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

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

[Richeek]

It is unclear when you mention that you cannot update the lane specification anymore. It would be helpful if you could describe the exact issue you're facing.

The code should function for multiple roads if the following inputs are correctly provided:

• laneDetections: Ensure lane detections are available for the roads where you intend to update the lane specifications.
• egoTrajectory: Verify that the ego trajectory exists for the entire length of the road. The trajectory must also be accurately localized on the desired lane within the road.
• firstEgoWaypointLaneIdx: Ensure that the ego lane index accurately corresponds to the starting lane index for the ego vehicle on the road.

[Xinyu]

Hello Richeek,

thanks for your reply, I checked the function "updateLaneSpec" and found that there are blank line in struct "laneLayout" like this photo showed.

And wenn I filled all blank line, I generate Road like this photo, the road is not continous.

Best regards,

Xinyu

[Richeek]

Hi,

Can you please share the data, error messages and detailed reproduction steps so that I can reproduce the issue at my end?

If you are not comfortable to share the files on this platform, please raise a Service request using the following link,

https://in.mathworks.com/support/contact_us.html

I look forward to hear from you soon.