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,'ClassID',1,'Position',[20 -20 0],'Yaw',-15);

Obtain the road boundaries in ego vehicle coordinates by using theroadBoundariesfunction. 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 theroadBoundariesfunction. Specify the scenario as the input argument.

rbScenario = roadBoundaries(scenario);

Obtain the road boundaries in ego vehicle coordinates by using thedriving.scenario.roadBoundariesToEgofunction.

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})

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)

ans = Road with properties: Name: "" RoadID: 2 RoadCenters: [2x3 double] RoadWidth: 6 BankAngle: [2x1 double] Heading: [2x1 double]

roadcenters = [400 400 0; 0 0 0]; road(scenario,roadcenters)

ans = Road with properties: Name: "" RoadID: 3 RoadCenters: [2x3 double] RoadWidth: 6 BankAngle: [2x1 double] Heading: [2x1 double]

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,'ClassID',1,'Position',[700 0 0],...'Length',3,'Width',2,'Height',1.6);

Position the bicycle farther down the road.

bicycle = actor(scenario,'ClassID',3,'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)

提出了=2×1 struct array with fields:行为orID Position Velocity Roll Pitch Yaw AngularVelocity

profiles = actorProfiles(scenario)

profiles=2×1 struct array with fields:行为orID ClassID Length Width Height OriginOffset MeshVertices MeshFaces RCSPattern RCSAzimuthAngles RCSElevationAngles