getProjectionPointOnLane

Get information about projection point on lane from RoadRunner HD Map

Since R2026a

collapse all in page

    Syntax

    projectionPointInfo = getProjectionPointOnLane(rrHDMapQuery,laneID,actorPose)
    projectionPointInfo = getProjectionPointOnLane(rrHDMapQuery,laneID,actorPose,ActorPoseType=poseType)

    Description

    projectionPointInfo = getProjectionPointOnLane(rrHDMapQuery,laneID,actorPose) gets the information about the projection point on the specified lane at the specified actor pose actorPose within a RoadRunner HD Map using the RoadRunner HD Map query object rrHDMapQuery.

    example

    projectionPointInfo = getProjectionPointOnLane(rrHDMapQuery,laneID,actorPose,ActorPoseType=poseType) specifies the type of the actor pose.

    Examples

    collapse all

    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. 

    rrHDMapQuery = roadrunnerHDMapQuery(rrHDMapStruct);

    Specify a lane ID and a driving scenario-compatible actor pose structure. The structure must include the position, orientation, and velocity of an actor in the scenario. 

    laneID = "{de577e4a-213c-38d6-8ec5-04e4cd425e61}";
poseType = "drivingscenario";
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]);

    Retrieve the information of road attributes at the specified actor pose from RoadRunner HD Map.

    roadInfo= getProjectionPointOnLane(rrHDMapQuery,laneID,actorPose,ActorPoseType=poseType)
    roadInfo = struct with fields:
     Position: [-18.5709 102.4032 -2.7679]
    Curvature: -0.0168
      Heading: 0.2863
      Banking: 0.1392
        Grade: -0.0424

    Input Arguments

    collapse all

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

    Universal unique identifier (UUID) of the lane onto which to project the actor pose, specified as a character vector or string scalar. The function projects the specified actor pose actorPose onto the centerline of the this lane to get the projection point.

    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 poseType argument as "drivingScenario".

    Field NameDescription
    ActorIDScenario-defined actor identifier, specified as a positive integer.
    PositionPosition of the actor, specified as a real-valued vector of the form [x y z]. Units are in meters.
    VelocityVelocity (v) of the actor in the x- y-, and z-directions, specified as a real-valued vector of the form [vx vy vz]. Units are in meters per second.
    RollRoll angle of the actor, specified as a real-valued scalar. Units are in degrees.
    PitchPitch angle of the actor, specified as a real-valued scalar. Units are in degrees.
    YawYaw angle of the actor, specified as a real-valued scalar. Units are in degrees.
    AngularVelocityAngular velocity (ω) of the actor in the x-, y-, and z-directions, specified as a real-valued vector of the form [ωx ωy ωz]. 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 poseType argument as "roadrunner".

    Field NameDescription
    ActorIDScenario-defined actor identifier, specified as an integer of data type uint64.
    PosePosition and orientation of the actor, specified as a 4-by-4 matrix. For more information, see What Is a RoadRunner Pose Matrix?.
    VelocityActor velocity in the x-, y- and z- directions, specified as a 1-by-3 vector. Units are in meters per second.
    AngularVelocityAngular velocity of the actor in the x-, y- and z- directions, specified as a 1-by-3 vector. Units are in radians per second.

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

    Output Arguments

    collapse all

    Projection point information for the specified lane at the specified actor pose, returned as a structure with these fields.

    Field NameDescription
    CoordinatesCoordinates of the projection point, returned as a real-valued vector of the form [x y z].
    HeadingHeading angle of the lane at the projection point, returned as a real-valued scalar. Units are in radians.
    GradeGrade of the road at the projection point, returned as a real-valued scalar. Units are in radians.
    BankingBanking angle of the road at the projection point, returned as a real-valued scalar. Units are in radians.

    Extended Capabilities

    expand all

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

    Version History

    Introduced in R2026a

    See Also

    | | | | | |