roadrunner.hdmap.CurveMarkingType

Create curve marking types in RoadRunner HD Map using MATLAB

Since R2024b

Description

A roadrunner.hdmap.CurveMarkingType object enables you to define the type and type information for a curve marking in a RoadRunner HD Map scene model.

Creation

Syntax

curveMarkingType = roadrunner.hdmap.CurveMarkingType

curveMarkingType = roadrunner.hdmap.CurveMarkingType(Name=Value)

Description

curveMarkingType = roadrunner.hdmap.CurveMarkingType creates an empty curve marking type.

curveMarkingType = roadrunner.hdmap.CurveMarkingType(Name=Value) sets the properties of the curve marking type using one or more name-value arguments. For example, ID="CurveMarkingType1" sets the ID of the curve marking type element to "CurveMarkingType1".

Properties

ID — ID of curve marking type

character vector | string scalar

ID of the curve marking type, specified as a character vector or string scalar. The roadrunner.hdmap.CurveMarking object references this field to describe the type of a curve marking.

Data Types: char | string

AssetPath — Relative path for curve marking asset file

roadrunner.hdmap.RelativeAssetPath object

Relative path for a curve marking asset file, specified as a roadrunner.hdmap.RelativeAssetPath object. The asset path points to the information about the curve marking type.

Examples

Add Curve Marking Type to RoadRunner HD Map

Create an empty RoadRunner HD Map as a default 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 a relative path to an asset. This code creates a relative path to a curve marking asset file from the RoadRunner asset library. This path is relative to the Assets folder of your RoadRunner project.

path = roadrunner.hdmap.RelativeAssetPath(AssetPath="Assets/Markings/DashedShortSingleWhite.rrlms")

path = 
  RelativeAssetPath with properties:

    AssetPath: "Assets/Markings/DashedShortSingleWhite.rrlms"

Create a curve marking type as a roadrunner.hdmap.CurveMarkingType object. Specify the curve marking type ID and the asset path for the type information.

rrMap.CurveMarkingTypes = roadrunner.hdmap.CurveMarkingType(ID="CurveMarkingType1",AssetPath=path)

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: [1×1 roadrunner.hdmap.CurveMarkingType]
          CurveMarkings: [0×1 roadrunner.hdmap.CurveMarking]
            SignalTypes: [0×1 roadrunner.hdmap.SignalType]
                Signals: [0×1 roadrunner.hdmap.Signal]

Build Scene with Curve Markings on Road Using RoadRunner HD Map

Add a curve marking to a road in a RoadRunner HD Map, and build a RoadRunner scene using the HD Map.

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

rrMap = roadrunnerHDMap;

Create a road lane 50 meters in length using the roadrunner.hdmap.Lane object. Specify the lane ID, coordinates defining the centerline of the lane, driving direction, and lane type.

rrMap.Lanes(1) = roadrunner.hdmap.Lane(ID="Lane",Geometry=[0 0; 0 50],TravelDirection="Forward",LaneType="Driving");

Create the lane boundaries of the road using the roadrunner.hdmap.LaneBoundary object. For each boundary, specify the lane ID and the coordinates that define the points of the lane boundary.

rrMap.LaneBoundaries(1) = roadrunner.hdmap.LaneBoundary(ID="Left",Geometry=[-5 0; -5 50]);
rrMap.LaneBoundaries(2) = roadrunner.hdmap.LaneBoundary(ID="Right",Geometry=[5 0; 5 50]);

Link the lane boundaries to the lane. Define the left and the right lane boundaries for the lane, and specify the alignment between the lane and lane boundaries.

leftBoundary(rrMap.Lanes(1),"Left",Alignment="Forward");
rightBoundary(rrMap.Lanes(1),"Right",Alignment="Forward");

To add a dashed single white curve marking to the road, first extract the corresponding curve marking asset by using the roadrunner.hdmap.RelativeAssetPath object. For more information about these assets, see RoadRunner Asset Types (RoadRunner).

pathCurveMarking = roadrunner.hdmap.RelativeAssetPath(AssetPath="Assets/Markings/ContinentalCrosswalk.rrcws");

Next, create a dashed single white curve marking element that refers to the extracted lane marking asset using the roadrunner.hdmap.CurveMarkingType object. Specify the ID and the path to the dashed single white asset.

rrMap.CurveMarkingTypes(1) = roadrunner.hdmap.CurveMarkingType(ID="CrossWalkMarking",AssetPath=pathCurveMarking);

Create a reference to the curve marking using the roadrunner.hdmap.Reference object.

curveMarkingRef = roadrunner.hdmap.Reference(ID="CrossWalkMarking");

Now, add a crosswalk toward the right side of the road in the HD Map by creating a CurveMarking object and specifying its geometry and marking type reference.

rrMap.CurveMarkings(1) = roadrunner.hdmap.CurveMarking(ID="CrossWalkMarking",Geometry=[3 0; 3 50],MarkingTypeReference=curveMarkingRef);

Write the modified HD Map to a binary file.

filename = "MyMap.rrhd";
write(rrMap,filename)

To open RoadRunner using MATLAB®, first specify the path to your RoadRunner project. This code shows the path for a sample project folder location in Windows®. If you are using RoadRunner for the first time, you must install RoadRunner and activate your RoadRunner license. For more information, see Install and Activate RoadRunner (RoadRunner).

rrProjectPath = "C:\RR\MyProject";

Specify the path to your local RoadRunner installation folder. This code shows the path for the default installation location in Windows.

rrAppPath = "C:\Program Files\RoadRunner R2025b\bin\win64";

Open RoadRunner using the roadrunner object from the MATLAB command line. Alternatively, you can start the RoadRunner application interactively, using the roadrunnerSetup (RoadRunner) function. This function opens a dialog box to specify the project folder and installation folder to use when opening RoadRunner.

rrApp = roadrunner(rrProjectPath,InstallationFolder=rrAppPath);

Import the RoadRunner HD Map file MyMap.rrhd into your RoadRunner scene, and build the RoadRunner HD Map data. Before you build the scene, you must activate your RoadRunner Scene Builder license. RoadRunner Scene Builder is an add-on product that requires an addition to your RoadRunner license. For more details, see RoadRunner Scene Builder.

file = fullfile(pwd,"MyMap.rrhd");
importScene(rrApp,file,"RoadRunner HD Map");

This figure shows the built scene in the RoadRunner canvas.

Version History

Introduced in R2024b