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.

翻译：高清道路是自动驾驶车辆测试中真实驾驶场景模拟的关键组成部分。环岛作为核心道路段之一，尚未得到充分研究。基于邻近道路结构的几何约束，本文提出了一种程序化构建环岛的新方法。该方法允许接近道路以任意角度连接至环岛，从而生成并非完美圆形、而是更接近真实世界环岛的环岛车道。研究人员可以轻松将该环岛集成到高清道路生成流程中，或将其作为独立环岛用于基于场景的自动驾驶测试。