Implementation:CARLA simulator Carla Map API Spec

Knowledge Sources	CARLA
Domains	Simulation, Mapping, API Specification
Last Updated	2026-02-15 05:00 GMT

Overview

YML specification file that defines map and road-related classes in the CARLA Python API, including LaneType, LaneChange, LaneMarkingColor, LaneMarkingType, Map, Waypoint, and related enums.

Description

This YML file specifies the map system classes that provide road network information based on the OpenDRIVE 1.4 standard. LaneType enumerates lane types (Driving, Stop, Shoulder, Biking, Sidewalk, Parking, etc.). LaneChange defines turn permissions (NONE, Right, Left, Both). LaneMarkingColor and LaneMarkingType define lane marking appearance per the OpenDRIVE standard (Solid, Broken, SolidSolid, etc.). The Map class provides access to the road topology, spawn points, waypoints, and crosswalks. Waypoint represents a point on a lane with properties for lane width, road_id, section_id, lane_id, junction status, and methods to navigate the road network (next(), previous(), get_right_lane(), get_left_lane()).

Usage

Use these classes when working with CARLA's road network, pathfinding, navigation, and traffic rule systems. The Map is accessed via world.get_map() and provides the foundation for autonomous driving route planning.

Code Reference

Source Location

Repository: CARLA
File: PythonAPI/docs/map.yml

Signature

- module_name: carla
  classes:
  - class_name: LaneType
    instance_variables:
    - var_name: NONE
    - var_name: Driving
    - var_name: Stop
    - var_name: Shoulder
    - var_name: Biking
    - var_name: Sidewalk
    - var_name: Parking
    - var_name: Any

  - class_name: LaneChange
    instance_variables:
    - var_name: NONE
    - var_name: Right
    - var_name: Left
    - var_name: Both

  - class_name: LaneMarkingColor
    instance_variables:
    - var_name: Standard
    - var_name: Blue
    - var_name: White
    - var_name: Yellow

  - class_name: LaneMarkingType
    instance_variables:
    - var_name: NONE
    - var_name: Broken
    - var_name: Solid
    - var_name: SolidSolid
    - var_name: SolidBroken
    - var_name: BrokenSolid

Import

import carla
world = client.get_world()
carla_map = world.get_map()
waypoint = carla_map.get_waypoint(location)

I/O Contract

Class	Type	Description
LaneType	enum	OpenDRIVE lane types (Driving, Sidewalk, Parking, etc.)
LaneChange	enum	Lane change permissions (NONE, Right, Left, Both)
LaneMarkingColor	enum	Lane marking colors (Standard, Blue, White, Yellow)
LaneMarkingType	enum	Marking patterns (Solid, Broken, SolidSolid, etc.)
Map	class	Road network topology and waypoint access
Waypoint	class	Point on a lane with navigation methods

Usage Examples

import carla

client = carla.Client('localhost', 2000)
world = client.get_world()
carla_map = world.get_map()

# Get spawn points
spawn_points = carla_map.get_spawn_points()

# Get waypoint at a location
wp = carla_map.get_waypoint(spawn_points[0].location)
print(f"Road ID: {wp.road_id}, Lane ID: {wp.lane_id}")
print(f"Lane type: {wp.lane_type}")
print(f"Is junction: {wp.is_junction}")

# Navigate the road network
next_wps = wp.next(2.0)  # Get waypoints 2 meters ahead
left_lane = wp.get_left_lane()
right_lane = wp.get_right_lane()

# Get topology
topology = carla_map.get_topology()

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