plot

Create driving scenario plot

Description

example

plot(scenario) creates a 3-D plot with orthonormal perspective, as seen from immediately above the driving scenario, scenario.

example

plot(scenario,Name,Value) specifies options using one or more name-value pairs. For example, you can use these options to display road centers and actor waypoints on the plot.

Examples

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Create a driving scenario containing a figure-8 road specified in the world coordinates of the scenario. Convert the world coordinates of the scenario to the coordinate system of the ego vehicle.

Create an empty driving scenario.

scenario = drivingScenario;

Add a figure-8 road to the scenario. Display the scenario.

roadCenters = [0  0  1
             20 -20  1
             20  20  1
            -20 -20  1
            -20  20  1
              0   0  1];

roadWidth = 3;
bankAngle = [0 15 15 -15 -15 0];
road(scenario,roadCenters,roadWidth,bankAngle);
plot(scenario)

Add an ego vehicle to the scenario. Position the vehicle at world coordinates (20, –20) and orient it at a –15 degree yaw angle.

ego = actor(scenario,'Position',[20 -20 0],'Yaw',-15);

Obtain the road boundaries in ego vehicle coordinates by using the roadBoundaries function. Specify the ego vehicle as the input argument.

rbEgo1 = roadBoundaries(ego);

Display the result on a bird's-eye plot.

bep = birdsEyePlot;
lbp = laneBoundaryPlotter(bep,'DisplayName','Road');
plotLaneBoundary(lbp,rbEgo1)

Obtain the road boundaries in world coordinates by using the roadBoundaries function. Specify the scenario as the input argument.

rbScenario = roadBoundaries(scenario);

Obtain the road boundaries in ego vehicle coordinates by using the driving.scenario.roadBoundariesToEgo function.

rbEgo2 = driving.scenario.roadBoundariesToEgo(rbScenario,ego);

Display the road boundaries on a bird's-eye plot.

bep = birdsEyePlot;
lbp = laneBoundaryPlotter(bep,'DisplayName','Road boundaries');
plotLaneBoundary(lbp,{rbEgo2})

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

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,'Position',[700 0 0],'Length',3,'Width',2,'Height',1.6);

Position the bicycle farther down the road.

bicycle = actor(scenario,'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=2×7 struct
    ActorID
    Position
    Velocity
    Roll
    Pitch
    Yaw
    AngularVelocity

profiles = actorProfiles(scenario)
profiles=2×9 struct
    ActorID
    ClassID
    Length
    Width
    Height
    OriginOffset
    RCSPattern
    RCSAzimuthAngles
    RCSElevationAngles

Input Arguments

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Driving scenario, specified as a drivingScenario object.

Name-Value Pair Arguments

Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.

Example: plot(sc,'Centerline','on','RoadCenters','on') displays the center line and road centers of each road segment.

Axes in which to draw the plot, specified as the comma-separated pair consisting of 'Parent' and an Axes object. If you do not specify Parent, a new figure is created.

Display the center line of roads, specified as the comma-separated pair consisting of 'Centerline' and 'off' or 'on'. The center line follows the middle of each road segment. Center lines are discontinuous through areas such as intersections or road splits.

Display road centers, specified as the comma-separated pair consisting of 'RoadCenters' and 'off' or 'on'. The road centers define the roads shown in the plot.

Display actor waypoints, specified as the comma-separated pair consisting of 'Waypoints' and 'off' or 'on'. Waypoints define the trajectory of the actor.

Tips

  • To rotate any plot, in the figure window, select View > Camera Toolbar.

Introduced in R2017a