This example shows how to run a vehicle dynamics maneuver in a 3D environment. By integrating vehicle dynamics models with a 3D environment, you can test advanced driver assistance systems (ADAS) and automated driving (AD) perception, planning, and control software. For the 3D visualization engine platform requirements and hardware recommendations, see 3D Visualization Engine Requirements.
Create and open a working copy of a maneuver reference application. For example, open the double-lane change reference application.
Run the maneuver simulation. By default, the 3D environment is disabled.
When you run the simulation, the Visualization subsystem provides driver, vehicle, and response information. The reference application logs vehicle signals during the maneuver, including steering, vehicle and engine speed, and lateral acceleration. You can use the Simulation Data Inspector to import the logged signals and examine the data.
Lane Change Scope block
Lateral vehicle displacement versus time:
Steer vs Ay Scope block
Steering angle versus lateral acceleration
Steer, Velocity, Lat Accel Scope block
Vehicle XY Plotter
Vehicle longitudinal versus lateral distance
ISO 15037-1:2006 block
Display ISO standard measurement signals in the Simulation Data Inspector, including steering wheel angle and torque, longitudinal and lateral velocity, and sideslip angle
Enable the 3D visualization environment. In the Visualization subsystem, open the 3D Engine block. Set these parameters.
3D Engine to Enabled.
Scene description to one of the scenes, for example
Double lane change.
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
Select Apply to modify the initial vehicle position parameters.
Click Update the model workspaces with the initial values to overwrite the initial vehicle position in the model workspaces with the applied values.
Rerun the reference application. As the simulation runs, in the
AutoVrtlEnv window, view the vehicle response.
To change the camera views, use these key commands.
For example, when you run the double-lane change maneuver, use the cameras to visualize the vehicle as it changes lanes.
To open and close the
AutoVrtlEnv window, use the
Simulink® Run and Stop buttons. If you manually close the
AutoVrtlEnv window, Simulink stops the simulation with an error.
When you enable the 3D visualization environment, you cannot step the simulation back.