About Lanelet2

Lanelet2 is a C++ library for handling map data in the context of automated driving. It is designed to utilize high-definition map data in order to efficiently handle the challenges posed to a vehicle in complex traffic scenarios. Flexibility and extensibility are some of the core principles to handle the upcoming challenges of future maps.


  • 2D and 3D support

  • Consistent modification if one point is modified, all owning objects see the change

  • Supports lane changes, routing through areas, etc.

  • Separated routing for pedestrians, vehicles, bikes, etc.

  • Many customization points to add new traffic rules, routing costs, parsers, etc.

  • Simple convenience functions for common tasks when handling maps

  • Accurate Projection between the lat/lon geographic world and local metric coordinates

  • IO Interface for reading and writing e.g. osm data formats (this does not mean it can deal with osm maps)

  • Python bindings for the whole C++ interface

  • Boost Geometry support for all thinkable kinds of geometry calculations on map primitives

  • Released under the BSD 3-Clause license


Lanelet2 is the successor of the old liblanelet that was developed in 2013.


For more information, please refer to our within the repository.

For the API documentation, please refer to the auto-generated doxygen documentation:

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]


If you are using Lanelet2 for scientific research, we would be pleased if you would cite our publication:

  title     = {Lanelet2: A High-Definition Map Framework for the Future of Automated Driving},
  author    = {Poggenhans, Fabian and Pauls, Jan-Hendrik and Janosovits, Johannes and Orf, Stefan and Naumann, Maximilian and Kuhnt, Florian and Mayr, Matthias},
  booktitle = {Proc.\ IEEE Intell.\ Trans.\ Syst.\ Conf.},
  year      = {2018},
  address   = {Hawaii, USA},
  owner     = {poggenhans},
  month     = {November},

Wiki: lanelet2 (last edited 2020-04-01 14:05:25 by poggenhans)