Road Centerline Acquisition in 3D Simulation for Automated Driving in Curved Road Scenario.

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Greetings. I am working with the 3D Simulation for Automated Driving to test my perception algorithm. For my project, I am planning to use the curved road scenario and I need to find a very accurate co-ordinates corresponding to the road centerline for my work. Selecting the waypoints manually is an option, but I experienced it to be inaccurate due to highly pixelated image available.
If someone has woked in this direction, any help would be appreciated.

Answers (1)

Prabhan Purwar
Prabhan Purwar on 30 Jul 2021
Hi,
Kindly have a look at the following steps to create a scenario with road center points as waypoints (add bias to get waypoints in the required lane)
  • Load curved road scenario in DSD
-Go to open -> Prebuilt Scenario -> Simulation3D -> CurvedRoad
- Add actor to the scenario
  • Get road centers for the scene
- Save scenario and load file in Matlab
- Copy waypoints as road center line (add bias to get waypoints in required lane from center point)
data.ActorSpecifications.Waypoints = data.RoadSpecifications.Centers;
- Specify speed
data.ActorSpecifications.Speed = 30*ones(size(data.RoadSpecifications.Centers,1),1);
- Save data variable in scenario file with updated data
- Load scenario in DSD for visualization
  • Recreate Scenario in Simulink for 3D Environment
- Load the Simulink model attached (CurvedRoadSimulationCenterLine.slx)
- add a path to scenario file inside Scenario Reader block -> Driving Scenario Designer file name
- Run the scenario
Kindly have a look at the following link for further insights:
Thanks

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