getLane

Get information about lane from RoadRunner HD Map

Since R2026a

Syntax

laneInfo = getLane(rrHDMapQuery,actorPose)

laneInfo = getLane(rrHDMapQuery,actorPose,Name=Value)

Description

laneInfo = getLane(rrHDMapQuery,actorPose) gets the information about the lane at the specified actor pose actorPose within a RoadRunner HD Map using the RoadRunner HD Map query object rrHDMapQuery.

example

laneInfo = getLane(rrHDMapQuery,actorPose,Name=Value) specifies additional options using one or more name-value arguments. For example, ActorPoseType="drivingscenario" specifies for the function to expect a driving scenario-compatible actor pose structure.

Examples

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Get Lane Information from RoadRunner HD Map

This example uses:

Open Live Script

Create an empty RoadRunner HD Map object.

rrHDMap = roadrunnerHDMap;

Specify the path to a RoadRunner HD Map binary file, and use the read function to populate the empty RoadRunner HD Map object with the map data.

Note: Replace the file path specified in this code block with the absolute path to an .rrhd file on your system.

filename = "C:\RR\MyProject\Exports\SimpleBankedRoad.rrhd";
read(rrHDMap,filename);

Convert the RoadRunner HD Map object into a MATLAB structure.

rrHDMapStruct = convertToStruct(rrHDMap);

Create a RoadRunner HD Map query object using the RoadRunner HD Map structure rrHDMapStruct.

rrHDMapQuery = roadrunnerHDMapQuery(rrHDMapStruct);

Specify a driving scenario-compatible actor pose structure. This structure must include the position, orientation, and velocities of an actor in the scenario.

actorPose = struct("ActorID",1,"Position",[-18.57 102.40 -2.76],"Velocity",[0 0 0],"Roll",0,"Pitch",0,"Yaw",92.09,"AngularVelocity",[0 0 0]);

Get the information for the current lane at the specified actor pose from the RoadRunner HD Map.

laneInfo = getLane(rrHDMapQuery,actorPose,ActorPoseType="drivingscenario")

laneInfo = struct with fields:
             LaneID: '{de577e4a-213c-38d6-8ec5-04e4cd425e61}'
        Coordinates: [190×3 double]
           LaneType: OnRamp
    TravelDirection: Backward
          LaneWidth: 4.7598
          LaneSpeed: 11.1760

Input Arguments

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`rrHDMapQuery` — RoadRunner HD Map query object
`roadrunnerHDMapQuery` object

RoadRunner HD Map query object, specified as a roadrunnerHDMapQuery object.

`actorPose` — Pose of actor
structure

Pose of an actor, specified as a structure. The pose of an actor represents the position, orientation, and velocity of the actor in a driving scenario or RoadRunner scenario.

If your actor information comes from a cuboid simulation environment, you must specify an actor pose structure with these fields, and specify the ActorPoseType argument as "drivingScenario".

Field Name	Description
`ActorID`	Scenario-defined actor identifier, specified as a positive integer.
`Position`	Position of the actor, specified as a real-valued vector of the form [x y z]. Units are in meters.
`Velocity`	Velocity (v) of the actor in the x- y-, and z-directions, specified as a real-valued vector of the form [v_x v_y v_z]. Units are in meters per second.
`Roll`	Roll angle of the actor, specified as a real-valued scalar. Units are in degrees.
`Pitch`	Pitch angle of the actor, specified as a real-valued scalar. Units are in degrees.
`Yaw`	Yaw angle of the actor, specified as a real-valued scalar. Units are in degrees.
`AngularVelocity`	Angular velocity (ω) of the actor in the x-, y-, and z-directions, specified as a real-valued vector of the form [ω_x ω_y ω_z]. Units are in degrees per second.

If your actor information comes from a RoadRunner Scenario simulation environment, you must specify an actor pose structure with these fields, and specify the ActorPoseType argument as "roadrunner".

Field Name	Description
`ActorID`	Scenario-defined actor identifier, specified as an integer of data type `uint64`.
`Pose`	Position and orientation of the actor, specified as a 4-by-4 matrix. For more information, see What Is a RoadRunner Pose Matrix?.
`Velocity`	Actor velocity in the x-, y- and z- directions, specified as a 1-by-3 vector. Units are in meters per second.
`AngularVelocity`	Angular velocity of the actor in the x-, y- and z- directions, specified as a 1-by-3 vector. Units are in radians per second.

Name-Value Arguments

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Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: getLane(rrHDMapQuery,actorPose,ActorPoseType="drivingscenario") specifies for the function to expect a driving scenario-compatible actor pose structure.

`ActorPoseType` — Type of actor pose
`"drivingscenario"` (default) | `"roadrunner"`

Type of the actor pose, specified as "drivingscenario" or "roadrunner". This argument determines which fields the getLane function expects in the structure specified to the actorPose argument. For more information, see actorPose.

`IncludeNonDrivingLanes` — Include nondriving lanes
`true` or `1` (default) | `false` or `0`

Include nondriving lanes, specified as a logical 1 (true) or 0 (false). By default, if the actor is on a nondriving lane, the function still queries the map for information about the nondriving lane and returns its information. Specify this argument as false to skip querying and returning information about nondriving lanes.

Output Arguments

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`laneInfo` — Lane information
structure

Lane information at the actor pose, returned as a structure with these fields.

Field Name	Description
`LaneID`	Universal unique identifier (UUID) of the lane, returned as a string scalar.
`Coordinates`	Lane center coordinates, returned as a real-valued N-by-3 matrix, where N is the number of points on the lane center line.
`LaneType`	Type of the lane, returned as a `roadrunner.hdmap.LaneType` object. For more information on lane types in RoadRunner HD Maps, see the `LaneType` property of the `Lane` object.
`TravelDirection`	Travel direction of the lane, returned as a `roadrunner.hdmap.TravelDirection` object. For more information on the travel direction of lanes in RoadRunner HD Maps, see the `TravelDirection` property of the `Lane` object.
`LaneWidth`	Width of the lane, returned as a real-valued scalar. Units are in meters.
`LaneSpeed`	Speed limit of the lane, returned as a real-valued scalar. Units are in meters per second.

getLane

Syntax

Description

Examples

Get Lane Information from RoadRunner HD Map

Input Arguments

`rrHDMapQuery` — RoadRunner HD Map query object
`roadrunnerHDMapQuery` object

`actorPose` — Pose of actor
structure

Name-Value Arguments

`ActorPoseType` — Type of actor pose
`"drivingscenario"` (default) | `"roadrunner"`

`IncludeNonDrivingLanes` — Include nondriving lanes
`true` or `1` (default) | `false` or `0`

Output Arguments

`laneInfo` — Lane information
structure

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

See Also

getLane

Syntax

Description

Examples

Get Lane Information from RoadRunner HD Map

Input Arguments

rrHDMapQuery — RoadRunner HD Map query object roadrunnerHDMapQuery object

actorPose — Pose of actor structure

Name-Value Arguments

ActorPoseType — Type of actor pose "drivingscenario" (default) | "roadrunner"

IncludeNonDrivingLanes — Include nondriving lanes true or 1 (default) | false or 0

Output Arguments

laneInfo — Lane information structure

Extended Capabilities

C/C++ Code Generation Generate C and C++ code using MATLAB® Coder™.

Version History

See Also

`rrHDMapQuery` — RoadRunner HD Map query object
`roadrunnerHDMapQuery` object

`actorPose` — Pose of actor
structure

`ActorPoseType` — Type of actor pose
`"drivingscenario"` (default) | `"roadrunner"`

`IncludeNonDrivingLanes` — Include nondriving lanes
`true` or `1` (default) | `false` or `0`

`laneInfo` — Lane information
structure

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.