Lanelet2 (experimental)

duckosm gmns monaco.duckdb                  # the lanes first
duckosm lanelet2 monaco_gmns.duckdb         # -> monaco_gmns.lanelet2.osm: 3,182 lanelets

A Lanelet2 map, the lane-map format of Autoware and the lanelet2 library. It is OSM XML, so it also opens in OSM tools. Each lane of a GMNS database becomes a lanelet: a left and a right border (the lane's centre line ± half its width), tagged subtype (road, bus_lane, bicycle_lane), location=urban, one_way=yes, speed_limit (km/h) and duckosm:edge_id. It needs the lane centre lines that duckosm gmns draws by default (not with --no-lane-geometry).

It is a starting map, not a survey-grade HD map. The borders come from OSM centre lines and a 3.25 m default width, accurate to about a metre, not centimetres. Lanelets touch where roads meet but mostly don't share both end points (Monaco: 4 % of the legal turns do), so the lanelet2 router can't route across them yet. Not yet: routing between lanelets, lane-change neighbours, traffic lights and stop lines. Checked for structure only; not yet loaded in Autoware.

from duckosm import to_lanelet2
to_lanelet2("monaco_gmns.duckdb", "monaco.lanelet2.osm")     # -> {"lanelets", "ways", "nodes"}