Main Content

Virtual Mcity

Virtual Mcity 3D environment

Description

The Virtual Mcity scene is a 3D environment containing a virtual representation of Mcity®, which is a testing ground belonging to the University of Michigan. For more details, see Mcity Test Facility.

The scene is rendered using the Unreal Engine® from Epic Games®.

To simulate a driving maneuver in this scene:

  1. Add a Simulation 3D Scene Configuration block to your Simulink® model.

  2. In this block, set the Scene source parameter to Default Scenes.

  3. Set the enabled Scene name parameter to Virtual Mcity.

Scene Layout

The scene uses the world coordinate system to locate objects.

The active area of the scene contains the road.

This table provides the scene area corner locations in the world coordinate system. Dimensions are in m.

Locations

X

(m)

Y

(m)

Z

(m)

Scene — Top left

-116.85

-369.18

-.02

Scene — Bottom right

226.13

172.26

-.02

Active area — Bottom left

-60.61

106.75

-.02

Recommended Vehicle Starting Location

This table provides the recommended starting location for the vehicle in the world coordinate system. Dimensions are in m and deg.

Recommended Starting Location

X

(m)

Y

(m)

Z

(m)

Roll

(deg)

Pitch

(deg)

Yaw

(deg)

-26.00

76.0

0

0

0

-40

Other Vehicles

This table provides the vehicle tag names and initial locations for other vehicles in the scene, in the world coordinate system. Dimensions are in m and deg.

Object

Unreal Engine Editor Name

Locations

X

(m)

Y

(m)

Z

(m)

Roll

(deg)

Pitch

(deg)

Yaw

(deg)

Vehicle

SK_BoxTruck

20.96

-136.90

0

0

0

-90

SM_Motorcycle

42.50

-157.60

0

0

0

-20

SK_SedanCar

5.83

-117.91

0

0

0

0

SM_Bicycle

10.88

-84.42

0

0

0

90

Cones

This table provides the object names and locations in the world coordinate system. Dimensions are in m and deg.

Object

Unreal Engine Editor Name

Location

X

(m)

Y

(m)

Z

(m)

Roll

(deg)

Pitch

(deg)

Yaw

(deg)

Cone

SM_Cone

22.33

-131.51

0

0

0

0

SM_Cone2

21.23

-131.51

0

0

0

0

SM_Cone3

20.03

-131.51

0

0

0

0

SM_Cone4

18.93

-131.51

0

0

0

0

Barrier

This table provides the object names and locations in the world coordinate system. Dimensions are in m and deg.

Object

Unreal Engine Editor Name

Location

X

(m)

Y

(m)

Z

(m)

Roll

(deg)

Pitch

(deg)

Yaw

(deg)

Barrier

SM_Barrier13

79.65

-173.39

0

0

0

-35

SM_Barrier14

77.31

-175.94

0

0

0

-55

SM_Barrier15

74.42

-177.49

0

0

0

-80

SM_Barrier16

71.18

-177.64

0

0

0

-95

Animals

This table provides the object name and location in the world coordinate system. Dimensions are in m and deg.

Object

Unreal Engine Editor Name

Location

X

(m)

Y

(m)

Z

(m)

Roll

(deg)

Pitch

(deg)

Yaw

(deg)

Animals

Deer

36.84

-122.15

0

0

0

0

Traffic Signs

This table provides the object names and locations in the world coordinate system. Dimensions are in m and deg.

Object

Unreal Engine Editor Name

Location

X

(m)

Y

(m)

Z

(m)

Roll

(deg)

Pitch

(deg)

Yaw

(deg)

Traffic signs

SM_StopSign

-35.2144.190

0

0

95

SM_YellowRoadSign

-38.7518.14-.02

0

0

-170

LargeDoubleArrowSign4

-35.19-4.390

0

0

-90

LargeDoubleArrowSign

-31.01-60.550

0

0

-80

RailroadSign2

-27.06-88.670

0

0

5

RailroadSign

-17.79-89.770

0

0

-170

SM_YieldSign

26.80-165.140

0

0

0

SM_StopSign7

54.84-200.430

0

0

-90

LargeDoubleArrowSign3

47.54-218.000

0

0

-15

SM_StopSign9

70.32-195.660

0

0

0

SM_YellowRoadSign3

82.66-285.75-.02

0

0

15

SM_SpeedLimitSign2

80.89-226.85-.06

0

0

0

LargeDoubleArrowSign5

104.10-212.800

0

0

80

ChevronAlignmentSign

98.45-191.220

0

0

101

ChevronAlignmentSign2

102.05-197.620

0

0

76.5

ChevronAlignmentSign3

103.98-206.060

0

0

85

SM_Large_Exit_Sign

122.45-212.500

0

0

0

SM_Large_Exit_Sign2

101.79-151.660

0

0

180

SM_StopSign3

32.01-163.680

0

0

160

SM_StopSign2

54.98-177.120

0

0

90

LargeSingleArrowSign

121.01-148.560

0

0

0

SM_YieldSign2

162.22-109.640

0

0

25

SM_WindingRoadSign

127.11-50.21.01

0

0

50

SchoolBusOnlySign

44.03-51.110

0

0

90

SM_YellowRoadSign5

68.05-47.03.01

0

0

-175

SM_CrossSignal8

74.37-14.110

0

0

-165

SM_CrossSignal7

64.69-22.690

0

0

-150

SM_CrossSignal6

62.51-20.340

0

0

40

SM_CrossSignal5

72.42-12.060

0

0

40

SM_YellowRoadSign2

60.01-2.69-.01

0

0

50

SM_CrossSignal2

28.53-20.580

0

0

-20

SM_CrossSignal

21.19-17.950

0

0

-20

SM_CrossSignal3

17.55-21.530

0

0

-170

SM_CrossSignal4

6.59-27.660

0

0

-145

SM_YieldSign4

4.89-23.420

0

0

-140

SM_YellowRoadSign4

9.23-45.630

0

0

-175

SM_BikeLaneSign

24.13-92.03.15

0

0

0

Traffic Lights

This table provides the object names and locations in the world coordinate system. Dimensions are in m and deg.

Object

Unreal Engine Editor Name

Location

X

(m)

Y

(m)

Z

(m)

Roll

(deg)

Pitch

(deg)

Yaw

(deg)

Traffic lights

SM_TrafficLights

27.40-138.55

.16

0

0

90

SM_TrafficLights2

9.38

-106.90

.16

0

0

-90

SM_TrafficLightsSideOnly3

8.44

-47.95

-.03

0

0

-92.2

SM_TrafficLightsSideOnly4

1.64

-55.10

.16

0

0

-5

SM_TrafficLightsSideOnly5

9.24

-67.70

.16

0

0

85

SM_TrafficLightsSideOnly6

24.50

-67.82

.16

0

0

85

SM_TrafficLights3

27.89

-109.86

.16

0

0

180

SM_HangingTrafficLightSingle

74.43

-69.25

7.37

0

0

0

SM_HangingTrafficLightSingle2

76.13

-69.10

7.34

0

0

0

SM_HangingTrafficLightSingle3

82.58

-60.10

7.57

0

0

-90

SM_HangingTrafficLightSingle4

82.65

-61.48

7.54

0

0

-90

SM_HangingTrafficLightSingle6

73.67

-51.25

7.97

0

0

-180

SM_HangingTrafficLightSingle7

75.07

-51.25

7.95

0

0

-180

SM_HangingTrafficLight

-24.78

-61.49

6.71

0

0

100

SM_RailroadCrossing4

-18.21

-86.63

.01

0

0

8

SM_RailroadCrossing5

-26.73

-90.78

.01

0

0

-172

World Coordinate System

The 3D visualization environment uses a world coordinate system with axes that are fixed in the inertial reference frame.

AxisDescription
X

Forward direction of the vehicle

Roll — Right-handed rotation about X-axis

Y

Extends to the right of the vehicle, parallel to the ground plane

Pitch — Right-handed rotation about Y-axis

Z

Extends upwards

Yaw — Left-handed rotation about Z-axis

Limitations