Open-Source Tool of Vector Map for Path Planning in Autoware Autonomous Driving Software

In this paper, we develop a tool to generate vector map necessary for path planning in Autoware, an open-source autonomous driving software. Vector map defines road network structure, from which the global path is produced in planning module. Although Autoware is open-source, an approach to create customized vector map is considered as business nature. The free available vector mapper tool for Autoware is also not reliable and requires point cloud data file as input. However, this proposed tool takes only waypoints, locations at which a car drives, as input and produces vector map.