The Map Tracker sample demonstrates how to use the map tracker from the Maps module to robustly determine the lane where the vehicle can travel.
In the following situations, selecting the current lane by merely looking for the closest point can yield erroneous results:
You can avoid incorrect lane assignments resulting from the above situations by pruning the lane candidates, using temporal coherence, and comparing the vehicle and lane orientations. These methods take advantage of the likelihood that the vehicle is traveling along the lane.
The sample shows the application of the map tracker by projecting a virtual vehicle in the selected current lane and and identifying candidate lanes where the vehicle could go.
The command line for the map access sample, sample_maptracker, is:
./sample_maptracker
While the application is running the following actions are possible:
The HD map is rendered with lines of different colors:
Map Tracker output:
Additional info:
For more details see Maps.