How to update the lane specification with information extracted from lane detections

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Xinyu Yang 2024-12-7，23:16

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https://ww2.mathworks.cn/matlabcentral/answers/2171549-how-to-update-the-lane-specification-with-information-extracted-from-lane-detections

评论： Richeek Roy about 3 hours 前

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Hello everyone,

I'm generating high definition scene from lane detections and OpenStreetMap by following this example:

https://ww2.mathworks.cn/help/driving/ug/build-high-definition-road-scene-from-lane-detections-and-openstreetmap.html

When there is only one road for ego like the first picture, I can update the lane specification successfully by running this code:

egoRoadsWithUpdatedLanes = updateLaneSpec(laneDetections,egoRoadData,refLaneSpec,egoTrajectory,firstEgoWaypointLaneIdx,ReplicateUpdatedLaneWidth=true);

But if the vehicle passes through two or more roads like the second picture, the "egoRoadData" changed, there are more roads, I changed the "refLaneSpec" to define the correct number of each roads, too. I cant update the lane specification anymore.

Can someone give me some advices, how can I use this code if the vehicle passes through more roads?

egoRoadsWithUpdatedLanes = updateLaneSpec(laneDetections,egoRoadData,refLaneSpec,egoTrajectory,firstEgoWaypointLaneIdx,ReplicateUpdatedLaneWidth=true);

Best regards,

Xinyu