getLanesInRoadRunnerHDMap

Create RoadRunner HD Map from lane information

Since R2024a

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Syntax

rrMap = getLanesInRoadRunnerHDMap(laneBoundaries)
rrMap = getLanesInRoadRunnerHDMap(laneBoundaries,MinJunctionLength=minJunctionLength)

Description

Add-On Required: This feature requires the Scenario Builder for Automated Driving Toolbox add-on.

rrMap = getLanesInRoadRunnerHDMap(laneBoundaries) creates a roadrunnerHDMap object, rrMap, containing lane and lane boundary information from the input lane boundaries laneBoundaries.

example

rrMap = getLanesInRoadRunnerHDMap(laneBoundaries,MinJunctionLength=minJunctionLength) specifies the minimum distance between two consecutive road segments minJunctionLength at which to create a junction between them.

example

Examples

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This example uses:

Open Live Script

Load lane boundary group data into the workspace.

data = load("laneBoundaryGroupData.mat","lbGroup");

Create a RoadRunner HD Map from the lane boundary segment lane information.

rrMap = getLanesInRoadRunnerHDMap(data.lbGroup);

Plot the RoadRunner HD Map.

plot(rrMap)

This example uses:

Open Live Script

Load lane boundary segment data into the workspace. 

data = load("laneBoundarySegmentData.mat","lbsegment");

Create a RoadRunner HD Map from the lane boundary group lane information.

rrMap = getLanesInRoadRunnerHDMap(data.lbsegment,minJunctionLength=5);

Plot the RoadRunner HD Map.

plot(rrMap)

Input Arguments

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Lane boundary information, specified as a laneBoundarySegment object or laneBoundaryGroup object.

Minimum distance at which to create a junction between two consecutive road segments in the scene, specified as a positive scalar. Units are in meters.

If the distance between two consecutive road segments exceeds this value, then the function adds a perpendicular road between the two road segments to create a junction. Otherwise, the function does not create a junction.

Output Arguments

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RoadRunner HD Map with lane information, returned as a roadrunnerHDMap object.

The function sets these properties of the returned roadrunnerHDMap object:

  • Lanes

  • LaneBoundaries

  • GeoReference

  • GeographicBoundary

Version History

Introduced in R2024a

See Also

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