Programmatic Scenario Authoring

通过使用一个程序来创建驾驶场景DrivingsCenarioobject

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

展开全部

驾驶场景

Scenarios

`DrivingsCenario`	Create driving scenario
`advance`	提前驾驶场景模拟一个时间步骤
`阴谋`	Plot driving scenario
`record`	Run driving scenario and record actor states
`重新开始`	重新启动驾驶场景仿真
`updatePlots`	Update driving scenario plots
`export`	Export driving scenario toASAM OpenDRIVEorASAM OpenSCENARIO文件

Actors

`actor`	Add actor to driving scenario
`车辆`	Add vehicle to driving scenario
`弹道`	Create actor or vehicle trajectory in driving scenario
`光滑的标题`	Create smooth, jerk-limited actor trajectory in driving scenario
`state`	Inertial ground-truth state of actor
`actorPoses`	位置s, velocities, and orientations of actors in driving scenario
`actorProfiles`	Physical and radar characteristics of actors in driving scenario
`barrier`	Add a barrier to a driving scenario
`chaseplot`	Ego-centric projective perspective plot
`目标速度`	Mesh vertices and faces relative to specific actor
`targetOutlines`	Outlines of targets viewed by actor
`targetPoses`	目标位置和方向相对于自我车辆
`driving.scenario.targetsToEgo`	Convert target poses from scenario to ego coordinates
`driving.scenario.targetsToScenario`	将目标姿势从自我转换为场景坐标

Roads

`路`	Add road to driving scenario or road group
`路Network`	Add road network to driving scenario
`路边`	Get road boundaries
`driving.scenario.roadBoundariesToEgo`	Convert road boundaries to ego vehicle coordinates
`路Mesh`	Mesh representation of roads near actor
`driving.scenario.RoadGroup`	Store specifications for road junction or intersection
`路Group`	Add road junction or intersection to driving scenario

Lanes

`lanespec`	创建道路车道规格
`型号`	创建道路车道类型对象
`laneMarking`	创建道路车道标记物体
`LANEMARKINGVERTICES`	Lane marking vertices and faces in driving scenario
`CurrentLane`	Get current lane of actor
`laneBoundaries`	Get lane boundaries of actor lane
`clothoidLaneBoundary`	衣服形状边界模型
`ComputeBoundaryModel`	Compute lane boundary points from clothoid lane boundary model
`compositeLaneSpec`	Create multiple lane specifications for road
`laneSpecConnector`	定义路段连接器规格

Parking Lots

`parkingLot`	在驾驶场景中添加停车场
`parkingSpace`	Define parking space for parking lot
`insertParkingSpaces`	Insert parking spaces into parking lot
`parkingLaneMarkingVertices`	Parking lane marking vertices and faces in driving scenario

Sensors

`drivingRadarDataGenerator`	Generate radar sensor detections and tracks from driving scenario
`VisionDetectionGenerator`	生成视力探测以驾驶场景
`lidarPointCloudGenerator`	生成激光雷德点云数据用于驾驶方案
`Inssensor`	Inertial navigation system and GNSS/GPS simulation model
`ultrasonicDetectionGenerator`	Generate ultrasonic range detections in driving scenario

Meshes for Lidar Simulation

Mesh Creation

`extendedObjectMesh`	扩展对象的网格表示
`translate`	沿坐标轴翻译网格
`rotate`	旋转围绕坐标轴的网格
`scale`	在每个维度中缩放网格
`applyTransform`	将正向转换应用于网格顶点
`加入`	Join two object meshes
`scaleToFit`	Auto-scale object mesh to match specified cuboid dimensions
`节目`	在当前轴上显示网格作为补丁

Prebuilt Meshes

`driving.scenario.bicycleMesh`	Mesh representation of bicycle in driving scenario
`driving.scenario.carMesh`	Mesh representation of car in driving scenario
`driving.scenario.pedestrianmesh`	Mesh representation of pedestrian in driving scenario
`driving.scenario.truckMesh`	在驾驶场景中卡车的网格代表
`驾驶`	在驾驶场景中的泽西屏障的网格代表
`驾驶。Scenario.guardrailmesh`	Mesh representation of guardrail in driving scenario

Bird's-Eye Plot

Plotter Creation

`birdsEyePlot`	车辆周围的地块检测，轨道和传感器覆盖
`coverageAreaPlotter`	覆盖范围plotter for bird's-eye plot
`detectionPlotter`	Detection plotter for bird's-eye plot
`trackPlotter`	Bird's-eye Plot的曲目绘图师
`车道上的星形`	鸟类绘图的车道边界绘图仪
`lanemarkingPlotter`	Lane marking plotter for bird's-eye plot
`meshPlotter`	鸟眼剧情的网状绘图仪
`路径平原`	鸟眼情节的路径绘图仪
`pointCloudPlotter`	Point cloud plotter for bird's-eye plot
`轮廓图`	大纲绘图师的绘图仪
`rangedetectionplotter`	Range detection plotter for bird's-eye-plot

Plotter Display

`Plot Coveragearea`	Display sensor coverage area on bird's-eye plot
`阴谋Detection`	在鸟眼情节上显示对象检测
`PlotLaneBoundary`	在Bird's-Eye情节上展示车道边界
`阴谋LaneMarking`	Display lane markings on bird’s-eye plot
`阴谋ParkingLaneMarking`	在Bird's-hee Plit上显示停车场标记
`阴谋Mesh`	显示对象在Bird's-eye情节上网格
`阴谋Outline`	Display object outlines on bird's-eye plot
`阴谋BarrierOutline`	在鸟眼情节上显示障碍大纲
`情节路径`	展示演员在鸟眼情节上的路径
`PlotPointCloud`	Display generated point cloud on bird's-eye plot
`阴谋RangeDetection`	鸟眼图上的显示范围检测
`绘图`	在鸟眼情节上显示对象曲目

Plotter Utilities

`findPlotter`	查找与Bird的绘图相关的绘图仪
`clearData`	Clear data from specific plotter of bird’s-eye plot
`clearPlotterData`	来自Birds-hee情节的清晰数据

话题

驾驶场景

Create Driving Scenario Programmatically
以编程方式创建合成传感器数据和跟踪算法的地面真相驱动方案。
以编程方式定义道路布局
Programmatically create road junctions and combine these junctions to create more complicated road networks.
在驾驶场景中模拟车辆停车手术
使用Cuboid驾驶场景模拟停车操作并在大型停车场生成传感器探测。
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 theDriving Scenario Designer应用程序。
Visualize Sensor Coverage, Detections, and Tracks
配置并使用鸟眼图显示传感器覆盖，检测和跟踪自我车辆周围的结果。
Automate Control of Intelligent Vehicles by Using Stateflow Charts
用智能车辆模拟高速公路场景，这些车辆由状态流定义的决策逻辑控制^®图表。

Sensors

Model Radar Sensor Detections
Model and simulate the output of an automotive radar sensor for various driving scenarios.
Radar Signal Simulation and Processing for Automated Driving
Model the hardware, signal processing, and propagation environment of a radar for a driving scenario.
模拟由于多径返回而引起的雷达鬼魂
Generate ghost targets that occur when signal energy is reflected off another target before returning to the radar.
Model Vision Sensor Detections
Model and simulate the output of an automotive vision sensor for various driving scenarios.
Simulate Inertial Sensor Readings from a Driving Scenario（导航工具箱）
使用自动化驾驶Toolbox™的驾驶场景生成工具从IMU，GPS和Wheel编码器中生成合成传感器数据。

Featured Examples

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:

Open Live Script

Scenario Generation from Recorded Vehicle Data

自动从记录的车辆数据中生成虚拟驾驶场景。

Open Live Script

自动场景生成

通过使用DrivingsCenario对象自动化场景。在此示例中，您将自动化：

Open Live Script

用于测试AEB系统的自动方案变体生成

自动生成种子场景的变体，其中两个演员相撞。您可以生成碰撞方案的随机变体，您可以将其用于设计和验证自动驾驶应用程序，例如自动紧急制动（AEB）系统。在此示例中，您可以通过修改自我车辆，演员尺寸和碰撞点的速度来生成场景变体。碰撞点是自我车辆和目标演员相撞的自我车辆上的位置。该示例假设自我车辆和目标演员总是在90度碰撞，而目标演员在自我车辆的前边缘上碰撞。但是，碰撞时间与种子情景中的相同。

Open Live Script

Generate Lane Information from Recorded Data

Generate lane information for road network imported from standard definition map using recorded vehicle data.

Open Live Script

改善自我车辆本地化

Improve ego vehicle localization by fusing GPS and IMU sensor data and generate virtual driving scenario from recorded sensor data.

Open Live Script