model was functioning properly.

However, the recognition results have been inconsistent. As shown in the attached video, the detected traffic light state often switches erratically.

detection.mp4

I suspect the issue might lie in the positioning of the traffic lights in the vector map. The positions may not be set accurately enough, causing some discrepancies during detection. I attempted to use the Carla API to obtain the traffic light coordinates, but since the vector map also requires setting the dimensions (length, width, and height) of objects, there might still be some minor inaccuracies.

I have also tried searching for related discussions or information in the community and online, but unfortunately, there seems to be very little discussion about Carla traffic lights.

If anyone could provide relevant information or assistance, it would be greatly appreciated!

[maxime-clem]

I could reproduce the issue with the current version of Autoware (0.40.0) and including this fix commit: autowarefoundation/autoware.universe@ca2d4e7

I did not find a solution as changing the height of the traffic light as written in the vector map did not have any effect.

[WZZan]

Hi Maxime-Clem,

I’m facing the same problem. Have you found a solution? Any advice would be greatly appreciated!

Thanks!

[habby1012]

Hi @WZZan @maxime-clem,

The working principle of the traffic light is based on defining two points as the left and right boundaries of a square, along with its bottom position. Then, we set a height value to extend the top boundary of the square upward.

In the following example, we define a traffic light composed of two points: 29934 and 29935. The height is set to 0.5, indicating that the total height of this traffic light is 0.5.

Next, we locate point 29934, as shown below.

Its ele value is 2, which means the bottom of the traffic light is 2 units above the ground. The local_x and local_y values represent this point's coordinates on the map.
The same applies to point 29935.

You can check out this part. It gives a very detailed guide for traffic light setting.
https://docs.web.auto/en/user-manuals/vector-map-builder/introduction#regulatoryelement