roadrunner.hdmap.LaneBoundary

Create lane boundary in RoadRunner HD Map using MATLAB

Since R2022b

Description

A roadrunner.hdmap.LaneBoundary object enables you to define the border of a lane in a RoadRunner HD Map scene model. One or more lanes can optionally contain a reference to lane boundaries on either sides of the lane. Lane boundaries optionally contain definitions for parametric attributes. These attributes define the lane markings over a span. Multiple lane markings can be spanned over a lane boundary as a parametric range between [0,1] of the boundary's length.

Creation

Syntax

laneBoundary = roadrunner.hdmap.LaneBoundary()

laneBoundary = roadrunner.hdmap.LaneBoundary(Name=Value)

Description

laneBoundary = roadrunner.hdmap.LaneBoundary() creates an empty lane boundary.

laneBoundary = roadrunner.hdmap.LaneBoundary(Name=Value) sets the properties of the lane boundary using name-value pairs.

Properties

ID — ID of lane boundary

character vector | string scalar

ID of the lane boundary, specified as a character vector or string scalar.

Example: rrMap.LaneBoundaries= roadrunner.hdmap.LaneBoundary(ID="LaneBoundary1") creates a lane boundary with id Lane1Boundary in a RoadRunner HD Map.

Data Types: char | string

Geometry — Coordinates of lane boundary points

N-by-2 matrix | N-by-3 matrix

Coordinates of the lane boundary points, specified as a N-by-2 matrix or N-by-3 matrix, where N is the number of points.

• When Geometry is an N-by-2 matrix, each row corresponds to a point, where the first and second elements represents the x and y coordinates, respectively. By default, the z coordinate is assumed to be zero.

• When Geometry is an N-by-3 matrix, each row corresponds to a point, where the first, second, and third elements represents the x, y, and z coordinates, respectively.

Example: rrMap.LanesBoundaries= roadrunner.hdmap.LaneBoundary(ID="LaneBoundary1", Geometry=[-0.782 -1.56;50.78 23.43]) creates a lane boundary with id "LaneBoundary1" and defines the coordinates for the lane boundary geometry.

Data Types: double

ParametricAttributes — Span-based parametric attributes to create lane markings

array of roadrunner.hdmap.ParametricAttribution objects

Span-based parametric attributes to create lane markings, specified as an array of roadrunner.hdmap.ParametricAttribution (RoadRunner) objects.

Examples

Add Lane Boundary to RoadRunner HD Map

Create an empty RoadRunner HD Map by calling the roadrunnerHDMap object.

rrMap = roadrunnerHDMap()

rrMap = 
  roadrunnerHDMap with properties:

                 Author: ""
           GeoReference: [0 0]
     GeographicBoundary: []
                  Lanes: [0×1 roadrunner.hdmap.Lane]
            SpeedLimits: [0×1 roadrunner.hdmap.SpeedLimit]
         LaneBoundaries: [0×1 roadrunner.hdmap.LaneBoundary]
             LaneGroups: [0×1 roadrunner.hdmap.LaneGroup]
           LaneMarkings: [0×1 roadrunner.hdmap.LaneMarking]
              Junctions: [0×1 roadrunner.hdmap.Junction]
           BarrierTypes: [0×1 roadrunner.hdmap.BarrierType]
               Barriers: [0×1 roadrunner.hdmap.Barrier]
              SignTypes: [0×1 roadrunner.hdmap.SignType]
                  Signs: [0×1 roadrunner.hdmap.Sign]
      StaticObjectTypes: [0×1 roadrunner.hdmap.StaticObjectType]
          StaticObjects: [0×1 roadrunner.hdmap.StaticObject]
    StencilMarkingTypes: [0×1 roadrunner.hdmap.StencilMarkingType]
        StencilMarkings: [0×1 roadrunner.hdmap.StencilMarking]
      CurveMarkingTypes: [0×1 roadrunner.hdmap.CurveMarkingType]
          CurveMarkings: [0×1 roadrunner.hdmap.CurveMarking]
            SignalTypes: [0×1 roadrunner.hdmap.SignalType]
                Signals: [0×1 roadrunner.hdmap.Signal]

Create the road lane boundary using the roadrunner.hdmap.LaneBoundary object. Specify the lane information for the lane id and coordinates defining the lane geometry.

rrMap.LaneBoundaries = roadrunner.hdmap.LaneBoundary(ID="LaneBoundary1", Geometry=[50 25; 100 50])

rrMap = 
  roadrunnerHDMap with properties:

                 Author: ""
           GeoReference: [0 0]
     GeographicBoundary: []
                  Lanes: [0×1 roadrunner.hdmap.Lane]
            SpeedLimits: [0×1 roadrunner.hdmap.SpeedLimit]
         LaneBoundaries: [1×1 roadrunner.hdmap.LaneBoundary]
             LaneGroups: [0×1 roadrunner.hdmap.LaneGroup]
           LaneMarkings: [0×1 roadrunner.hdmap.LaneMarking]
              Junctions: [0×1 roadrunner.hdmap.Junction]
           BarrierTypes: [0×1 roadrunner.hdmap.BarrierType]
               Barriers: [0×1 roadrunner.hdmap.Barrier]
              SignTypes: [0×1 roadrunner.hdmap.SignType]
                  Signs: [0×1 roadrunner.hdmap.Sign]
      StaticObjectTypes: [0×1 roadrunner.hdmap.StaticObjectType]
          StaticObjects: [0×1 roadrunner.hdmap.StaticObject]
    StencilMarkingTypes: [0×1 roadrunner.hdmap.StencilMarkingType]
        StencilMarkings: [0×1 roadrunner.hdmap.StencilMarking]
      CurveMarkingTypes: [0×1 roadrunner.hdmap.CurveMarkingType]
          CurveMarkings: [0×1 roadrunner.hdmap.CurveMarking]
            SignalTypes: [0×1 roadrunner.hdmap.SignalType]
                Signals: [0×1 roadrunner.hdmap.Signal]

Version History

Introduced in R2022b