Procedural Generation of Complex Roundabouts for Autonomous Vehicle Testing

TL;DR

This paper introduces a novel procedural method for generating realistic, complex roundabouts with non-circular lanes for autonomous vehicle testing, enhancing simulation realism and flexibility.

Contribution

The work presents a new approach to generate realistic roundabouts that can connect at any angle, improving HD road simulation for autonomous vehicle testing.

Findings

Generated roundabouts resemble real-world structures

Supports arbitrary connection angles for approaching roads

Can be integrated into existing HD road generation workflows

Abstract

High-definition roads are an essential component of realistic driving scenario simulation for autonomous vehicle testing. Roundabouts are one of the key road segments that have not been thoroughly investigated. Based on the geometric constraints of the nearby road structure, this work presents a novel method for procedurally building roundabouts. The suggested method can result in roundabout lanes that are not perfectly circular and resemble real-world roundabouts by allowing approaching roadways to be connected to a roundabout at any angle. One can easily incorporate the roundabout in their HD road generation process or use the standalone roundabouts in scenario-based testing of autonomous driving.