Map for training

CommonRoad-RL
1

Hi,

Thanks for the nice env for RL training.

In the paper, some Road-Network-Related features for the observation are defiend. But in the tutorial the HighD dataset has no Map. Does the commonroad-RL currently support loading a map (e.g., OpenDrive) and extract some features from it?

Thanks!
Best
Cheng

2

Hi Cheng,

Thanks for your question. The CommonRoad scenario representation always includes a map through the RoadNetwork class.
If you use the data set converter to obtain highD CommonRoad scenarios from the raw highD data, the scenarios will include the map detailed in the metadata of the highD data set.
Generally, the scenario designer provides features to transform maps from other formats such as OpenDrive.

Given the scenarios you use within CommonRoad-RL has a road network, you can also extract road network features.

Hope this helps and best,
Hanna