Implementation:CARLA simulator Carla LaneSection

Knowledge Sources	CARLA
Domains	Road Network, Simulation
Last Updated	2026-02-15 05:00 GMT

Overview

The LaneSection class groups lanes at a specific distance range along a road, providing access to the collection of lanes and their properties within that section.

Description

carla::road::LaneSection is a MovableNonCopyable class representing a lane section from the OpenDRIVE specification. A road may have multiple lane sections; each lane section starts at a specific s-coordinate and contains a map of lanes keyed by LaneId.

Key functionality:

• Distance and length -- GetDistance() returns the s-coordinate where the section begins; GetLength() computes the section length as the difference to the next section's start (or the road's total length)
• Lane access -- GetLane(id) retrieves a specific lane by ID; GetLanes() returns the full ordered map of lanes
• Lane filtering -- GetLanesOfType(type) returns lanes matching a bitmask lane type
• Road access -- GetRoad() provides a pointer back to the parent Road

The lane map is ordered by LaneId, where negative IDs are right lanes, 0 is the center lane, and positive IDs are left lanes.

Usage

Use this class when iterating over lanes within a specific section of a road, filtering lanes by type (e.g., finding all drivable lanes), or computing section-level properties.

Code Reference

Source Location

• Repository: CARLA
• Files: LibCarla/source/carla/road/LaneSection.h, LibCarla/source/carla/road/LaneSection.cpp

Signature

class LaneSection : private MovableNonCopyable {
public:
  explicit LaneSection(SectionId id, double s);

  double GetDistance() const;
  double GetLength() const;
  Road *GetRoad() const;
  SectionId GetId() const;

  Lane *GetLane(const LaneId id);
  const Lane *GetLane(const LaneId id) const;
  bool ContainsLane(LaneId id) const;

  std::map<LaneId, Lane> &GetLanes();
  const std::map<LaneId, Lane> &GetLanes() const;
  std::vector<Lane *> GetLanesOfType(Lane::LaneType type);
};

Import

#include "carla/road/LaneSection.h"

I/O Contract

Input	Type	Description
SectionId | Unique section identifier
double | Start distance of this section along the road
LaneId | Lane identifier for lookup
Lane::LaneType | Bitmask type filter for lane queries

Output	Type	Description
Lane * | Pointer to the requested lane, or nullptr
std::map<LaneId, Lane> | All lanes in this section ordered by ID
std::vector<Lane *> | Lanes matching the type bitmask

Usage Examples

// Get all driving lanes in a section
auto driving_lanes = lane_section.GetLanesOfType(Lane::LaneType::Driving);

// Check if a specific lane exists
if (lane_section.ContainsLane(-1)) {
  auto *lane = lane_section.GetLane(-1);
}

Related Pages

• Environment:CARLA_simulator_Carla_Simulation_Runtime