One of the 4 core parts of a self Driving Car Software stack is Planning. And RNDF or Route Network Definition File is the first thing PLANNING uses.

An RNDF is a tab-delimited ASCII file. It basically defines the Roadsegments and Zones.

The typical format of an RNDF file looks like the following.

RNDF_name filename (string)

num_segments number_of_segments (integer>0)

num_zones number_of_zones (integer≥ 0)

format_version format_version (string)

creation_date creation_date (string)

<segment 1>

.

.

<segment M>

<zone M+1>

.

.

<zone M+N>

end_file

Just looking at the format, we can clearly see that the RNDF file contains details about segments and…

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