roadrunner.hdmap.BarrierType

Create barrier types in RoadRunner HD Map using MATLAB

Since R2022b

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    Description

    A roadrunner.hdmap.BarrierType object enables you to define the barrier extrusion and the type information for a barrier in a RoadRunner HD Map scene model.

    Creation

    Syntax

    barrierType = roadrunner.hdmap.BarrierType()
    barrierType = roadrunner.hdmap.BarrierType(Name=Value)

    Description

    barrierType = roadrunner.hdmap.BarrierType() creates an empty barrier type.

    barrierType = roadrunner.hdmap.BarrierType(Name=Value) sets the properties of the barrier type using name-value pairs.

    example

    Properties

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    ID of the barrier type, specified as a character vector or string scalar. The Barrier object refers to this field to describe a barrier based on its extruded geometry.

    Data Types: char | string

    Relative path for extrusion asset that defines type of barrier, specified as a roadrunner.hdmap.RelativeAssetPath (RoadRunner) object. The asset path points to the extrusion information of this barrier type.

    Examples

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    This example uses:

    Open Live Script

    Create an empty RoadRunner HD Map by calling the roadrunnerHDMap object.

    rrMap = roadrunnerHDMap()
    rrMap = 
  roadrunnerHDMap with properties:

                 Author: ""
           GeoReference: [0 0]
     GeographicBoundary: []
                  Lanes: [0×1 roadrunner.hdmap.Lane]
            SpeedLimits: [0×1 roadrunner.hdmap.SpeedLimit]
         LaneBoundaries: [0×1 roadrunner.hdmap.LaneBoundary]
             LaneGroups: [0×1 roadrunner.hdmap.LaneGroup]
           LaneMarkings: [0×1 roadrunner.hdmap.LaneMarking]
              Junctions: [0×1 roadrunner.hdmap.Junction]
           BarrierTypes: [0×1 roadrunner.hdmap.BarrierType]
               Barriers: [0×1 roadrunner.hdmap.Barrier]
              SignTypes: [0×1 roadrunner.hdmap.SignType]
                  Signs: [0×1 roadrunner.hdmap.Sign]
      StaticObjectTypes: [0×1 roadrunner.hdmap.StaticObjectType]
          StaticObjects: [0×1 roadrunner.hdmap.StaticObject]
    StencilMarkingTypes: [0×1 roadrunner.hdmap.StencilMarkingType]
        StencilMarkings: [0×1 roadrunner.hdmap.StencilMarking]
      CurveMarkingTypes: [0×1 roadrunner.hdmap.CurveMarkingType]
          CurveMarkings: [0×1 roadrunner.hdmap.CurveMarking]
            SignalTypes: [0×1 roadrunner.hdmap.SignalType]
                Signals: [0×1 roadrunner.hdmap.Signal]

    Create an extrusion path to an asset. In this example, create a relative path to a constantSlopeBarrier asset file. This path is relative to the Assets folder of your RoadRunner project.

    path = roadrunner.hdmap.RelativeAssetPath(AssetPath="/Assets/Extrusions/ConstantSlopeBarrier.rrext")
    path = 
  RelativeAssetPath with properties:

    AssetPath: "/Assets/Extrusions/ConstantSlopeBarrier.rrext"

    Create the barrier type using the roadrunner.hdmap.BarrierType object. Specify the barrier type information for the barrier type id and the extrusion path.

    rrMap.BarrierTypes = roadrunner.hdmap.BarrierType(ID="BarrierType1", ExtrusionPath=path)
    rrMap = 
  roadrunnerHDMap with properties:

                 Author: ""
           GeoReference: [0 0]
     GeographicBoundary: []
                  Lanes: [0×1 roadrunner.hdmap.Lane]
            SpeedLimits: [0×1 roadrunner.hdmap.SpeedLimit]
         LaneBoundaries: [0×1 roadrunner.hdmap.LaneBoundary]
             LaneGroups: [0×1 roadrunner.hdmap.LaneGroup]
           LaneMarkings: [0×1 roadrunner.hdmap.LaneMarking]
              Junctions: [0×1 roadrunner.hdmap.Junction]
           BarrierTypes: [1×1 roadrunner.hdmap.BarrierType]
               Barriers: [0×1 roadrunner.hdmap.Barrier]
              SignTypes: [0×1 roadrunner.hdmap.SignType]
                  Signs: [0×1 roadrunner.hdmap.Sign]
      StaticObjectTypes: [0×1 roadrunner.hdmap.StaticObjectType]
          StaticObjects: [0×1 roadrunner.hdmap.StaticObject]
    StencilMarkingTypes: [0×1 roadrunner.hdmap.StencilMarkingType]
        StencilMarkings: [0×1 roadrunner.hdmap.StencilMarking]
      CurveMarkingTypes: [0×1 roadrunner.hdmap.CurveMarkingType]
          CurveMarkings: [0×1 roadrunner.hdmap.CurveMarking]
            SignalTypes: [0×1 roadrunner.hdmap.SignalType]
                Signals: [0×1 roadrunner.hdmap.Signal]

    This example uses:

    Open Live Script

    Add a barrier such as road fences, to a RoadRunner HD Map and build a RoadRunner scene using the HD Map.

    Create an empty RoadRunner HD Map by using the roadrunnerHDMap object.

    rrMap = roadrunnerHDMap;

    Create a road lane 50 meters in length using the roadrunner.hdmap.Lane object. Specify the lane ID, coordinates defining the lane geometry, driving direction, and lane type.

    rrMap.Lanes(1) = roadrunner.hdmap.Lane(ID="Lane",Geometry=[0 0; 0 50],TravelDirection="Forward",LaneType="Driving");

    Create the lane boundaries of the road using the roadrunner.hdmap.LaneBoundary object. Specify the lane ID and the coordinates that define the points of the lane boundary.

    rrMap.LaneBoundaries(1) = roadrunner.hdmap.LaneBoundary(ID="Left",Geometry=[-6 0; -6 50]);
rrMap.LaneBoundaries(2) = roadrunner.hdmap.LaneBoundary(ID="Right",Geometry=[6 0; 6 50]);

    Link the lane boundaries to the lane. Define the left and the right lane boundaries for the lane, and specify the alignment between the lane and lane boundaries.

    leftBoundary(rrMap.Lanes(1),"Left",Alignment="Forward");
rightBoundary(rrMap.Lanes(1),"Right",Alignment="Forward");

    To add a barrier to the HD Map, first extract the corresponding extrusion asset by using the roadrunner.hdmap.RelativeAssetPath object. For more information about these assets, see RoadRunner Asset Types (RoadRunner). Extract the asset for a highway fence barrier to add it to the borders of the road.

    pathBarrier = roadrunner.hdmap.RelativeAssetPath(AssetPath="Assets/Extrusions/HighwayFence01.rrext");

    Now, create a barrier type element that refers to the extracted extrusion asset by using the roadrunner.hdmap.BarrierType object. Specify the barrier ID and the path to the highway fence asset.

    rrMap.BarrierTypes(1) = roadrunner.hdmap.BarrierType(ID="BarrierType1",ExtrusionPath=pathBarrier);

    Create a reference for the barrier using the roadrunner.hdmap.Reference object.

    barrierRef = roadrunner.hdmap.Reference(ID="BarrierType1");

    Add the highway fence barriers to the left and right boundaries of the road in the HD Map.

    rrMap.Barriers(1) = roadrunner.hdmap.Barrier(ID="rightFence",Geometry=[-6 0 0; -6 50 0],BarrierTypeReference=barrierRef);
rrMap.Barriers(2) = roadrunner.hdmap.Barrier(ID="leftFence",Geometry=[6 0 0; 6 50 0],BarrierTypeReference=barrierRef,FlipLaterally=true);

    Plot the lane centers, lane boundaries, and barriers to preview them before importing into RoadRunner.

    plot(rrMap,ShowBarriers=true);

    Figure contains an axes object. The axes object contains 3 objects of type line. These objects represent Lane Boundaries, Lane Centers, Barriers.

    Write the modified HD Map to a binary file.

    filename = "MyMap.rrhd";
write(rrMap,filename)

    To open RoadRunner using MATLAB®, first specify the path to your RoadRunner project. This code shows the path for a sample project folder location in Windows®. If you are using RoadRunner for the first time, you must install RoadRunner and activate your RoadRunner license. For more information, see Install and Activate RoadRunner (RoadRunner).

    rrProjectPath = "C:\RR\MyProject";

    Specify the path to your local RoadRunner installation folder. This code shows the path for the default installation location in Windows.

    rrAppPath = "C:\Program Files\RoadRunner R2025b\bin\win64";

    Open RoadRunner using the roadrunner object from the MATLAB command line. Alternatively, you can start the RoadRunner application interactively, using the roadrunnerSetup (RoadRunner) function. This function opens a dialog box to specify the project folder and installation folder to use when opening RoadRunner.

    rrApp = roadrunner(rrProjectPath,InstallationFolder=rrAppPath);

    Import the RoadRunner HD Map file MyMap.rrhd into your RoadRunner scene, and build the RoadRunner HD Map data. Before you build the scene, you must activate your RoadRunner Scene Builder license. RoadRunner Scene Builder is an add-on product that requires an addition to your RoadRunner license. For more details, see RoadRunner Scene Builder.

    file = fullfile(pwd,"MyMap.rrhd");
importScene(rrApp,file,"RoadRunner HD Map");

    This figure shows the built scene in the RoadRunner canvas.

    RoadRunner scene with a single‑lane road and highway fence barriers on both sides of the road.

    Version History

    Introduced in R2022b

    See Also

    (RoadRunner) | (RoadRunner)

    Topics