roadBoundaries
Get road boundaries
Description
Examples
Create Driving Scenario with Multiple Actors and Roads
Create a driving scenario containing a curved road, two straight roads, and two actors: a car and a bicycle. Both actors move along the road for 60 seconds.
Create the driving scenario object.
scenario = drivingScenario('SampleTime',0.1','StopTime',60);
Create the curved road using road center points following the arc of a circle with an 800-meter radius. The arc starts at 0°, ends at 90°, and is sampled at 5° increments.
angs = [0:5:90]'; R = 800; roadcenters = R*[cosd(angs) sind(angs) zeros(size(angs))]; roadwidth = 10; cr = road(scenario,roadcenters,roadwidth);
Add two straight roads with the default width, using road center points at each end. To the first straight road add barriers on both road edges.
roadcenters = [700 0 0; 100 0 0]; sr1 = road(scenario,roadcenters); barrier(scenario,sr1) barrier(scenario,sr1,'RoadEdge','left') roadcenters = [400 400 0; 0 0 0]; road(scenario,roadcenters);
Get the road boundaries.
rbdry = roadBoundaries(scenario);
Add a car and a bicycle to the scenario. Position the car at the beginning of the first straight road.
car = vehicle(scenario,'ClassID',1,'Position',[700 0 0], ... 'Length',3,'Width',2,'Height',1.6);
Position the bicycle farther down the road.
bicycle = actor(scenario,'ClassID',3,'Position',[706 376 0]', ... 'Length',2,'Width',0.45,'Height',1.5);
Plot the scenario.
plot(scenario,'Centerline','on','RoadCenters','on'); title('Scenario');
Display the actor poses and profiles.
allActorPoses = actorPoses(scenario)
allActorPoses=242×1 struct array with fields:
ActorID
Position
Velocity
Roll
Pitch
Yaw
AngularVelocity
allActorProfiles = actorProfiles(scenario)
allActorProfiles=242×1 struct array with fields:
ActorID
ClassID
Length
Width
Height
OriginOffset
MeshVertices
MeshFaces
RCSPattern
RCSAzimuthAngles
RCSElevationAngles
Because there are barriers in this scenario, and each barrier segment is considered an actor, actorPoses
and actorProfiles
functions return the poses of all stationary and non-stationary actors. To only obtain the poses and profiles of non-stationary actors such as vehicles and bicycles, first obtain their corresponding actor IDs using the scenario.Actors.ActorID
property.
movableActorIDs = [scenario.Actors.ActorID];
Then, use those IDs to filter only non-stationary actor poses and profiles.
movableActorPoseIndices = ismember([allActorPoses.ActorID],movableActorIDs); movableActorPoses = allActorPoses(movableActorPoseIndices)
movableActorPoses=2×1 struct array with fields:
ActorID
Position
Velocity
Roll
Pitch
Yaw
AngularVelocity
movableActorProfiles = allActorProfiles(movableActorPoseIndices)
movableActorProfiles=2×1 struct array with fields:
ActorID
ClassID
Length
Width
Height
OriginOffset
MeshVertices
MeshFaces
RCSPattern
RCSAzimuthAngles
RCSElevationAngles
Create and Display Road Boundaries
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)
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);
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)
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})
Input Arguments
scenario
— Driving scenario
drivingScenario
object
Driving scenario, specified as a drivingScenario
object.
ac
— Actor
Actor
object | Vehicle
object
Actor belonging to a drivingScenario
object, specified as an
Actor
or Vehicle
object. To create these objects, use the
actor
and vehicle
functions, respectively.
Output Arguments
rbdry
— Road boundaries
cell array
Road boundaries, returned as a cell array. Each cell in the cell array contains a real-valued N-by-3 matrix representing a road boundary in the scenario, where N is the number of road boundaries. Each row of the matrix corresponds to the (x, y, z) coordinates of a road boundary vertex.
When the input argument is a driving scenario, the road coordinates are with respect to the world coordinates of the driving scenario. When the input argument is an actor, the road coordinates are with respect to the actor coordinate system.
The figures show the number of road boundaries that
rbdry
contains for various road types.
Single Road — One Road Boundary | Intersection — One Road Boundary |
---|---|
|
|
Roundabout — Two Road Boundaries | Figure-8 — Three Road Boundaries |
---|---|
|
|
Version History
Introduced in R2017a
See Also
Objects
Functions
MATLAB Command
You clicked a link that corresponds to this MATLAB command:
Run the command by entering it in the MATLAB Command Window. Web browsers do not support MATLAB commands.
Select a Web Site
Choose a web site to get translated content where available and see local events and offers. Based on your location, we recommend that you select: .
You can also select a web site from the following list:
How to Get Best Site Performance
Select the China site (in Chinese or English) for best site performance. Other MathWorks country sites are not optimized for visits from your location.
Americas
- América Latina (Español)
- Canada (English)
- United States (English)
Europe
- Belgium (English)
- Denmark (English)
- Deutschland (Deutsch)
- España (Español)
- Finland (English)
- France (Français)
- Ireland (English)
- Italia (Italiano)
- Luxembourg (English)
- Netherlands (English)
- Norway (English)
- Österreich (Deutsch)
- Portugal (English)
- Sweden (English)
- Switzerland
- United Kingdom (English)