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Hi,

If by semantic maps you mean the vector map format, unfortunately Vector Maps is a proprietary map format owned by a third party company. Documentation is not available.

Autoware Release 1.12 (https://discourse.ros.org/t/dates-for-1-12-development-and-release/8513) will include map converters to open source formats such as Lanelets2 (OSM format).

In general they contain information describing road layout, lane rules (changing, branching, merging) and traffic signal information, which is used to verify vehicle routes.