Approximation of discrete OpenStreetMap way-nodes using Bezier curve fitting for OpenDrive format

Abstract

Evaluation of an Autonomous Driving System (ADS) is a challenging task due to the associated risk of human life in practical scenarios. To solve this problem most of the models are first tested on simulated environment such as CARLA [1], TORCS[2]. These simulation tool in first construct the road map from some predefined data format. One such widely accepted format is OpenDrive[3](OD). However, the road map data of the world is not available in the OD format while it is available in the OpenStreetMap (OSM) format. So, if we can map the data of OSM format to OD format then many scenarios of real world can be created inside the existing simulators. The problem of mapping of OSM format data into the OD format data is a difficult task as roads in OSM are represented by discrete data while roads in OD format are continuous function. In this study, we have addressed this difficulty by approximating a continuous function from the discrete nodes of OSM format using Bezier curve fitting..