# Procedural Generation of Complex Roundabouts for Autonomous Vehicle Testing

arXiv: https://arxiv.org/abs/2303.17900 · HTML: https://mlsanity.com/paper/2303.17900/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 4 of its 27 references that are in the map.
- First posted on arXiv 31 Mar 2023.

## Builds on (most cited first, 4 of 4)

- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [HDMapGen: A Hierarchical Graph Generative Model of High Definition Maps](https://mlsanity.com/paper/2106.14880/) (2021)
- [Improving the Generalization of End-to-End Driving through Procedural Generation](https://mlsanity.com/paper/2012.13681/) (2020)
- [Automatic Map Generation for Autonomous Driving System Testing](https://mlsanity.com/paper/2206.09357/) (2022)

## Built on by (most cited first, 1 of 1)

- [Probabilistic Generative Modeling for Procedural Roundabout Generation for Developing Countries](https://mlsanity.com/paper/2310.03687/) (2023)

## Abstract (arXiv)

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.