主要内容

Programmatic Scenario Authoring

Programmatically create driving scenarios by using adrivingScenarioobject

ThedrivingScenarioobject enables you to author driving scenarios from the MATLAB®command line. Use this object to design complex road networks or parking lots and specify actors and their trajectories. You can then generate synthetic data from these scenarios by using sensor models and visualize this data on a bird's-eye plot.

The flexible interface of thedrivingScenarioobject enables you to create variations of a scenario for rapidly testing driving algorithms under various conditions. For more details, seeCreate Driving Scenario Variations Programmatically.

Functions

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Scenarios

drivingScenario Create driving scenario
advance Advance driving scenario simulation by one time step
plot Plot driving scenario
record Run driving scenario and record actor states
restart Restart driving scenario simulation from beginning
updatePlots 更新驾驶场景图
export Export driving scenario toASAM OpenDRIVE要么ASAM OpenSCENARIOfile

演员

actor Add actor to driving scenario
vehicle 将车辆添加到驾驶场景
trajectory Create actor or vehicle trajectory in driving scenario
smoothTrajectory Create smooth, jerk-limited actor trajectory in driving scenario
state Inertial ground-truth state of actor
actorPoses Positions, velocities, and orientations of actors in driving scenario
actorprofiles. Physical and radar characteristics of actors in driving scenario
屏障 Add a barrier to a driving scenario
chasePlot 以自我为中心的投射透视图
targetMeshes 网眼顶点和面孔相对于特定演员
targetOutlines Outlines of targets viewed by actor
targetPoses Target positions and orientations relative to ego vehicle
driving.scenario.targetsToEgo 将目标姿势转换为自我坐标
driving.scenario.targetsToScenario Convert target poses from ego to scenario coordinates

Roads

road 为驾驶场景或道路集团添加道路
roadNetwork 将道路网络添加到驾驶场景
roadBoundaries Get road boundaries
driving.scenario.roadBoundariesToEgo Convert road boundaries to ego vehicle coordinates
roadMesh Mesh representation of roads near actor
driving.scenario.RoadGroup Store specifications for road junction or intersection
roadGroup Add road junction or intersection to driving scenario

车道

lanespec Create road lane specifications
laneType Create road lane type object
laneMarking 创建道路车道标记对象
laneMarkingVertices Lane marking vertices and faces in driving scenario
currentLane Get current lane of actor
laneBoundaries 获取演员车道的车道边界
clothoidLaneBoundary Clothoid-shaped lane boundary model
computeBoundaryModel 从梭形车道边界模型计算车道边界点
compositelanespec. 为道路创建多道规格
laneSpecConnector Define road segment connector specifications

Parking Lots

parkingLot Add parking lot to driving scenario
parkingSpace Define parking space for parking lot
insertParkingSpaces Insert parking spaces into parking lot
停车场anemarkingderce. Parking lane marking vertices and faces in driving scenario
drivingRadarDataGenerator Generate radar sensor detections and tracks from driving scenario
visionDetectionGenerator Generate vision detections for driving scenario
lidarPointCloudGenerator Generate lidar point cloud data for driving scenario
insSensor 惯性导航系统和GNSS / GPS仿真模型

Mesh Creation

ExtendedObjectMesh. Mesh representation of extended object
翻译 Translate mesh along coordinate axes
rotate Rotate mesh about coordinate axes
规模 Scale mesh in each dimension
applyTransform Apply forward transformation to mesh vertices
join 加入两个对象网格
规模ToFit Auto-scale object mesh to match specified cuboid dimensions
show Display the mesh as a patch on the current axes

预建网

driving.scenario.bicycleMesh 驾驶场景中自行车的网格表示
driving.scenario.carMesh Mesh representation of car in driving scenario
driving.scenario.pedestrianMesh Mesh representation of pedestrian in driving scenario
驾驶.cenario.truckmesh. Mesh representation of truck in driving scenario
driving.scenario.jerseyBarrierMesh Mesh representation of Jersey barrier in driving scenario
driving.scenario.guardrailMesh Mesh representation of guardrail in driving scenario

Plotter Creation

Birdseyebplot. Plot detections, tracks, and sensor coverages around vehicle
coverageAreaPlotter Coverage area plotter for bird's-eye plot
detectionPlotter 检测绘制绘图器的鸟瞰图
Trackplotter. Track plotter for bird's-eye plot
laneBoundaryPlotter Lane boundary plotter for bird's-eye plot
laneMarkingPlotter Lane marking plotter for bird's-eye plot
斑驳衣 Mesh plotter for bird's-eye plot
pathPlotter Path plotter for bird's-eye plot
pointCloudPlotter Point cloud plotter for bird's-eye plot
outlinePlotter Outline plotter for bird's-eye plot

Plotter Display

plotCoverageArea Display sensor coverage area on bird's-eye plot
plotdetection. Display object detections on bird's-eye plot
plotLaneBoundary Display lane boundaries on bird’s-eye plot
plotlanemarking. 在鸟瞰图上显示车道标记
plotparkinglanemarking. Display parking lane markings on bird’s-eye plot
plotmesh. Display object meshes on bird's-eye plot
plotOutline Display object outlines on bird's-eye plot
plotBarrierOutline Display barrier outlines on bird's-eye plot
plotPath Display actor paths on bird’s-eye plot
plotPointCloud Display generated point cloud on bird's-eye plot
plotTrack Display object tracks on bird's-eye plot

Plotter Utilities

findPlotter Find plotters associated with bird’s-eye plot
cleardata. Clear data from specific plotter of bird’s-eye plot
clearPlotterData Clear data from bird’s-eye plot

Topics

Driving Scenarios

Create Driving Scenario Programmatically

Programmatically create ground truth driving scenarios for synthetic sensor data and tracking algorithms.

Define Road Layouts Programmatically

Programmatically create road junctions and combine these junctions to create more complicated road networks.

Simulate Vehicle Parking Maneuver in Driving Scenario

Simulate a parking maneuver and generate sensor detections in a large parking lot using a cuboid driving scenario.

Create Actor and Vehicle Trajectories Programmatically

Programmatically create actor and vehicle trajectories for a driving scenario.

Create Driving Scenario Variations Programmatically

Programmatically create variations of a driving scenario that was built using the驾驶场景设计师应用程序。

Visualize Sensor Coverage, Detections, and Tracks

Configure and use a bird's-eye plot to display sensor coverage, detections, and tracking results around the ego vehicle.

使用StateFlow Charts自动控制智能车辆

Model a highway scenario with intelligent vehicles that are controlled by decision logic defined by a Stateflow®chart.

Sensors

Model Radar Sensor Detections

模型并模拟各种驾驶场景的汽车雷达传感器的输出。

Radar Signal Simulation and Processing for Automated Driving

Model the hardware, signal processing, and propagation environment of a radar for a driving scenario.

Simulate Radar Ghosts Due to Multipath Return

在返回雷达之前将信号能量反映出另一个目标时，生成发生的重影目标。

模型视觉传感器检测

Model and simulate the output of an automotive vision sensor for various driving scenarios.

Simulate Inertial Sensor Readings from a Driving Scenario(Navigation Toolbox)

Generate synthetic sensor data from IMU, GPS, and wheel encoders using driving scenario generation tools from Automated Driving Toolbox™.

Featured Examples

Generate Scenario from Recorded GPS and Lidar Data

Generate Scenario from Recorded GPS and Lidar Data

Generate a driving scenario by extracting recorded data from global positioning systems (GPS) and lidar sensors mounted on an ego vehicle. In this example, you use prerecorded sensor data and follow these steps to generate the scenario:
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Scenario Generation from Recorded Vehicle Data

Scenario Generation from Recorded Vehicle Data

Automatically generate virtual driving scenarios from recorded vehicle data.
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Automatic Scenario Generation

Automatic Scenario Generation

Automate scenario generation by using a drivingScenario object. In this example, you will automate:
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Automatic Scenario Variant Generation for Testing AEB Systems

Automatic Scenario Variant Generation for Testing AEB Systems

Automatically generate variants of a seed scenario in which two actors collide. You can generate random variants of a collision scenario that you can use for the design and validation of autonomous driving applications such as automated emergency braking (AEB) systems. In this example, you generate the scenario variants by modifying the speed of the ego actor, the collision, and the arrival times of the actors at their waypoints. However, the collision point remains the same as in the seed scenario.
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Generate Lane Information from Recorded Data

Generate Lane Information from Recorded Data

Generate lane information for road network imported from standard definition map using recorded vehicle data.
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自动化驾驶工具箱文档

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Implementing an Adaptive Cruise Controller with Simulink

Implementing an Adaptive Cruise Controller with Simulink

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