Configure scenes in reference applications
The 3D Engine block implements the 3D simulation environment. Vehicle Dynamics Blockset™ integrates the 3D simulation environment with Simulink® so that you can query the world around the vehicle for virtually testing perception, control, and planning algorithms.
To position the vehicle in the scene:
Select the position initialization method:
Recommended for scene — Set the initial vehicle position to values recommended for the scene
User-specified — Set your own initial vehicle position
Click Update the model workspaces with the initial values to overwrite the initial vehicle position in the model workspaces with the applied values.
VehFdbk— Vehicle feedback
Bus containing vehicle feedback signals, including velocity, acceleration, and steering wheel torque.
3D Engine— Enable 3D visualization
Enable 3D visualization.
Scene— 3D scene
Double lane change|
US city block|
Large parking lot
Specify the name of the 3D scene.
Engine frame rate, dt3D— Graphics
Graphics frame rate, in s. The graphics frame rate is the inverse of the sample time.
Recommended for scene— Initial vehicle position
Use vehicle positions that are recommended for the scene.
User-specified— Initial vehicle position
Specify to set your own initial vehicle position values.
Initial longitudinal position, X_o— Initial longitudinal position
Initial vehicle CG position along the earth-fixed X-axis, in m.
Initial lateral position, Y_o— Initial lateral position
Initial vehicle CG position along the earth-fixed Y-axis, in m.
Initial vertical position, Z_o— Initial vertical position
Initial vehicle CG position along the earth-fixed Z-axis, in m.
Initial roll angle, phi_o— Roll
Rotation of the vehicle-fixed frame about the earth-fixed X-axis (roll), in rad.
Initial pitch angle, theta_o— Pitch
Rotation of the vehicle-fixed frame about the earth-fixed Y-axis (pitch), in rad.
Initial yaw angle, psi_o— Yaw
Rotation of the vehicle-fixed frame about the earth-fixed Z-axis (yaw), in rad.