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プログラムでのシナリオ作成

drivingScenario オブジェクトを使用してドライビング シナリオをプログラムで作成

drivingScenario オブジェクトにより、MATLAB® コマンド ラインからドライビング シナリオを作成できます。このオブジェクトを使用して、複雑な道路ネットワークや駐車場を設計し、アクターとその軌跡を指定します。その後、センサー モデルを使用してこれらのシナリオから合成データを生成し、そのデータを鳥瞰図プロットで可視化できます。

drivingScenario オブジェクトの柔軟なインターフェイスにより、各種条件で運転アルゴリズムを迅速にテストするためのシナリオのバリエーションを作成できます。詳細については、Create Driving Scenario Variations Programmaticallyを参照してください。

関数

すべて展開する

シナリオ

drivingScenarioドライビング シナリオの作成
advanceAdvance driving scenario simulation by one time step
plotPlot driving scenario
recordRun driving scenario and record actor states
restart最初からドライビング シナリオ シミュレーションを再実行
updatePlotsUpdate driving scenario plots
exportExport driving scenario to ASAM OpenDRIVE or ASAM OpenSCENARIO file

アクター

actorAdd actor to driving scenario
vehicleAdd vehicle to driving scenario
trajectoryCreate actor or vehicle trajectory in driving scenario
smoothTrajectoryCreate smooth, jerk-limited actor trajectory in driving scenario
stateInertial ground-truth state of actor
actorPosesPositions, velocities, and orientations of actors in driving scenario
actorProfilesPhysical and radar characteristics of actors in driving scenario
barrierAdd a barrier to a driving scenario
chasePlotEgo-centric projective perspective plot
targetMeshesMesh vertices and faces relative to specific actor
targetOutlinesOutlines of targets viewed by actor
targetPosesTarget positions and orientations relative to ego vehicle
driving.scenario.targetsToEgoConvert target poses from scenario to ego coordinates
driving.scenario.targetsToScenarioConvert target poses from ego to scenario coordinates

道路

roadAdd road to driving scenario or road group
roadNetworkAdd road network to driving scenario
roadBoundariesGet road boundaries
driving.scenario.roadBoundariesToEgoConvert road boundaries to ego vehicle coordinates
roadMeshMesh representation of roads near actor
driving.scenario.RoadGroupStore specifications for road junction or intersection
roadGroupAdd road junction or intersection to driving scenario

車線

lanespecCreate road lane specifications
laneTypeCreate road lane type object
laneMarkingCreate road lane marking object
laneMarkingVerticesLane marking vertices and faces in driving scenario
currentLaneGet current lane of actor
laneBoundariesGet lane boundaries of actor lane
clothoidLaneBoundaryClothoid-shaped lane boundary model
computeBoundaryModelCompute lane boundary points from clothoid lane boundary model
compositeLaneSpecCreate multiple lane specifications for road
laneSpecConnectorDefine road segment connector specifications

駐車場

parkingLotAdd parking lot to driving scenario
parkingSpaceDefine parking space for parking lot
insertParkingSpacesInsert parking spaces into parking lot
parkingLaneMarkingVerticesParking lane marking vertices and faces in driving scenario
drivingRadarDataGeneratorGenerate radar sensor detections and tracks from driving scenario
visionDetectionGeneratorGenerate vision detections for driving scenario
lidarPointCloudGeneratorGenerate lidar point cloud data for driving scenario
insSensorInertial navigation system and GNSS/GPS simulation model
ultrasonicDetectionGeneratorGenerate ultrasonic range detections in driving scenario

メッシュ作成

extendedObjectMeshMesh representation of extended object
translateTranslate mesh along coordinate axes
rotate座標軸を中心にメッシュを回転
scaleScale mesh in each dimension
applyTransformApply forward transformation to mesh vertices
joinJoin two object meshes
scaleToFitAuto-scale object mesh to match specified cuboid dimensions
showDisplay the mesh as a patch on the current axes

プリビルドのメッシュ

driving.scenario.bicycleMeshMesh representation of bicycle in driving scenario
driving.scenario.carMeshMesh representation of car in driving scenario
driving.scenario.pedestrianMeshMesh representation of pedestrian in driving scenario
driving.scenario.truckMeshMesh representation of truck in driving scenario
driving.scenario.jerseyBarrierMeshMesh representation of Jersey barrier in driving scenario
driving.scenario.guardrailMeshMesh representation of guardrail in driving scenario

プロッター作成

birdsEyePlotPlot detections, tracks, and sensor coverages around vehicle
coverageAreaPlotterCoverage area plotter for bird's-eye plot
detectionPlotterDetection plotter for bird's-eye plot
trackPlotterTrack plotter for bird's-eye plot
laneBoundaryPlotterLane boundary plotter for bird's-eye plot
laneMarkingPlotterLane marking plotter for bird's-eye plot
meshPlotterMesh plotter for bird's-eye plot
pathPlotterPath plotter for bird's-eye plot
pointCloudPlotterPoint cloud plotter for bird's-eye plot
outlinePlotterOutline plotter for bird's-eye plot
rangeDetectionPlotterRange detection plotter for bird's-eye-plot

プロッター表示

plotCoverageAreaDisplay sensor coverage area on bird's-eye plot
plotDetectionDisplay object detections on bird's-eye plot
plotLaneBoundaryDisplay lane boundaries on bird’s-eye plot
plotLaneMarkingDisplay lane markings on bird’s-eye plot
plotParkingLaneMarkingDisplay parking lane markings on bird’s-eye plot
plotMeshDisplay object meshes on bird's-eye plot
plotOutlineDisplay object outlines on bird's-eye plot
plotBarrierOutlineDisplay barrier outlines on bird's-eye plot
plotPathDisplay actor paths on bird’s-eye plot
plotPointCloudDisplay generated point cloud on bird's-eye plot
plotRangeDetectionDisplay range detections on bird's-eye-plot
plotTrackDisplay object tracks on bird's-eye plot

プロッター ユーティリティ

findPlotterFind plotters associated with bird’s-eye plot
clearDataClear data from specific plotter of bird’s-eye plot
clearPlotterDataClear data from bird’s-eye plot

トピック

ドライビング シナリオ

センサー