roadrunner-scenario-authoring

Use roadrunnerAPI to get the Scenario object, add actors with addActor, anchor them with autoAnchor, then build phase logic with addPhaseInSerial, setEndCondition, and addAction. Finish by calling validate(rrs) to check the scenario structure.

Load a character asset with getAsset using the CharacterAsset type, place it via HD Map position, and add a route with waypoints in the perpendicular crossing direction computed from the road heading. Character actors always require routes or validation fails.

ChangeLaneAction only works in lane-following mode, meaning the actor must have no route waypoints. If the actor has a route, it is in path-following mode and lane changes are ignored; remove the route to enable lane changes.

LongitudinalDistanceToActorCondition only fires when the two actors have different speeds, because the gap must change over time. Also verify the initial separation exceeds the trigger distance, otherwise the condition fires immediately.

The scenario authoring functions such as roadrunnerAPI, addActor, and setEndCondition require MATLAB R2025a or later with RoadRunner, RoadRunner Scenario, and Automated Driving Toolbox installed. Some actions like SynchronizeAction require R2026a.

Do not use it for connecting to RoadRunner, authoring road geometry, importing maps, or simulating scenarios, as those are separate workflows. Head-on collisions are also unsupported because LaneOffset must be positive.