drivingScenario

Create driving scenario

Description

The drivingScenario object represents a 3-D arena containing roads, vehicles, pedestrians, and other aspects of a driving scenario. Use this object to model realistic traffic scenarios and to generate synthetic detections for testing controllers or sensor fusion algorithms.

• To add roads, use the road function. To specify lanes in the roads, create a lanespec object. You can also import roads from a third-party road network by using the roadNetwork function.

• To add actors (cars, pedestrians, bicycles, and so on), use the actor function. To add actors with properties designed specifically for vehicles, use the vehicle function. All actors, including vehicles, are modeled as cuboids (box shapes).

• To simulate a scenario, call the advance function in a loop, which advances the simulation one time step at a time.

You can also create driving scenarios interactively by using the Driving Scenario Designer app. In addition, you can export drivingScenario objects from the app to produce scenario variations for use in either the app or in Simulink^®. For more details, see Create Driving Scenario Variations Programmatically.

Creation

Syntax

scenario = drivingScenario

scenario = drivingScenario(Name,Value)

Description

scenario = drivingScenario creates an empty driving scenario.

scenario = drivingScenario(Name,Value) sets the SampleTime and StopTime properties using name-value pairs. For example, drivingScenario('SampleTime',0.1','StopTime',10) samples the scenario every 0.1 seconds for 10 seconds. Enclose each property name in quotes.

Properties

SampleTime — Time interval between scenario simulation steps

0.01 (default) | positive real scalar

Time interval between scenario simulation steps, specified as a positive real scalar. Units are in seconds.

Example: 1.5

StopTime — End time of simulation

Inf (default) | positive real scalar

End time of simulation, specified as a positive real scalar. Units are in seconds. The default StopTime of Inf causes the simulation to end when the first actor reaches the end of its trajectory.

Example: 60.0

SimulationTime — Current time of simulation

positive real scalar

This property is read-only.

Current time of the simulation, specified as a positive real scalar. To reset the time to zero, call the restart function. Units are in seconds.

IsRunning — Simulation state

true | false

This property is read-only.

Simulation state, specified as true or false. If the simulation is running, IsRunning is true.

Actors — Actors and vehicles contained in scenario

heterogeneous array of Actor and Vehicle objects

This property is read-only.

Actors and vehicles contained in the scenario, specified as a heterogeneous array of Actor and Vehicle objects. To add actors and vehicles to a driving scenario, use the actor and vehicle functions.

GeoReference — Geographic coordinates of road network origin

three-element numeric row vector of form [lat, lon, alt]

This property is read-only.

Geographic coordinates of the road network origin, specified as a three-element numeric row vector of the form [lat, lon, alt], where:

• lat is the latitude of the coordinate in degrees.

• lon is the longitude of the coordinate in degrees.

• alt is the altitude of the coordinate in meters.

These values are with respect to the WGS84 reference ellipsoid, which is a standard ellipsoid used by GPS data.

The road network origin corresponds to the first set of geographic coordinates specified as input to the roadNetwork function. If you specify to import roads by region, then this point corresponds to the center point of the specified rectangular region.

In drivingScenario objects generated from the Driving Scenario Designer app, if you imported the road network from a map, then the road network origin corresponds to the first (or only) set of geographic coordinates specified.

By specifying these coordinates as the origin in the latlon2local function, you can the convert geographic coordinates of a driving route into the local coordinates of a driving scenario. Then, you can specify this converted route as a vehicle trajectory in the scenario.

Dependencies

To enable this property, import roads from the HERE HD Live Map^[1] web service into a driving scenario by using the roadNetwork function or the Driving Scenario Designer app.

Object Functions

Scenarios

advance	Advance driving scenario simulation by one time step
plot	Create driving scenario plot
record	Run driving scenario and record actor states
restart	Restart driving scenario simulation from beginning
updatePlots	Update driving scenario plots
export	Export road network to OpenDRIVE

Actors

actor	Add actor to driving scenario
actorPoses	Positions, velocities, and orientations of actors in driving scenario
actorProfiles	Physical and radar characteristics of actors in driving scenario
vehicle	Add vehicle to driving scenario
chasePlot	Ego-centric projective perspective plot
trajectory	Create actor or vehicle trajectory in driving scenario
targetPoses	Target positions and orientations relative to ego vehicle
targetOutlines	Outlines of targets viewed by actor
driving.scenario.targetsToEgo	Convert target poses from scenario to ego coordinates
driving.scenario.targetsToScenario	Convert target poses from ego to scenario coordinates

Roads

road	Add road to driving scenario
roadNetwork	Add road network to driving scenario
roadBoundaries	Get road boundaries
driving.scenario.roadBoundariesToEgo	Convert road boundaries to ego vehicle coordinates

Lanes

currentLane	Get current lane of actor
lanespec	Create road lane specifications
laneMarking	Create road lane marking object
laneMarkingVertices	Lane marking vertices and faces in driving scenario
laneBoundaries	Get lane boundaries of actor lane
clothoidLaneBoundary	Clothoid-shaped lane boundary model
computeBoundaryModel	Compute lane boundary points from clothoid lane boundary model
laneType	Create road lane type object

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;
road(scenario,roadcenters,roadwidth);

Add two straight roads with the default width, using road center points at each end.

roadcenters = [700 0 0; 100 0 0];
road(scenario,roadcenters)

ans = 
  Road with properties:

           Name: ""
         RoadID: 2
    RoadCenters: [2x3 double]
      RoadWidth: 6
      BankAngle: [2x1 double]

roadcenters = [400 400 0; 0 0 0];
road(scenario,roadcenters)

ans = 
  Road with properties:

           Name: ""
         RoadID: 3
    RoadCenters: [2x3 double]
      RoadWidth: 6
      BankAngle: [2x1 double]

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.

poses = actorPoses(scenario)

poses=2×1 struct array with fields:
    ActorID
    Position
    Velocity
    Roll
    Pitch
    Yaw
    AngularVelocity

profiles = actorProfiles(scenario)

profiles=2×1 struct array with fields:
    ActorID
    ClassID
    Length
    Width
    Height
    OriginOffset
    MeshVertices
    MeshFaces
    RCSPattern
    RCSAzimuthAngles
    RCSElevationAngles

Show Target Outlines in Driving Scenario Simulation

Create a driving scenario and show how target outlines change as the simulation advances.

Create a driving scenario consisting of two intersecting straight roads. The first road segment is 45 meters long. The second straight road is 32 meters long and intersects the first road. A car traveling at 12.0 meters per second along the first road approaches a running pedestrian crossing the intersection at 2.0 meters per second.

scenario = drivingScenario('SampleTime',0.1,'StopTime',1);
road(scenario,[-10 0 0; 45 -20 0]);
road(scenario,[-10 -10 0; 35 10 0]);
ped = actor(scenario,'ClassID',4,'Length',0.4,'Width',0.6,'Height',1.7);
car = vehicle(scenario,'ClassID',1);
pedspeed = 2.0;
carspeed = 12.0;
trajectory(ped,[15 -3 0; 15 3 0],pedspeed);
trajectory(car,[-10 -10 0; 35 10 0],carspeed);

Create an ego-centric chase plot for the vehicle.

chasePlot(car,'Centerline','on')

Create an empty bird's-eye plot and add an outline plotter and lane boundary plotter. Then, run the simulation. At each simulation step:

• Update the chase plot to display the road boundaries and target outlines.

• Update the bird's-eye plot to display the updated road boundaries and target outlines. The plot perspective is always with respect to the ego vehicle.

bepPlot = birdsEyePlot('XLim',[-50 50],'YLim',[-40 40]);
outlineplotter = outlinePlotter(bepPlot);
laneplotter = laneBoundaryPlotter(bepPlot);
legend('off')

while advance(scenario)
    rb = roadBoundaries(car);
    [position,yaw,length,width,originOffset,color] = targetOutlines(car);    
    plotLaneBoundary(laneplotter,rb)
    plotOutline(outlineplotter,position,yaw,length,width, ...
        'OriginOffset',originOffset,'Color',color)
    pause(0.01)
end

Generate Object and Lane Boundary Detections

Create a driving scenario containing an ego vehicle and a target vehicle traveling along a three-lane road. Detect the lane boundaries by using a vision detection generator.

scenario = drivingScenario;

Create a three-lane road by using lane specifications.

roadCenters = [0 0 0; 60 0 0; 120 30 0];
lspc = lanespec(3);
road(scenario,roadCenters,'Lanes',lspc);

Specify that the ego vehicle follows the center lane at 30 m/s.

egovehicle = vehicle(scenario,'ClassID',1);
egopath = [1.5 0 0; 60 0 0; 111 25 0];
egospeed = 30;
trajectory(egovehicle,egopath,egospeed);

Specify that the target vehicle travels ahead of the ego vehicle at 40 m/s and changes lanes close to the ego vehicle.

targetcar = vehicle(scenario,'ClassID',1);
targetpath = [8 2; 60 -3.2; 120 33];
targetspeed = 40;
trajectory(targetcar,targetpath,targetspeed);

Display a chase plot for a 3-D view of the scenario from behind the ego vehicle.

chasePlot(egovehicle)

Create a vision detection generator that detects lanes and objects. The pitch of the sensor points one degree downward.

visionSensor = visionDetectionGenerator('Pitch',1.0);
visionSensor.DetectorOutput = 'Lanes and objects';
visionSensor.ActorProfiles = actorProfiles(scenario);

Run the simulation.

1. Create a bird's-eye plot and the associated plotters.

2. Display the sensor coverage area.

3. Display the lane markings.

4. Obtain ground truth poses of targets on the road.

5. Obtain ideal lane boundary points up to 60 m ahead.

6. Generate detections from the ideal target poses and lane boundaries.

7. Display the outline of the target.

8. Display object detections when the object detection is valid.

9. Display the lane boundary when the lane detection is valid.

bep = birdsEyePlot('XLim',[0 60],'YLim',[-35 35]);
caPlotter = coverageAreaPlotter(bep,'DisplayName','Coverage area', ...
    'FaceColor','blue');
detPlotter = detectionPlotter(bep,'DisplayName','Object detections');
lmPlotter = laneMarkingPlotter(bep,'DisplayName','Lane markings');
lbPlotter = laneBoundaryPlotter(bep,'DisplayName', ...
    'Lane boundary detections','Color','red');
olPlotter = outlinePlotter(bep);
plotCoverageArea(caPlotter,visionSensor.SensorLocation,...
    visionSensor.MaxRange,visionSensor.Yaw, ...
    visionSensor.FieldOfView(1));
while advance(scenario)
    [lmv,lmf] = laneMarkingVertices(egovehicle);
    plotLaneMarking(lmPlotter,lmv,lmf)
    tgtpose = targetPoses(egovehicle);
    lookaheadDistance = 0:0.5:60;
    lb = laneBoundaries(egovehicle,'XDistance',lookaheadDistance,'LocationType','inner');
    [obdets,nobdets,obValid,lb_dets,nlb_dets,lbValid] = ...
        visionSensor(tgtpose,lb,scenario.SimulationTime);
    [objposition,objyaw,objlength,objwidth,objoriginOffset,color] = targetOutlines(egovehicle);
    plotOutline(olPlotter,objposition,objyaw,objlength,objwidth, ...
        'OriginOffset',objoriginOffset,'Color',color)
    if obValid
        detPos = cellfun(@(d)d.Measurement(1:2),obdets,'UniformOutput',false);
        detPos = vertcat(zeros(0,2),cell2mat(detPos')');
        plotDetection(detPlotter,detPos)
    end
    if lbValid
        plotLaneBoundary(lbPlotter,vertcat(lb_dets.LaneBoundaries))
    end
end

Algorithms

Specify Actor Motion in Driving Scenarios

To specify the motion of actors in a driving scenario, you can either define trajectories for the actors or specify their motion manually.

Specify Motion Using Trajectory

The trajectory function determines actor pose properties based on a set of waypoints and the speeds at which the actor travels between those waypoints. Actor pose properties are position, velocity, roll, pitch, yaw, and angular velocity. With this approach, motion is defined by speed, not velocity, because the trajectory determines the direction of motion.

The actor moves along the trajectory each time the advance function is called. You can manually update actor pose properties at any time during a simulation. However, these properties are overwritten with updated values at the next call to advance.

Specify Motion Manually

When you specify actor motion manually, setting the velocity or angular velocity properties does not automatically move the actor in successive calls to the advance function. Therefore, you must use your own motion model to update the position, velocity, and other pose parameters at each simulation time step.