V2I (Vehicle-to-Infrastructure)

V2I is a component that simulates V2I communication protocol which allows to exchange data between vehicles and road infrastructure. In the current version of AWSIM, the V2I component publishes information about traffic lights.

How to add V2I to the environment

Assign Lanelet2 WayID and RelationID to TrafficLight object

1. Load items from lanelet2 following the instruction

2. Verify if Traffic Light Lanelet ID component has been added to Traffic Light game objects.

3. Verify if WayID and RelationID has been correctly assigned. You can use Vector Map Builder as presented below

Add manually Traffic Light Lanelet ID component (alternatively)

If for some reason, Traffic Light Lanelet ID component is not added to Traffic Light object.

1. Add component manually

   

2. Fill Way ID

   

3. Fill Relation ID

   

Add V2I prefab

Select EGO transform

Parameters

Name	Type	Description
Output Hz	int	Topic publication frequency
Ego Vehicle Transform	transform	Ego Vehicle object transform
Ego Distance To Traffic Signals	double	Maximum distance between Traffic Light and Ego
Traffic Signal ID	enum	Possibility to select if as traffic_signal_id field in msg is Relation ID or Way ID
Traffic Signals Topic	string	Topic name

Note

V2I feature can be used as Traffic Light ground truth information, and for that usage Way ID is supposed to be selected.