roadBoundaries

Get road boundaries

Description

example

rbdry = roadBoundaries(scenario) returns the road boundaries, rbdry, of a driving scenario, scenario.

rbdry = roadBoundaries(ac) returns the road boundaries that the actor, ac, follows in a driving scenario.

Examples

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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

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})

Input Arguments

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Driving scenario, specified as a drivingScenario object.

Actor belonging to a drivingScenario object, specified as an Actor or Vehicle object. To create these objects, use the actor and vehicle functions, respectively.

Output Arguments

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Road boundaries, returned as a cell array. Each cell in the cell array contains a real-valued N-by-3 matrix representing a road boundary in the scenario, where N is the number of road boundaries. Each row of the matrix corresponds to the (x, y, z) coordinates of a road boundary vertex.

When the input argument is a driving scenario, the road coordinates are with respect to the world coordinates of the driving scenario. When the input argument is an actor, the road coordinates are with respect to the actor coordinate system.

The figures show the number of road boundaries that rbdry contains for various road types.

Single Road — One Road BoundaryIntersection — One Road Boundary

Roundabout — Two Road BoundariesFigure-8 — Three Road Boundaries

Introduced in R2017a