The Lanelet2 format is particularly optimized for autonomous driving applications, such as localization and lane-level navigation. Additionally, Lanelet2 and related APIs are completely open source. Since the format is OpenStreetMap-based, you can easily view it in freely available OSM editors.
The open source map format OpenDRIVE is being co-developed by various industry partners that make up the ASAM consortium. It is particularly suited for maps to be used in simulation and supported by a growing number of simulation tools.