Finding waypoints Road Runner in Road Runner

We are building a adaptive headlamps system and we used road runner for building our custom road Environment. We need the way points of the road so that car can follow that path.

Is there any method in road runner to get the waypoints in which car is travelling so that we can feed our car model to follow those path.

We are finding very difficult to find the waypoints by other means.

Answer 1

[Nishan Nekoo]

Hi Prajwal,

I assume this is the same question as this thread: https://www.mathworks.com/matlabcentral/answers/2043147-selecting-waypoints-for-a-roadrunner-scene-to-run-on-ue-using-simulink?s_tid=srchtitle

I am copying my answer over:

One approach is try to export RoadRunner Scene as an OpenDrive file. Import the OpenDrive file into the Driving Scenario Designer (Requires Automated Driving Toolbox) and define the waypoints there.

Another approach is to use MATLAB functions and RoadRunner Scenario to simulate the scene and you can obtain the waypoints of the lanes from the simulation object. See the example below:

https://www.mathworks.com/help/roadrunner-scenario/ug/simulate-roadrunner-scenario-using-matlab.html

Nishan