restart

Restart driving scenario simulation from beginning

Syntax

restart(scenario)

Description

restart(scenario) restarts the simulation of the driving scenario, scenario, from the beginning. The function sets the SimulationTime property of the driving scenario to 0.

Examples

Restart Driving Scenario Simulation

Create a driving scenario in which a vehicle travels down a straight, 25-meter road at 20 meters per second. Plot the scenario.

scenario = drivingScenario('SampleTime',0.1);

roadcenters= [0 0 0; 25 0 0];
road(scenario,roadcenters)

ans = 
  Road with properties:

           Name: ""
         RoadID: 1
    RoadCenters: [2x3 double]
      RoadWidth: 6
      BankAngle: [2x1 double]
        Heading: [2x1 double]

v = vehicle(scenario,'ClassID',1);

waypoints = [5 0 0; 20 0 0];
speed = 20; % m/s
smoothTrajectory(v,waypoints,speed)

plot(scenario)

Run the simulation and display the location of the vehicle at each time step.

while advance(scenario)
    fprintf('Vehicle location: %0.2f meters at t = %0.0f ms\n', ...
            v.Position(1), ...
            scenario.SimulationTime * 1000)
end

Vehicle location: 7.00 meters at t = 100 ms
Vehicle location: 9.00 meters at t = 200 ms
Vehicle location: 11.00 meters at t = 300 ms
Vehicle location: 13.00 meters at t = 400 ms
Vehicle location: 15.00 meters at t = 500 ms
Vehicle location: 17.00 meters at t = 600 ms
Vehicle location: 19.00 meters at t = 700 ms

Restart the simulation. Increase the sample time and rerun the simulation.

restart(scenario);
scenario.SampleTime = 0.2;

while advance(scenario)
    fprintf('Vehicle location: %0.2f meters at t = %0.0f ms\n', ...
            v.Position(1), ...
            scenario.SimulationTime * 1000)
end

Vehicle location: 9.00 meters at t = 200 ms
Vehicle location: 13.00 meters at t = 400 ms
Vehicle location: 17.00 meters at t = 600 ms

Input Arguments

scenario — Driving scenario

drivingScenario object

Driving scenario, specified as a drivingScenario object.