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：高清道路是真实驾驶场景模拟测试自动驾驶车辆的关键组成部分。环形交叉口是尚未深入研究的关键道路部分之一。基于附近道路结构的几何约束，本文提出了一种新的程序化建造环形交叉口的方法。所提出的方法可生成不完全圆形的环形路段，并通过允许道路以任何角度连接到环形交叉口来使其类似于现实世界的单行道。一个人可以很容易地将环形交叉口纳入他们的高清路生成过程中，或者使用独立的环形交叉口在基于情境的自动驾驶测试中。