Skip to content

Release Notes

Unreleased

Breaking Changes

New Features

Bug Fixes

Map Parser

Fixed bugs in XODR and OSM parsers.

Improvements

Template

## Version X.Y.Z

[Date]

A concise description that overviews the changes in this release.

### Breaking Changes

A complete list of breaking changes (preferably there are none, unless this is a major version).

### New Features

Describe the new feature and when/why to use it. Add some pictures! Call out any caveats/warnings? Is it a beta feature?

### Bug Fixes
Call out any existing feature/functionality that now works as intended or expected.

### Improvements
Improvements/enhancements to a workflow, performance, logging, error messaging, or user experience

Version 0.1.6

April 1st, 2024

The first release of the project.

New Features

Dataset Parser

Support parsing maps and trajectories from the following datasets:

  • HighD
  • InD
  • RounD
  • ExiD
  • Argoverse
  • Dragon Lake Parking (DLP)
  • INTERACTION
  • NuPlan
  • WOMD

Map Parser

Support parsing maps in the following formats:

  • OpenStreetMap (OSM)
  • OpenStreetMap annotated in Lanelet2
  • OpenDRIVE (XODR)

Math Interpolation Algorithms

Support the following interpolation algorithms:

  • B-Spline
  • Bezier
  • Cubic
  • Spiral
  • Dubins
  • Reeds Shepp

Traffic Participant

The following traffic participants are implemented:

  • Vehicle
  • Cyclist
  • Pedestrian

For each traffic participants, a set of parameters are available to configure the behavior.

Physics Model

The following physics model of traffic participants are supported:

  • Bicycle model (Kinematic): recommended for cyclists and low-speed vehicles
  • Bicycle model (Dynamic): recommended for cyclists and high-speed vehicles
  • Point mass (Kinematic): recommended for pedestrians
  • Single-track drift model (Dynamic): recommended for vehicles

Road Element

The following road elements are implemented:

  • Lane
  • Area
  • Junction
  • Road line
  • Base class of traffic regulations

Traffic Event Detection

  • Static collision detection
  • Dynamic collision detection
  • Arrival event detection

Sensor

  • Bird-eye-view (BEV) semantic segmentation RGB image
  • Single-line LiDAR point cloud