Carla-Autoware. Carla Vector Map with Traffic Light

[habby1012]

It seems that there isn’t an official vector map for Carla’s Town 1 that includes traffic lights. Therefore, I followed the instructions on this webpage to build one myself. After completing the map, I made several adjustments to ensure the camera could detect the traffic lights correctly, such as fine-tuning the camera’s TF, calibrating the camera extrinsics, and ensuring the traffic light recognition model was functioning properly.

However, the recognition results have been inconsistent. As shown in the attached video, the detected traffic light state often switches erratically.

detection.mp4

I suspect the issue might lie in the positioning of the traffic lights in the vector map. The positions may not be set accurately enough, causing some discrepancies during detection. I attempted to use the Carla API to obtain the traffic light coordinates, but since the vector map also requires setting the dimensions (length, width, and height) of objects, there might still be some minor inaccuracies.

I have also tried searching for related discussions or information in the community and online, but unfortunately, there seems to be very little discussion about Carla traffic lights.

If anyone could provide relevant information or assistance, it would be greatly appreciated!

[maxime-clem]

I could reproduce the issue with the current version of Autoware (0.40.0) and including this fix commit: autowarefoundation/autoware.universe@ca2d4e7

I did not find a solution as changing the height of the traffic light as written in the vector map did not have any effect.