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：高精度道路是自动驾驶测试中逼真驾驶场景仿真的关键组成部分。环岛作为一类重要道路段，至今尚未得到充分研究。本文基于邻近道路结构的几何约束，提出一种程序化构建环岛的新方法。该方法允许引入道路以任意角度与环岛相连，从而生成非完美圆形且更接近真实道路环境的环岛车道。用户可便捷地将该环岛集成至其高精度道路生成流程中，或将其作为独立环岛应用于基于场景的自动驾驶测试。