diff --git a/events/events.proto b/events/events.proto
index 35f9cd6..ee035d6 100644
--- a/events/events.proto
+++ b/events/events.proto
@@ -62,3 +62,22 @@ enum TypeObject {
 message SwitchRecordMessage {
     bool enabled = 1;
 }
+
+// Road description
+message RoadMessage {
+    repeated Point contour = 1; // list of points that describes road contour
+    Ellipse ellipse = 2; // rotated ellipse that fit road contour
+}
+
+message Point {
+    int32 x = 1;
+    int32 y = 2;
+}
+
+message Ellipse {
+    Point center = 1;
+    int32 width = 2;
+    int32 height = 3;
+    float angle = 4;
+    float confidence = 5;
+}
diff --git a/go/events/events.pb.go b/go/events/events.pb.go
index 35c74c1..c12dc5e 100644
--- a/go/events/events.pb.go
+++ b/go/events/events.pb.go
@@ -497,6 +497,172 @@ func (m *SwitchRecordMessage) GetEnabled() bool {
 	return false
 }
 
+// Road description
+type RoadMessage struct {
+	Contour              []*Point `protobuf:"bytes,1,rep,name=contour,proto3" json:"contour,omitempty"`
+	Ellipse              *Ellipse `protobuf:"bytes,2,opt,name=ellipse,proto3" json:"ellipse,omitempty"`
+	XXX_NoUnkeyedLiteral struct{} `json:"-"`
+	XXX_unrecognized     []byte   `json:"-"`
+	XXX_sizecache        int32    `json:"-"`
+}
+
+func (m *RoadMessage) Reset()         { *m = RoadMessage{} }
+func (m *RoadMessage) String() string { return proto.CompactTextString(m) }
+func (*RoadMessage) ProtoMessage()    {}
+func (*RoadMessage) Descriptor() ([]byte, []int) {
+	return fileDescriptor_8ec31f2d2a3db598, []int{8}
+}
+
+func (m *RoadMessage) XXX_Unmarshal(b []byte) error {
+	return xxx_messageInfo_RoadMessage.Unmarshal(m, b)
+}
+func (m *RoadMessage) XXX_Marshal(b []byte, deterministic bool) ([]byte, error) {
+	return xxx_messageInfo_RoadMessage.Marshal(b, m, deterministic)
+}
+func (m *RoadMessage) XXX_Merge(src proto.Message) {
+	xxx_messageInfo_RoadMessage.Merge(m, src)
+}
+func (m *RoadMessage) XXX_Size() int {
+	return xxx_messageInfo_RoadMessage.Size(m)
+}
+func (m *RoadMessage) XXX_DiscardUnknown() {
+	xxx_messageInfo_RoadMessage.DiscardUnknown(m)
+}
+
+var xxx_messageInfo_RoadMessage proto.InternalMessageInfo
+
+func (m *RoadMessage) GetContour() []*Point {
+	if m != nil {
+		return m.Contour
+	}
+	return nil
+}
+
+func (m *RoadMessage) GetEllipse() *Ellipse {
+	if m != nil {
+		return m.Ellipse
+	}
+	return nil
+}
+
+type Point struct {
+	X                    int32    `protobuf:"varint,1,opt,name=x,proto3" json:"x,omitempty"`
+	Y                    int32    `protobuf:"varint,2,opt,name=y,proto3" json:"y,omitempty"`
+	XXX_NoUnkeyedLiteral struct{} `json:"-"`
+	XXX_unrecognized     []byte   `json:"-"`
+	XXX_sizecache        int32    `json:"-"`
+}
+
+func (m *Point) Reset()         { *m = Point{} }
+func (m *Point) String() string { return proto.CompactTextString(m) }
+func (*Point) ProtoMessage()    {}
+func (*Point) Descriptor() ([]byte, []int) {
+	return fileDescriptor_8ec31f2d2a3db598, []int{9}
+}
+
+func (m *Point) XXX_Unmarshal(b []byte) error {
+	return xxx_messageInfo_Point.Unmarshal(m, b)
+}
+func (m *Point) XXX_Marshal(b []byte, deterministic bool) ([]byte, error) {
+	return xxx_messageInfo_Point.Marshal(b, m, deterministic)
+}
+func (m *Point) XXX_Merge(src proto.Message) {
+	xxx_messageInfo_Point.Merge(m, src)
+}
+func (m *Point) XXX_Size() int {
+	return xxx_messageInfo_Point.Size(m)
+}
+func (m *Point) XXX_DiscardUnknown() {
+	xxx_messageInfo_Point.DiscardUnknown(m)
+}
+
+var xxx_messageInfo_Point proto.InternalMessageInfo
+
+func (m *Point) GetX() int32 {
+	if m != nil {
+		return m.X
+	}
+	return 0
+}
+
+func (m *Point) GetY() int32 {
+	if m != nil {
+		return m.Y
+	}
+	return 0
+}
+
+type Ellipse struct {
+	Center               *Point   `protobuf:"bytes,1,opt,name=center,proto3" json:"center,omitempty"`
+	Width                int32    `protobuf:"varint,2,opt,name=width,proto3" json:"width,omitempty"`
+	Height               int32    `protobuf:"varint,3,opt,name=height,proto3" json:"height,omitempty"`
+	Angle                float32  `protobuf:"fixed32,4,opt,name=angle,proto3" json:"angle,omitempty"`
+	Confidence           float32  `protobuf:"fixed32,5,opt,name=confidence,proto3" json:"confidence,omitempty"`
+	XXX_NoUnkeyedLiteral struct{} `json:"-"`
+	XXX_unrecognized     []byte   `json:"-"`
+	XXX_sizecache        int32    `json:"-"`
+}
+
+func (m *Ellipse) Reset()         { *m = Ellipse{} }
+func (m *Ellipse) String() string { return proto.CompactTextString(m) }
+func (*Ellipse) ProtoMessage()    {}
+func (*Ellipse) Descriptor() ([]byte, []int) {
+	return fileDescriptor_8ec31f2d2a3db598, []int{10}
+}
+
+func (m *Ellipse) XXX_Unmarshal(b []byte) error {
+	return xxx_messageInfo_Ellipse.Unmarshal(m, b)
+}
+func (m *Ellipse) XXX_Marshal(b []byte, deterministic bool) ([]byte, error) {
+	return xxx_messageInfo_Ellipse.Marshal(b, m, deterministic)
+}
+func (m *Ellipse) XXX_Merge(src proto.Message) {
+	xxx_messageInfo_Ellipse.Merge(m, src)
+}
+func (m *Ellipse) XXX_Size() int {
+	return xxx_messageInfo_Ellipse.Size(m)
+}
+func (m *Ellipse) XXX_DiscardUnknown() {
+	xxx_messageInfo_Ellipse.DiscardUnknown(m)
+}
+
+var xxx_messageInfo_Ellipse proto.InternalMessageInfo
+
+func (m *Ellipse) GetCenter() *Point {
+	if m != nil {
+		return m.Center
+	}
+	return nil
+}
+
+func (m *Ellipse) GetWidth() int32 {
+	if m != nil {
+		return m.Width
+	}
+	return 0
+}
+
+func (m *Ellipse) GetHeight() int32 {
+	if m != nil {
+		return m.Height
+	}
+	return 0
+}
+
+func (m *Ellipse) GetAngle() float32 {
+	if m != nil {
+		return m.Angle
+	}
+	return 0
+}
+
+func (m *Ellipse) GetConfidence() float32 {
+	if m != nil {
+		return m.Confidence
+	}
+	return 0
+}
+
 func init() {
 	proto.RegisterEnum("robocar.events.DriveMode", DriveMode_name, DriveMode_value)
 	proto.RegisterEnum("robocar.events.TypeObject", TypeObject_name, TypeObject_value)
@@ -508,43 +674,54 @@ func init() {
 	proto.RegisterType((*ObjectsMessage)(nil), "robocar.events.ObjectsMessage")
 	proto.RegisterType((*Object)(nil), "robocar.events.Object")
 	proto.RegisterType((*SwitchRecordMessage)(nil), "robocar.events.SwitchRecordMessage")
+	proto.RegisterType((*RoadMessage)(nil), "robocar.events.RoadMessage")
+	proto.RegisterType((*Point)(nil), "robocar.events.Point")
+	proto.RegisterType((*Ellipse)(nil), "robocar.events.Ellipse")
 }
 
 func init() { proto.RegisterFile("events/events.proto", fileDescriptor_8ec31f2d2a3db598) }
 
 var fileDescriptor_8ec31f2d2a3db598 = []byte{
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+	// 642 bytes of a gzipped FileDescriptorProto
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+	0x00, 0x00,
 }
diff --git a/python/events/events_pb2.py b/python/events/events_pb2.py
index 4551bd1..89e51ea 100644
--- a/python/events/events_pb2.py
+++ b/python/events/events_pb2.py
@@ -21,7 +21,7 @@ DESCRIPTOR = _descriptor.FileDescriptor(
   package='robocar.events',
   syntax='proto3',
   serialized_options=_b('Z\006events'),
-  serialized_pb=_b('\n\x13\x65vents/events.proto\x12\x0erobocar.events\x1a\x1fgoogle/protobuf/timestamp.proto\"T\n\x08\x46rameRef\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02id\x18\x02 \x01(\t\x12.\n\ncreated_at\x18\x03 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\"C\n\x0c\x46rameMessage\x12$\n\x02id\x18\x01 \x01(\x0b\x32\x18.robocar.events.FrameRef\x12\r\n\x05\x66rame\x18\x02 \x01(\x0c\"d\n\x0fSteeringMessage\x12\x10\n\x08steering\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"d\n\x0fThrottleMessage\x12\x10\n\x08throttle\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"A\n\x10\x44riveModeMessage\x12-\n\ndrive_mode\x18\x01 \x01(\x0e\x32\x19.robocar.events.DriveMode\"f\n\x0eObjectsMessage\x12\'\n\x07objects\x18\x01 \x03(\x0b\x32\x16.robocar.events.Object\x12+\n\tframe_ref\x18\x02 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x80\x01\n\x06Object\x12(\n\x04type\x18\x01 \x01(\x0e\x32\x1a.robocar.events.TypeObject\x12\x0c\n\x04left\x18\x02 \x01(\x05\x12\x0b\n\x03top\x18\x03 \x01(\x05\x12\r\n\x05right\x18\x04 \x01(\x05\x12\x0e\n\x06\x62ottom\x18\x05 \x01(\x05\x12\x12\n\nconfidence\x18\x06 \x01(\x02\"&\n\x13SwitchRecordMessage\x12\x0f\n\x07\x65nabled\x18\x01 \x01(\x08*-\n\tDriveMode\x12\x0b\n\x07INVALID\x10\x00\x12\x08\n\x04USER\x10\x01\x12\t\n\x05PILOT\x10\x02*2\n\nTypeObject\x12\x07\n\x03\x41NY\x10\x00\x12\x07\n\x03\x43\x41R\x10\x01\x12\x08\n\x04\x42UMP\x10\x02\x12\x08\n\x04PLOT\x10\x03\x42\x08Z\x06\x65ventsb\x06proto3')
+  serialized_pb=_b('\n\x13\x65vents/events.proto\x12\x0erobocar.events\x1a\x1fgoogle/protobuf/timestamp.proto\"T\n\x08\x46rameRef\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02id\x18\x02 \x01(\t\x12.\n\ncreated_at\x18\x03 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\"C\n\x0c\x46rameMessage\x12$\n\x02id\x18\x01 \x01(\x0b\x32\x18.robocar.events.FrameRef\x12\r\n\x05\x66rame\x18\x02 \x01(\x0c\"d\n\x0fSteeringMessage\x12\x10\n\x08steering\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"d\n\x0fThrottleMessage\x12\x10\n\x08throttle\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"A\n\x10\x44riveModeMessage\x12-\n\ndrive_mode\x18\x01 \x01(\x0e\x32\x19.robocar.events.DriveMode\"f\n\x0eObjectsMessage\x12\'\n\x07objects\x18\x01 \x03(\x0b\x32\x16.robocar.events.Object\x12+\n\tframe_ref\x18\x02 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x80\x01\n\x06Object\x12(\n\x04type\x18\x01 \x01(\x0e\x32\x1a.robocar.events.TypeObject\x12\x0c\n\x04left\x18\x02 \x01(\x05\x12\x0b\n\x03top\x18\x03 \x01(\x05\x12\r\n\x05right\x18\x04 \x01(\x05\x12\x0e\n\x06\x62ottom\x18\x05 \x01(\x05\x12\x12\n\nconfidence\x18\x06 \x01(\x02\"&\n\x13SwitchRecordMessage\x12\x0f\n\x07\x65nabled\x18\x01 \x01(\x08\"_\n\x0bRoadMessage\x12&\n\x07\x63ontour\x18\x01 \x03(\x0b\x32\x15.robocar.events.Point\x12(\n\x07\x65llipse\x18\x02 \x01(\x0b\x32\x17.robocar.events.Ellipse\"\x1d\n\x05Point\x12\t\n\x01x\x18\x01 \x01(\x05\x12\t\n\x01y\x18\x02 \x01(\x05\"r\n\x07\x45llipse\x12%\n\x06\x63\x65nter\x18\x01 \x01(\x0b\x32\x15.robocar.events.Point\x12\r\n\x05width\x18\x02 \x01(\x05\x12\x0e\n\x06height\x18\x03 \x01(\x05\x12\r\n\x05\x61ngle\x18\x04 \x01(\x02\x12\x12\n\nconfidence\x18\x05 \x01(\x02*-\n\tDriveMode\x12\x0b\n\x07INVALID\x10\x00\x12\x08\n\x04USER\x10\x01\x12\t\n\x05PILOT\x10\x02*2\n\nTypeObject\x12\x07\n\x03\x41NY\x10\x00\x12\x07\n\x03\x43\x41R\x10\x01\x12\x08\n\x04\x42UMP\x10\x02\x12\x08\n\x04PLOT\x10\x03\x42\x08Z\x06\x65ventsb\x06proto3')
   ,
   dependencies=[google_dot_protobuf_dot_timestamp__pb2.DESCRIPTOR,])
 
@@ -46,8 +46,8 @@ _DRIVEMODE = _descriptor.EnumDescriptor(
   ],
   containing_type=None,
   serialized_options=None,
-  serialized_start=773,
-  serialized_end=818,
+  serialized_start=1017,
+  serialized_end=1062,
 )
 _sym_db.RegisterEnumDescriptor(_DRIVEMODE)
 
@@ -77,8 +77,8 @@ _TYPEOBJECT = _descriptor.EnumDescriptor(
   ],
   containing_type=None,
   serialized_options=None,
-  serialized_start=820,
-  serialized_end=870,
+  serialized_start=1064,
+  serialized_end=1114,
 )
 _sym_db.RegisterEnumDescriptor(_TYPEOBJECT)
 
@@ -431,6 +431,141 @@ _SWITCHRECORDMESSAGE = _descriptor.Descriptor(
   serialized_end=771,
 )
 
+
+_ROADMESSAGE = _descriptor.Descriptor(
+  name='RoadMessage',
+  full_name='robocar.events.RoadMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='contour', full_name='robocar.events.RoadMessage.contour', index=0,
+      number=1, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='ellipse', full_name='robocar.events.RoadMessage.ellipse', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=773,
+  serialized_end=868,
+)
+
+
+_POINT = _descriptor.Descriptor(
+  name='Point',
+  full_name='robocar.events.Point',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='robocar.events.Point.x', index=0,
+      number=1, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='robocar.events.Point.y', index=1,
+      number=2, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=870,
+  serialized_end=899,
+)
+
+
+_ELLIPSE = _descriptor.Descriptor(
+  name='Ellipse',
+  full_name='robocar.events.Ellipse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='center', full_name='robocar.events.Ellipse.center', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='width', full_name='robocar.events.Ellipse.width', index=1,
+      number=2, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='height', full_name='robocar.events.Ellipse.height', index=2,
+      number=3, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='angle', full_name='robocar.events.Ellipse.angle', index=3,
+      number=4, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='confidence', full_name='robocar.events.Ellipse.confidence', index=4,
+      number=5, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=901,
+  serialized_end=1015,
+)
+
 _FRAMEREF.fields_by_name['created_at'].message_type = google_dot_protobuf_dot_timestamp__pb2._TIMESTAMP
 _FRAMEMESSAGE.fields_by_name['id'].message_type = _FRAMEREF
 _STEERINGMESSAGE.fields_by_name['frame_ref'].message_type = _FRAMEREF
@@ -439,6 +574,9 @@ _DRIVEMODEMESSAGE.fields_by_name['drive_mode'].enum_type = _DRIVEMODE
 _OBJECTSMESSAGE.fields_by_name['objects'].message_type = _OBJECT
 _OBJECTSMESSAGE.fields_by_name['frame_ref'].message_type = _FRAMEREF
 _OBJECT.fields_by_name['type'].enum_type = _TYPEOBJECT
+_ROADMESSAGE.fields_by_name['contour'].message_type = _POINT
+_ROADMESSAGE.fields_by_name['ellipse'].message_type = _ELLIPSE
+_ELLIPSE.fields_by_name['center'].message_type = _POINT
 DESCRIPTOR.message_types_by_name['FrameRef'] = _FRAMEREF
 DESCRIPTOR.message_types_by_name['FrameMessage'] = _FRAMEMESSAGE
 DESCRIPTOR.message_types_by_name['SteeringMessage'] = _STEERINGMESSAGE
@@ -447,6 +585,9 @@ DESCRIPTOR.message_types_by_name['DriveModeMessage'] = _DRIVEMODEMESSAGE
 DESCRIPTOR.message_types_by_name['ObjectsMessage'] = _OBJECTSMESSAGE
 DESCRIPTOR.message_types_by_name['Object'] = _OBJECT
 DESCRIPTOR.message_types_by_name['SwitchRecordMessage'] = _SWITCHRECORDMESSAGE
+DESCRIPTOR.message_types_by_name['RoadMessage'] = _ROADMESSAGE
+DESCRIPTOR.message_types_by_name['Point'] = _POINT
+DESCRIPTOR.message_types_by_name['Ellipse'] = _ELLIPSE
 DESCRIPTOR.enum_types_by_name['DriveMode'] = _DRIVEMODE
 DESCRIPTOR.enum_types_by_name['TypeObject'] = _TYPEOBJECT
 _sym_db.RegisterFileDescriptor(DESCRIPTOR)
@@ -507,6 +648,27 @@ SwitchRecordMessage = _reflection.GeneratedProtocolMessageType('SwitchRecordMess
   ))
 _sym_db.RegisterMessage(SwitchRecordMessage)
 
+RoadMessage = _reflection.GeneratedProtocolMessageType('RoadMessage', (_message.Message,), dict(
+  DESCRIPTOR = _ROADMESSAGE,
+  __module__ = 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.RoadMessage)
+  ))
+_sym_db.RegisterMessage(RoadMessage)
+
+Point = _reflection.GeneratedProtocolMessageType('Point', (_message.Message,), dict(
+  DESCRIPTOR = _POINT,
+  __module__ = 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.Point)
+  ))
+_sym_db.RegisterMessage(Point)
+
+Ellipse = _reflection.GeneratedProtocolMessageType('Ellipse', (_message.Message,), dict(
+  DESCRIPTOR = _ELLIPSE,
+  __module__ = 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.Ellipse)
+  ))
+_sym_db.RegisterMessage(Ellipse)
+
 
 DESCRIPTOR._options = None
 # @@protoc_insertion_point(module_scope)