plotLaneBoundary

Display lane boundaries on bird’s-eye plot

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Syntax

plotLaneBoundary(lbPlotter,boundaryCoords)
plotLaneBoundary(lbPlotter,boundaries)

Description

plotLaneBoundary(lbPlotter,boundaryCoords) displays lane boundaries from a list of boundary coordinates on a bird’s-eye plot. The lane boundary plotter, lbPlotter, is associated with a birdsEyePlot object and configures the display of the specified lane boundaries.

To remove all lane boundaries associated with lane boundary plotter lbPlotter, call the clearData function and specify lbPlotter as the input argument.

example

plotLaneBoundary(lbPlotter,boundaries) displays lane boundaries from a lane boundary object or an array of lane boundary objects, boundaries.

Examples

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Open Live Script

Create a driving scenario containing a figure-8 road specified in the world coordinates of the scenario. Convert the world coordinates of the scenario to the coordinate system of the ego vehicle.

Create an empty driving scenario.

scenario = drivingScenario;

Add a figure-8 road to the scenario. Display the scenario.

roadCenters = [0  0  1
             20 -20  1
             20  20  1
            -20 -20  1
            -20  20  1
              0   0  1];

roadWidth = 3;
bankAngle = [0 15 15 -15 -15 0];
road(scenario,roadCenters,roadWidth,bankAngle);
plot(scenario)

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) contains 4 objects of type patch, line.

Add an ego vehicle to the scenario. Position the vehicle at world coordinates (20, –20) and orient it at a –15 degree yaw angle.

ego = actor(scenario,'ClassID',1,'Position',[20 -20 0],'Yaw',-15);

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) contains 5 objects of type patch, line.

Obtain the road boundaries in ego vehicle coordinates by using the roadBoundaries function. Specify the ego vehicle as the input argument.

rbEgo1 = roadBoundaries(ego);

Display the result on a bird's-eye plot.

bep = birdsEyePlot;
lbp = laneBoundaryPlotter(bep,'DisplayName','Road');
plotLaneBoundary(lbp,rbEgo1)

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) contains an object of type line. This object represents Road.

Obtain the road boundaries in world coordinates by using the roadBoundaries function. Specify the scenario as the input argument.

rbScenario = roadBoundaries(scenario);

Obtain the road boundaries in ego vehicle coordinates by using the driving.scenario.roadBoundariesToEgo function.

rbEgo2 = driving.scenario.roadBoundariesToEgo(rbScenario,ego);

Display the road boundaries on a bird's-eye plot.

bep = birdsEyePlot;
lbp = laneBoundaryPlotter(bep,'DisplayName','Road boundaries');
plotLaneBoundary(lbp,{rbEgo2})

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) contains an object of type line. This object represents Road boundaries.

Input Arguments

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Lane boundary plotter, specified as a LaneBoundaryPlotter object. This object is stored in the Plotters property of a birdsEyePlot object and configures the display of the specified lane boundaries in the bird's-eye plot. To create this object, use the laneBoundaryPlotter function.

Lane boundary coordinates, specified as a cell array of M-by-2 real-valued matrices. Each matrix represents the coordinates for a different lane boundary. M is the number of coordinates in a lane boundary and can be different for each lane boundary. Each row represents the (X, Y) positions of a curve. The positive X-direction points ahead of the center of the vehicle. The positive Y-direction points to the left of the origin of the vehicle, which is the center of the rear axle, as shown in this figure of the vehicle coordinate system.

Vehicle with X-axis, Y-axis, and origin labeled

Lane boundaries, specified as a lane boundary object or an array of lane boundary objects. Valid lane boundary objects are parabolicLaneBoundary, cubicLaneBoundary, and clothoidLaneBoundary. If you specify an array of lane boundary objects, all objects must be of the same type. Z-data, which represents height, is ignored.

Version History

Introduced in R2017a

See Also

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