  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.
