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
Load items from lanelet2 following the instruction
Traffic Light Lanelet IDcomponent has been added to
Traffic Lightgame objects.
RelationIDhas been correctly assigned. You can use Vector Map Builder as presented below
Traffic Light Lanelet ID component (alternatively)
If for some reason,
Traffic Light Lanelet ID component is not added to
Traffic Light object.
Add component manually
Fill Way ID
Fill Relation ID
Add V2I prefab
Select EGO transform
|Topic publication frequency
|Ego Vehicle Transform
|Ego Vehicle object transform
|Ego Distance To Traffic Signals
|Maximum distance between Traffic Light and Ego
|Traffic Signal ID
|Possibility to select if as
traffic_signal_id field in msg is
Relation ID or
|Traffic Signals Topic
V2I feature can be used as Traffic Light ground truth information, and for that usage
Way ID is supposed to be selected.