There are several issues with this file, all of them have to do with trying to add FlowElements (or their subclasses) to a Lane's flowNodeRefs list; according to the BPMN2 spec, a Lane may only contain FlowNodes, the objects being added are FlowElements which are not allowed.
Specifically these are:
DataStoreReference "DB" to Lane "Process Engine"
DataStoreReference "DMS" to Lane "Process Engine"
2 TextAnnotations to Lane "Process Engine"
DataObject "AnalysisResult" to Lane "Management"
DataObject "Obstacle Data" to Lane "Management"
DataObject "Obstacle and Data Analysis" to Lane "sid-FEFFE169-C684-4A1A-9EA1-93EC89042369"
DataObject "Obstacle and Data Analysis" to Lane "sid-8355560B-DADC-4803-AE15-E3CB7247A62D"
Whatever was used to create this file, does not conform to BPMN 2.0