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Lanelet2 to OpenSCENARIO workflow

You have a Lanelet2 map and you’d like to base a simple driving scenario on it. drawtonomy gives you a visual bridge — but a narrow one.

The path

Section titled “The path”
Lanelet2 OSM  →  drawtonomy canvas  →  Simple OpenSCENARIO + OpenDRIVE bundle

Concretely:

  1. Import the Lanelet2 map.
  2. Trim and adjust geometry as needed.
  3. Add a small set of scenario participants.
  4. Indicate intent with Path arrows.
  5. Export the esmini bundle (.xosc + .xodr + run.sh).

What this gives you

Section titled “What this gives you”
  • A quick way to base a paper-figure or design-discussion scenario on an existing Lanelet2 map.
  • A small playable scene in esmini for the simple case.
  • A reusable .drawtonomy.svg source for figure variants.

What this doesn’t give you

Section titled “What this doesn’t give you”
  • A real Lanelet2 → OpenDRIVE converter. drawtonomy’s exporter doesn’t do analytical-geometry reconstruction. It produces an OpenDRIVE that’s a visual reinterpretation of the lanelets, not an industry-grade conversion. For that, use a dedicated converter — for example, the CommonRoad Scenario Designer toolbox has Lanelet2 ↔ OpenDRIVE conversion through the CommonRoad intermediate format, and there are research tools that target this directly.
  • Production scenarios. drawtonomy expresses a subset of OpenSCENARIO 1.3 — no conditional triggers, parameter sweeps, custom controllers, or complex storyboards.
  • Lanelet2 regulatory elements in the destination. Imported regulatory elements are preserved on re-export through a sidecar, but they don’t propagate as <signal> or storyboard entries on the OpenSCENARIO side today.
  • Tight Autoware integration. drawtonomy stops at the OpenSCENARIO/OpenDRIVE pair; running scenarios inside an Autoware stack needs Autoware’s own tooling.

Practical notes

Section titled “Practical notes”
  • Crop before exporting. Lanelet2 maps often cover much more area than you need.
  • Verify lane direction. Imported lanelet direction maps to OpenDRIVE lane direction. Check that sidewalks / opposite-direction lanes haven’t survived as drivable lanes.
  • Test in esmini for the simple case. The exported scenario plays back simple paths; expect to extend it by hand for anything more.

When to do this differently

Section titled “When to do this differently”
  • City-scale or production-grade Lanelet2 → OpenDRIVE conversion → use a dedicated converter.
  • Production scenario fleets → generate from code against a known-good OpenDRIVE base, or use a DSL.
  • Autoware-internal scenarios → use Autoware’s own scenario tooling.
Section titled “Related reading”