RNDF explained

The Route Network Definition File (RNDF) specifies accessible road segments and provides information such as waypoints, stop sign locations, lane widths, checkpoint locations, and parking spot locations. The route network has no implied start or end point. In addition to road segments, the RNDF specifies free-travel ‘zones’ that have a defined perimeter, but for which no waypoints are provided. Zones are used to represent parking lots and areas with moving or stationary obstacles or vehicles. It is used by DARPA for its Grand Challenge program.^{[1] [2]}

External links

• Route Network Definition File (RNDF) and Mission Data File (MDF) Formats, from DARPA

Notes and References

1. Book: Czerwionka . Paul . Wang . Miao . Wiesel . Fabian . Optimized route network graph as map reference for autonomous cars operating on German autobahn . The 5th International Conference on Automation, Robotics and Applications . December 2011 . 78–83 . 10.1109/icara.2011.6144860 . IEEE. 978-1-4577-0330-0 .
2. Book: Matthaei . Richard . Reschka . Andreas . Rieken . Jens . Dierkes . Frank . Ulbrich . Simon . Winkle . Thomas . Maurer . Markus . Winner . Hermann . Hakuli . Stephan . Lotz . Felix . Singer . Christina . Handbook of Driver Assistance Systems . 2015 . Springer . 1519–1556 . 1st . Autonomous Driving . 10.1007/978-3-319-12352-3_61. 978-3-319-12351-6 . 2.