what is the speed limitation for the CARPARK_AREA layer?

[teddyluo]

I found that there was an error in src/scenario_manager/scenario_manager.py:

def update_drivable_area_map(self):
    # Step 1: 获取车辆当前的位置
    position: Point2D = self._ego_state.center.point
    
    # Step 2: 获取车辆附近指定半径内的可驾驶区域
    drivable_area = self._map_api.get_proximal_map_objects(
        position, self._radius, DRIVABLE_LAYERS
    )

    # Step 3: 初始化可驾驶区域的多边形、ID和速度限制的列表
    drivable_polygons: List[Polygon] = []
    drivable_polygon_ids: List[str] = []
    lane_speed_limit = []

    # Step 4: 遍历道路块和车道连接器
    for road in [SemanticMapLayer.ROADBLOCK, SemanticMapLayer.ROADBLOCK_CONNECTOR]:
        for roadblock in drivable_area[road]:
            for lane in roadblock.interior_edges:
                # 记录车道的多边形、ID和速度限制
                drivable_polygons.append(lane.polygon)
                drivable_polygon_ids.append(lane.id)
                speed_limit = lane.speed_limit_mps if lane.speed_limit_mps else 50
                lane_speed_limit.append(speed_limit)

    # Step 5: 遍历停车区域
    for carpark in drivable_area[SemanticMapLayer.CARPARK_AREA]:
        drivable_polygons.append(carpark.polygon)
        drivable_polygon_ids.append(carpark.id)
        speed_limit = lane.speed_limit_mps if lane.speed_limit_mps else 50
        lane_speed_limit.append(speed_limit)

    # Step 6: 创建可驾驶区域的占用地图
    self._drivable_area_map = OccupancyMap(
        drivable_polygon_ids,
        drivable_polygons,
        attribute={"speed_limit": lane_speed_limit},
    )
    
    # Step 7: 更新路径管理器中的可驾驶区域地图
    self._route_manager.update_drivable_area_map(self._drivable_area_map)

the following:

# Step 5: 遍历停车区域
    for carpark in drivable_area[SemanticMapLayer.CARPARK_AREA]:
        drivable_polygons.append(carpark.polygon)
        drivable_polygon_ids.append(carpark.id)
        speed_limit = lane.speed_limit_mps if lane.speed_limit_mps else 50
        lane_speed_limit.append(speed_limit)

The lane object has not been defined, so my problem is: what is the speed limitation for the CARPARK_AREA.

Many thanks.