I was intrigued to know the influence vector map has on the overall framework. So, I just did a simple test in the quick start examples by removing the lines that load the CSV files in my_map.launch. Since the vehicle can localize itself only using the point cloud map. my hypothesis was that, without the vector map information, the vehicle would fail to stop at traffic lights and not follow the lanes. But to my surprise, the vehicle was able to stop at traffic lights.
So, my guess is that a point cluster classification algorithm is being used to detect the traffic lights. hence, this brings up the question of what part of the algorithm/framework that would be affected if vector maps aren’t available?
Looking forward to a discussion on this topic!