Lane connection information


Is preceding and succeeding lane information available in nuScenes map (i.e. is there a way to acquire which lanes connect to what other lanes)?

Take a look at the map tutorial (
Unfortunately it is not so easy as we only provide the raw data but not the functions to take care of this.
Here is a rough strategy:

  • Figure out which road block the current lane is in.
  • Look at from_edge_line_token and to_edge_line_token to figure out which edge the road block connects to. Find other road blocks that share the same edge.
  • Get the lanes for these.