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Double Lane Change

Double lane change 3D environment

Description

The Double Lane Change scene is a 3D environment of a straight road containing cones, traffic signs, and barrels. The cones are set up for a vehicle to perform a double lane change maneuver. 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 Double lane change.

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

Y

Z

Scene — Top left

-1008

-1008

0

Scene — Bottom right

1008

1008

0

Active area — Bottom left

-122.19

6.99

0

Recommended 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)

0

3.125

0

0

0

0

Cones

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

Object

Unreal® Editor Name

Location

X

(m)

Y

(m)

Z

(m)

Roll

(deg)

Pitch

(deg)

Yaw

(deg)

Cone

SM_Cone01

187.90

1.70

.009

0

0

0

SM_Cone02

184.90

1.70

.009

SM_Cone03

181.90

1.70

.009

SM_Cone04

178.90

1.70

.009

SM_Cone05

175.90

1.70

.009

SM_Cone06

187.90

4.73

.009

SM_Cone07

184.90

4.73

.009

SM_Cone08

181.90

4.73

.009

SM_Cone09

178.90

4.73

.009

SM_Cone10

175.90

4.73

.009

SM_Cone11

212.40

-2.86

.009

SM_Cone12

209.65

-2.86

.009

SM_Cone13

206.90

-2.86

.009

SM_Cone14

204.15

-2.86

.009

SM_Cone15

201.40

-2.86

.009

SM_Cone16

212.40

0.69

.009

SM_Cone17

209.65

0.69

.009

SM_Cone18

206.90

0.69

.009

SM_Cone19

204.15

0.69

.009

SM_Cone20

201.40

0.69

.009

SM_Cone21

236.90

1.70

.009

SM_Cone22

236.90

1.70

.009

SM_Cone23

230.90

1.70

.009

SM_Cone24

227.90

1.70

.009

SM_Cone25

224.90

1.70

.009

SM_Cone26

236.90

4.95

.009

SM_Cone27

233.90

4.95

.009

SM_Cone28

230.90

4.95

.009

SM_Cone29

227.90

4.95

.009

SM_Cone30

224.90

4.95

.009

In the Unreal Editor, the scene has a Sim3DSetBoolean actor with signal name NumOfConesHit. You can use it with the Simulation 3D Message Get block to retrieve how many cones the vehicle hits during a double-lane change maneuver.

Traffic Signs

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

Object

Unreal Editor Name

Location

X

(m)

Y

(m)

Z

(m)

Roll

(deg)

Pitch

(deg)

Yaw

(deg)

Traffic sign

SM_StopSign

248.80

-13.10

0

0

0

0

SM_StopSign2

248.80

10.90

0

Traffic Signal Light

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

Object

Unreal Editor Name

Location

X

(m)

Y

(m)

Z

(m)

Roll

(deg)

Pitch

(deg)

Yaw

(deg)

Traffic signal light

SM_TrafficLightsSideOnly

5.43

6.00

0

0

0

180.00°

In the Unreal Editor, the Double Lane Change scene has a Sim3DGetInteger actor with signal name TrafficLight1. You can use it with the Simulation 3D Message Set block to control the traffic signal light color.

Barrels

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

Object

Unreal Editor Name

Location

X

(m)

Y

(m)

Z

(m)

Roll

(deg)

Pitch

(deg)

Yaw

(deg)

Barrels

SM_TrafficBarrel1

252.70

4.50

0

0

0

180.00°

SM_TrafficBarrel2

252.70

2.35

0

0

0

0

SM_TrafficBarrel3

252.70

.20

0

0

0

0

SM_TrafficBarrel4

252.70

-1.95

0

0

0

0

SM_TrafficBarrel5

252.70

-4.10

0

0

0

0

SM_TrafficBarrel6

252.70

-6.25

0

0

0

0

SM_TrafficBarrel7

252.70

-8.40

0

0

0

0

SM_TrafficBarrel8

252.70

-10.55

0

0

0

0

Lane Dimensions

This figure and table provides the lane dimensions, in m.

Variable

Dimension (m)

lw1

1.33

lw2

4.25

lw3

4.25

lw4

0.34

lw5

4.25

lw6

4.25

lw7

1.33

ml

1.5

s

2.0

mww

0.13

mwy

0.17

W

20.0

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

Tips

  • If you have the Vehicle Dynamics Blockset™ Interface for Unreal Engine 4 Projects support package, then you can modify this scene. In the Unreal Engine project file that comes with the support package, this scene is named DblLnChng.

    For more details on customizing scenes, see Customize 3D Scenes for Vehicle Dynamics Simulations.