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US City Block

US city block 3D environment

Description

The US City Block scene is a 3D environment of a US city block that contains 15 intersections and 30 traffic lights. 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 US city block.

Scene Layout

The scene uses the world coordinate system to locate objects.

This table provides the scene area corner locations in the world coordinate system. Dimensions are in m.

Locations

X

(m)

Y

(m)

Z

(m)

Scene — Top left

-1020

-1020

0

Scene — Bottom right

1020

1020

0

Active area — Bottom left

-240.77

151.67

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)

-125.19

1.65

0.04

-0.04 in vehicle Z-down coordinate system

0

0

0

Intersections

The US city block scene has 15 intersections, as indicated in this diagram.

This table provides the intersection locations in the world coordinate system. Dimensions are in m.

IntersectionCenter Location

X

(m)

Y

(m)

Z

(m)

1

-202.60

-108

.01

2

-112.60

-108

.01

3

-20.38

-108

.01

4

74.58

-108

.01

5

166.40

-108

.01

6

-184.60

0

.01

7

-112.60

0

.01

8

-20.34

0

.01

9

76.40

0

.01

10

166.46

0

.01

11

-184.60

110.50

.01

12

-112.60

110.50

.01

13

-22.60

110.50

.01

14

76.40

110.50

.01

15

166.40

112.50

.01

Barrier

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

Object

Unreal Engine Editor Name

Location

X

Y

Z

Roll

Pitch

Yaw

Barrier

SM_Barrier

163.5

-146.95

0

0

0

90°

SM_Barrier2

166.35

-146.95

0

0

0

90°

SM_Barrier3

169.2

-146.95

0

0

0

90°

SM_Barrier7

163.5

150.15

0

0

0

90°

SM_Barrier8

166.35

150.15

0

0

0

90°

SM_Barrier9

169.2

150.15

0

0

0

90°

SM_Barrier11

197.05

109.65

0

0

0

-180°

SM_Barrier13

197.05

112.5

0

0

0

-180°

SM_Barrier14

197.05

115.34

0

0

0

-180°

SM_Barrier18

197.05

-2.9

0

0

0

-180°

SM_Barrier19

197.05

-0.05

0

0

0

-180°

SM_Barrier20

197.05

2.8

0

0

0

-180°

SM_Barrier21

-240.5

107.65

0

0

0

-180°

SM_Barrier22

197.05

-110.9

0

0

0

-180°

SM_Barrier24

197.05

5.6

0

0

0

-180°

SM_Barrier27

197.05

-108.05

0

0

0

-180°

SM_Barrier28

197.05

-105.25

0

0

0

-180°

SM_Barrier31

-240.5

110.5

0

0

0

-180°

SM_Barrier32

-240.5

113.35

0

0

0

-180°

SM_Barrier36

-240.1

-2.9

0

0

0

-180°

SM_Barrier37

-240.1

-0.05

0

0

0

-180°

SM_Barrier38

-240.1

2.8

0

0

0

-180°

SM_Barrier43

-242.15

110.9

0

0

0

-180°

SM_Barrier44

-242.15

-108.05

0

0

0

-180°

SM_Barrier45

-242.15

-105.25

0

0

0

-180°

SM_Barrier48

73.4

150.15

0

0

0

90°

SM_Barrier49

76.25

150.15

0

0

0

90°

SM_Barrier50

79.1

150.15

0

0

0

90°

SM_Barrier54

-25.55

150.15

0

0

0

90°

SM_Barrier55

-22.7

150.15

0

0

0

90°

SM_Barrier56

-19.85

150.15

0

0

0

90°

SM_Barrier59

-115.3

150.15

0

0

0

90°

SM_Barrier60

-112.45

150.15

0

0

0

90°

SM_Barrier61

-109.6

150.15

0

0

0

90°

SM_Barrier66

69.25

-147.35

0

0

0

90°

SM_Barrier68

75.45

-147.5

0.15

0

0

90°

SM_Barrier69

72.45

-147.5

0.15

0

0

90°

SM_Barrier70

-25.55

-146.45

0

0

0

90°

SM_Barrier71

-22.15

-146.45

0

0

0

90°

SM_Barrier72

-18.65

-146.45

0

0

0

90°

SM_Barrier75

-115.3

-147.6

0

0

0

90°

SM_Barrier76

-112.45

-147.6

0

0

0

90°

SM_Barrier77

-109.6

-147.6

0

0

0

90°

SM_Barrier84

-15.45

-146.45

0

0

0

90°

SM_Barrier88

-187.5

150.15

0

0

0

90°

SM_Barrier89

-184.65

150.15

0

0

0

90°

SM_Barrier90

-181.8

150.15

0

0

0

90°

SM_Barrier94

-205.6

-147.4

0

0

0

90°

SM_Barrier95

-202.75

-147.4

0

0

0

90°

SM_Barrier96

-199.9

-147.4

0

0

0

90°

SM_Barrier101

44.15

3.05

0

0

0

-50°

SM_Barrier102

39.15

0.55

0

0

0

-90°

SM_Barrier103

41.95

1.3

0

0

0

-50°

SM_Barrier104

36.5

.55

0

0

0

-90°

SM_Barrier105

33.85

.55

0

0

0

-90°

SM_Barrier106

31.2

.55

0

0

0

-90°

SM_Barrier107

28.45

.55

0

0

0

-90°

SM_Barrier108

25.8

.55

0

0

0

-90°

SM_Barrier109

23.15

.55

0

0

0

-90°

SM_Barrier110

20.5

.55

0

0

0

-90°

SM_Barrier111

17.95

.55

0

0

0

-90°

SM_Barrier112

15.3

.55

0

0

0

-90°

SM_Barrier113

12.65

.55

0

0

0

-90°

SM_Barrier114

10.0

.55

0

0

0

-90°

SM_Barrier115

7.01

1.38

0

0

0

-125°

SM_Barrier116

4.75

3.05

0

0

0

-125°

Traffic Lights

The US City Scene contains 30 traffic lights, two at each of the 15 intersections. Each intersection has a traffic light group. If you have the Customize 3D Scenes for Vehicle Dynamics Simulations for customizing scenes, you can control the timing of the traffic lights.

This table provides the traffic light names and locations in the world coordinate system. Dimensions are in m. Only one of the traffic lights in the group can be green at a time. The traffic lights are green for 10 s and yellow for 3 s. At the start of the simulation, the first traffic lights in the group are green (for example, SM_TrafficLights1_3 and SM_TrafficLights2_3). The second lights in the group are red (for example, SM_TrafficLights1_4 and SM_TrafficLights2_4).

Intersection

Unreal Engine Editor Name

Location

Traffic Light GroupTraffic Light

X

Y

Z

Roll

Pitch

Yaw

1

TrafficLightGroup

SM_TrafficLights1_3

-196.55-100.650

0

0

90°

SM_TrafficLights1_4

-210.20-113.400

0

0

0

2

TrafficLightGroup2

SM_TrafficLights2_3

-106.3598.350

0

0

-90°

SM_TrafficLights2_4

-120.40-113.500

0

0

0

3

TrafficLightGroup3

SM_TrafficLights3_1

-13.10-116.200.2

0

0

90°

SM_TrafficLights3_4

-30.60-113.800

0

0

0

4

TrafficLightGroup4

SM_TrafficLights4_3

71.40-100.300

0

0

-100°

SM_TrafficLights4_4

64.80-113.00

0

0

0

5

TrafficLightGroup5

SM_TrafficLights5_1

171.50-115.700

0

0

90°

SM_TrafficLights5_4

157.40-113.500

0

0

0

6

TrafficLightGroup6

SM_TrafficLights6_2

-177.305.700

0

0

180°

SM_TrafficLights6_3

-189.607.400

0

0

-90°

7

TrafficLightGroup7

SM_TrafficLights7_2

-105.205.500

0

0

180°

SM_TrafficLights7_3

-117.807.700.2

0

0

-90°

8

TrafficLightGroup8

SM_TrafficLights8_1

-13.10-7.600.1

0

0

90°

SM_TrafficLights8_2

-10.905.600

0

0

180°

9

TrafficLightGroup9

SM_TrafficLights9_2

85.907.600.2

0

0

180°

SM_TrafficLights9_3

70.909.200

0

0

-90°

10

TrafficLightGroup10

SM_TrafficLights10_1

172.10-7.700

0

0

90°

SM_TrafficLights10_2

173.707.500

0

0

180°

11

TrafficLightGroup11

SM_TrafficLights11_3

-189.80118.450

0

0

-90°

SM_TrafficLights11_4

-191.05104.550

0

0

0

12

TrafficLightGroup12

SM_TrafficLights12_3

-117.60117.600

0

0

-90°

SM_TrafficLights12_4

-120.50105.400

0

0

0

13

TrafficLightGroup13

SM_TrafficLights13_1

-12.80102.500

0

0

90°

SM_TrafficLights13_4

-30.50105.300

0

0

0

14

TrafficLightGroup14

SM_TrafficLights14_3

70.90118.700

0

0

-90°

SM_TrafficLights14_4

69.30105.300

0

0

0

15

TrafficLightGroup15

SM_TrafficLights15_1

171.40105.200

0

0

90°

SM_TrafficLights15_4

158.40107.200

0

0

0

Lane Dimensions

The scene contains three types of roads.

Road Type 1

This figure and table provides the road type 1 lane dimensions, in m.

Variable

Dimension (m)

lw1

0.65

lw2

3.85

lw3

3.85

lw4

0.65

ml

1.5

s

3.0

mw

0.13

W

9

Road Type 2

This figure and table provides the road type 2 lane dimensions, in m.

Variable

Dimension (m)

lw1

0.73

lw2

3.77

lw3

3.77

lw4

4.5

lw5

0.73

ml

1.5

s

3.0

mw

0.13

W

13.5

Road Type 3

This figure and table provides the road type 3 lane dimensions, in m.

Variable

Dimension (m)

lw1

0.65

lw2

3.85

lw3

3.85

lw4

3.15

ml

1.5

s

3.0

mw

0.13

W

11.5

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 USCityBlock.

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