laneType

Create road lane type object

Syntax

lt = laneType(type)

lt = laneType(type,Name,Value)

Description

lt = laneType(type) returns a road lane type object with properties Type, Color, and Strength to define different lane types for a road.

You can use this object to create driving scenarios with roads that have driving lanes, border lanes, restricted lanes, shoulder lanes, and parking lanes. You can also load this scenario into the Driving Scenario Designer app.

For details on the steps involved in using laneType function with the drivingScenario object and the Driving Scenario Designer app, see More About.

lt = laneType(type,Name,Value) sets the properties of the output lane type object by using one or more name-value pairs.

Examples

Add Roads That Have Different Lane Types to Driving Scenario

This example shows how to define lane types and simulate a driving scenario for a four-lane road that has different lane types.

Create a driving lane object with default property values.

drivingLane = laneType('Driving')

drivingLane = 
  DrivingLaneType with properties:

        Type: Driving
       Color: [0.8000 0.8000 0.8000]
    Strength: 1

Create a parking lane type object. Specify the color and the strength property values.

parkingLane = laneType('Parking','Color',[1 0 0],'Strength',0.1)

parkingLane = 
  ParkingLaneType with properties:

        Type: Parking
       Color: [1 0 0]
    Strength: 0.1000

Create a three-element, heterogeneous lane type array by concatenating the driving and the parking lane type objects. The lane type array contains lane types for a four-lane road.

lt = [parkingLane drivingLane drivingLane parkingLane];

Create lane specification for a four-lane road. Add the lane type array to the lane specification.

ls = lanespec([2 2],'Type',lt);

Create a driving scenario object. Add the four-lane road with lane specifications ls to the driving scenario.

scenario = drivingScenario;
roadCenters = [0 0 0;40 0 0];
road(scenario,roadCenters,'Lanes',ls)

ans = 
  Road with properties:

           Name: ""
         RoadID: 1
    RoadCenters: [2x3 double]
      RoadWidth: 14.5500
      BankAngle: [2x1 double]
        Heading: [2x1 double]

Plot the scenario. The scenario contains the four-lane road that has two parking lanes and two driving lanes.

plot(scenario)
legend('Driving Lane','Parking Lane')

Simulate Vehicles Traveling on Road That Has Multiple Lane Types

Create a heterogeneous lane type object array to define driving, shoulder, and border lane types for a four-lane road.

lt = [laneType('Shoulder') laneType('Driving') laneType('Driving') laneType('Border','Color',[0.5 0 1],'Strength',0.1)];

Display the lane type object array.

lt

lt=1×4 heterogeneous LaneType (ShoulderLaneType, DrivingLaneType, BorderLaneType) array with properties:
    Type
    Color
    Strength

Inspect the property values.

c = [{lt.Type}' {lt.Color}' {lt.Strength}'];
cell2table(c,'VariableNames',{'Type','Color','Strength'})

ans=4×3 table
      Type             Color            Strength
    ________    ____________________    ________

    Shoulder    0.59    0.59    0.59        1   
    Driving      0.8     0.8     0.8        1   
    Driving      0.8     0.8     0.8        1   
    Border       0.5       0       1      0.1   

Pass the lane type object array as input to the lanespec function, and then create a lane specification object for the four-lane road.

lspec = lanespec([2 2],'Type',lt);

Define the road centers.

roadCenters = [0 0 0; 40 0 0];

To add roads, create a driving scenario object.

scenario = drivingScenario('StopTime',8);

Add roads with the specified road centers and lane types to the driving scenario.

road(scenario,roadCenters,'Lanes',lspec);

Add two vehicles to the scenario. Position the vehicles on the driving lane.

vehicle1 = vehicle(scenario,'ClassID',1,'Position',[5 2 0]);
vehicle2 = vehicle(scenario,'ClassID',1,'Position',[35 -2 0]);

Define the vehicle trajectories by using waypoints. Set the vehicle trajectory speeds.

waypoints1 = [5 2;10 2;20 2;25 2;30 5;34 5.5];
smoothTrajectory(vehicle1,waypoints1,10)
waypoints2 = [35 -2;20 -2;10 -2;5 -2];
smoothTrajectory(vehicle2,waypoints2,5)

Plot the scenario. To advance the simulation one time step at a time, call the advance function in a loop. Pause every 0.01 second to observe the motion of the vehicles on the plot. The first vehicle travels along the trajectory in the driving lane. It drifts to the shoulder lane for emergency stopping.

% Create a custom figure window and define an axes object
fig = figure;
movegui(fig,'center');
hView = uipanel(fig,'Position',[0 0 1 1],'Title','Scenario with Shoulder, Driving, and Border Lanes');
hPlt = axes(hView);

% Plot the generated driving scenario along with the waypoints.
plot(scenario,'Waypoints','on','Parent',hPlt);
while advance(scenario)
    pause(0.01)
end

Input Arguments

type — Lane type

'Driving' | 'Border' | 'Restricted' | 'Shoulder' | 'Parking'

Lane type, specified as 'Driving', 'Border', 'Restricted', 'Shoulder', or 'Parking'.

Lane Type	Description
'Driving'	Lanes for driving
'Border'	Lanes at the road borders
'Restricted'	Lanes reserved for high occupancy vehicles
'Shoulder'	Lanes reserved for emergency stopping
'Parking'	Lanes alongside driving lanes, intended for parking vehicles

Note

The lane type input sets the Type property of the output lane type object.

Data Types: char | string

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

Example: laneType('Driving','Color','r')

Color — Lane color

RGB triplet | color name

Lane color, specified as the comma-separated pair consisting of 'Color' and an RGB triplet or color name.

Specify the RGB triplet as a three-element row vector containing the intensities of the red, green, and blue components of the color. The intensities must be in the range [0,1], for example, [0.4 0.6 0.7]. This table lists the RGB triplet values that specify the default colors for different lane types.

Lane Type	RGB Triplet (Default values)	Appearance
'Driving'	[0.8 0.8 0.8]
'Border'	[0.72 0.72 0.72]
'Restricted'	[0.59 0.56 0.62]
'Shoulder'	[0.59 0.59 0.59]
'Parking'	[0.28 0.28 0.28]

Alternatively, you can specify some common colors by name. This table lists the named color options and the equivalent RGB triplet values.

Color Name	RGB Triplet	Appearance
'red'	[1 0 0]
'green'	[0 1 0]
'blue'	[0 0 1]
'cyan'	[0 1 1]
'magenta'	[1 0 1]
'yellow'	[0.98 0.86 0.36]
'black'	[0 0 0]
'white'	[1 1 1]

Note

Use the lane color name-value pair to set the Color property of the output lane type object.

Data Types: single | double | int8 | int16 | int32 | int64 | uint8 | uint16 | uint32 | uint64 | char | string

Strength — Strength of lane color

1 (default) | real scalar in the range [0, 1]

Strength of lane color, specified as a comma-separated pair consisting of 'Strength' and a real scalar in the range [0, 1]. A value of 0 desaturates the color and the lane color appears gray. A value of 1 fully saturates the color and the lane color is the pure color. You can vary the strength value to modify the level of saturation.

Note

Use the strength of lane color name-value pair to set the Strength property of the lane type object.

Data Types: single | double | int8 | int16 | int32 | int64 | uint8 | uint16 | uint32 | uint64

Output Arguments

lt — Lane type

DrivingLaneType object | BorderLaneType object | RestrictedLaneType object | ShoulderLaneType object | ParkingLaneType object

Lane type, returned as a

• DrivingLaneType object

• BorderLaneType object

• RestrictedLaneType object

• ShoulderLaneType object

• ParkingLaneType object

The returned object lt depends on the value of the input type.

type	lt
'Driving'	DrivingLaneType object
'Border'	BorderLaneType object
'Restricted'	RestrictedLaneType object
'Shoulder'	ShoulderLaneType object
'Parking'	ParkingLaneType object

You can create a heterogeneous LaneType array by concatenating these different lane type objects.

More About

Create Driving Scenario With Roads That Have Multiple Lane Types

You can add roads that have multiple lane types to the driving scenario by following these steps

1. Create an empty drivingScenario object.

2. Create a lane type object that defines different lane types on the road by using laneType.

3. Use lane type object as input to the lanespec object and define lane specifications for the road.

4. Use lanespec object as input to the road function and add roads that have the specified lane types to the driving scenario.

You can use the plot function to visualize the driving scenario.

You can also import a driving scenario containing roads that have different lane types into the Driving Scenario Designer app. To import a drivingScenario object named scenario into the app, use the syntax drivingScenarioDesigner(scenario). In the scenarios, you can:

• Add or edit the road centers.

• Add actors and define actor trajectories.

• Mount sensors on the ego vehicle and simulate detection of actors and lane boundaries.

Note

Editing the lane parameters resets all the lanes in the imported road to lane type 'Driving' with the default property values.

Version History

Introduced in R2019b