ncapScenario

Generate scenario descriptors for Euro NCAP test

Since R2024a

Syntax

descriptor = ncapScenario(ncapTestName)

[descriptor,scenarioInfo] = ncapScenario(ncapTestName,AllScenarios=true)

[___] = ncapScenario(___,Name=Value)

Description

descriptor = ncapScenario(ncapTestName) generates a seed scenario descriptor, descriptor, for the input European New Car Assessment Programme (Euro NCAP^®) test name ncapTestName.

[descriptor,scenarioInfo] = ncapScenario(ncapTestName,AllScenarios=true) generates seed scenario descriptors for all scenarios for the specified test name, and returns the scenario information scenarioInfo.

[___] = ncapScenario(___,Name=Value) specifies options using one or more name-value arguments, in addition to any combination of arguments from previous syntaxes. For example, ShowProgress="GUI" displays the scenario generation progress bar in a graphical user interface.

Note

• This function requires the Automated Driving Toolbox™ Test Suite for Euro NCAP^® Protocols support package. You can install the Automated Driving Toolbox Test Suite for Euro NCAP Protocols support package from the Add-On Explorer. For more information about installing add-ons, see Get and Manage Add-Ons.

• To use the EgoAssetInfo name-value argument, you must install RoadRunner and activate your RoadRunner license interactively. For more information, see Install and Activate RoadRunner (RoadRunner).

Examples

Generate RoadRunner Seed Scenario Using Euro NCAP Test Name

Specify the European New Car Assessment Programme (Euro NCAP) test name for the Vulnerable Road User Automatic Emergency Braking Crossing Car-to-Pedestrian Nearside Child Obstructed test.

ncapTestName = "VRU AEB Crossing CPNCO";

Generate a seed scenario descriptor for the NCAP test, which you can use to create its variants.

descriptor = ncapScenario(ncapTestName);

To visualize the created scenario, specify the path to your local RoadRunner installation folder. This code shows the path for the default installation location of RoadRunner R2024a on Windows®.

appPath = "C:\Program Files\RoadRunner R2024a\bin\win64";

Specify the path to your RoadRunner project. This code shows the path for a sample project folder location in Windows.

projectPath = "C:\RR\MyProject";

Set up the environment for opening the scenario in RoadRunner. Update the settings group.

s = settings;
s.roadrunner.application.InstallationFolder.TemporaryValue = appPath;

Open RoadRunner using the specified path to your project, and get the ScenarioSimulation object from your scenario.

rrApp = roadrunner(projectPath);
scenario = getScenario(descriptor,Simulator="RoadRunner",SimulatorInstance=rrApp);

Simulate Scenarios in RoadRunner Using Euro NCAP Test Name

Specify the Euro NCAP test name for the Safety Assist Automatic Emergency Braking Car-to-Car Front head-on lane change scenario.

ncapTestName = "SA AEB CCFhol";

Specify the path to your RoadRunner ego asset.

egoAssetInfo.AssetPath = "Vehicles/DeliveryVan.fbx_rrx.rrmeta";

Generate an array of scenario descriptors and their scenario information for the specified Euro NCAP test name.

[descriptors,scenarioInfo] = ncapScenario(ncapTestName,AllScenarios=true,EgoAssetInfo=egoAssetInfo);

SA AEB CCFhol Progress: (100%)[==================================================](  2/  2)

Specify the path to your local RoadRunner installation folder. This code shows the path for the default installation location on Windows®.

appPath = "C:\Program Files\RoadRunner R2024b\bin\win64";

Specify the path to your RoadRunner project. This code shows the path for a sample project folder location in Windows.

projectPath = "C:\RR\MyProject";

Set up the environment to open the scenario in RoadRunner. Update the settings group.

To update the MATLAB® path for the RoadRunner installation folder, get the root object within the settings hierarchical tree, and update the TemporaryValue for the RoadRunner installation folder property. For more information, see SettingsGroup.

s = settings;
s.roadrunner.application.InstallationFolder.TemporaryValue = appPath;

Open RoadRunner using the specified path to your project. The rrApp RoadRunner object enables you to interact with RoadRunner from the MATLAB workspace.

rrApp = roadrunner(projectPath);

Specify a valid index for a scenario descriptor object.

idx = 1;

Create a RoadRunner scenario for the scenario descriptor object at the specified index.

scenario = getScenario(descriptors(idx),Simulator="RoadRunner",SimulatorInstance=rrApp);

This figure shows an instance of the simulated Safety Assist Automatic Emergency Braking Car-to-Car Front head-on lane change scenario in RoadRunner, which contains an ego vehicle represented as a blue delivery van.

Input Arguments

ncapTestName — Euro NCAP test scenario name

"valid Euro NCAP test scenario name"

Euro NCAP test scenario name, specified as one of the ncapTestName values listed in the Euro NCAP Test Scenario Information section.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: ncapScenario(ncapTestName,AllScenarios=true,ShowProgress="GUI") displays the scenario generation progress bar in a graphical user interface.

ShowProgress — Show progress bar

"CommandLine" (default) | "GUI" | "No"

Show the progress bar, specified as one of these options:

• "CommandLine" — Displays the scenario generation progress bar in the MATLAB^® Command Window.

• "GUI" — Displays the scenario generation progress bar in a graphical use interface (GUI).

• "No" — Does not displays the progress bar.

EgoAssetInfo — Ego asset information

structure

Ego asset information, specified as a structure. The structure contains these fields:

Field	Description
AssetPath	Ego asset path, specified as a string scalar. The value must be a valid RoadRunner asset path for an ego vehicle.
Dimension	Dimensions of the ego asset, specified as a structure with these fields: Length — Length of the ego asset, specified as a positive scalar. Units are in meters. Width — Width of the ego asset, specified as a positive scalar. Units are in meters. Height — Height of the ego asset, specified as a positive scalar. Units are in meters. FrontOverhang — Distance between the front of the vehicle and the front axle, specified as a positive scalar. Units are in meters. WheelBase — Distance between the front and rear axles of the vehicle, specified as a positive scalar. Units are in meters. RearOverhang — Distance between the rear axle and the rear of the vehicle, specified as a positive scalar. Units are in meters.

Note

To use the EgoAssetInfo name-value argument, you must also specify AllScenarios=true to the ncapScenario function.

Output Arguments

descriptor — Scenario descriptors

ScenarioDescriptor object | N-element array of ScenarioDescriptor objects

Scenario descriptors, returned as a ScenarioDescriptor object or an N-element array of ScenarioDescriptor objects.

If you specify AllScenarios=true to the ncapScenario function, the function returns an N-element array of ScenarioDescriptor objects. N is the number of generated scenario descriptors for a specified Euro NCAP test name. Otherwise, the function returns a single ScenarioDescriptor object that represents the seed scenario for a specified Euro NCAP test name.

Each ScenarioDescriptor object stores the scene, actor, and vehicle information of a seed scenario. You can use this information to generate scenario variants for performing safety assessments for various automated driving applications.

By default, the function specifies the ego vehicle as a sedan in the returned scenario descriptor object, and fixes the dimensions of the sedan to [4.5556 1.9378 1.4538 0.8940 0.9483 2.7133] in the form [length width height frontOverhang rearOverhang wheelbase]. Units are in meters. For more information on actor dimensions, see Actor and Vehicle Positions and Dimensions.

scenarioInfo — Scenario information

structure

Scenario information, returned as a structure. The structure contains these fields:

Field	Description
ValidScenario	Valid scenario flag, returned as 1 if the generated scenario is in accordance with the Euro NCAP test specifications. Otherwise, it returns a 0.
Messages	Messages and warnings related to the generated scenarios, returned as a string scalar or character vector. The ncapScenario function displays messages for a scenario if its ValidScenario value is 0.
BehaviorUnderTest	Behavioral safety assessment test parameters, returned as a structure with these fields: HandoverTime — Time to hand over of control. Units are in seconds. StartTestTime — Time to start of the safety assessment test. Units are in seconds. EndTestTime — Time to end of the safety assessment test. Units are in seconds. By default, the function returns the simulation end time.
EventTime	Time at which an event occurs, returned as a scalar. For example, for a collision event, this field represents the time at which the collision occurs. Units are in seconds.
EgoTrajectory	Trajectory information of the ego vehicle, returned as a structure with these fields: Timestamps — Ego simulation timestamps, returned as an M-element column vector. M is the number of timestamps. Waypoints — Waypoints referenced to the rear-wheel axle-center of the ego, returned as an M-by-3 matrix. The number of waypoints is equal to the number of timestamps. Each row is a waypoint of the ego vehicle in the form [x y z]. Units are in meters. Velocity — Velocities of the ego vehicle, returned as an M-by-3 matrix. Each velocity value corresponds to the associated element of Waypoints. Each row is a velocity of the ego vehicle in the form [vx vy vz]. Units are in meters per second. Roll — Roll angles of the ego vehicle, returned as an M-element column vector. Each roll value corresponds to the associated element of Waypoints. Units are in radians. Pitch — Pitch angles of the ego vehicle, returned as an M-element column vector. Each pitch value corresponds to the associated element of Waypoints. Units are in radians. Yaw — Yaw angles of the ego vehicle, returned as an M-element column vector. Each yaw value corresponds to the associated element of Waypoints. Units are in radians. AngularVelocity — Rotational velocities of the ego vehicle, returned as an M-by-3 matrix. Each velocity value corresponds to the associated element of Waypoints. Each row is an angular velocity of the ego vehicle in the form [avx avy avz]. The magnitude of each element defines the angular speed, in degrees per second, and the direction defines the axis of clockwise rotation. EgoCenterWaypoints — Waypoints referenced to the ego vehicle center, returned as an M-by-3 matrix. Each center waypoint value corresponds to the associated element of Waypoints. Each row is a waypoint of the ego vehicle center in the form [x y z]. Units are in meters.

Note

To return the scenarioInfo output argument, you must also specify AllScenarios=true to the ncapScenario function.

More About

Euro NCAP Test Scenario Information

These tables lists the full names of Euro NCAP test scenarios, their corresponding ncapTestName values, their descriptions, and their location in the Euro NCAP test protocol document.

Car-to-Car Collision Scenarios

ncapTestName	Euro NCAP Test Scenario Full Name	Description	Euro NCAP Test Protocol Document
"SA AEB CCRs"	Safety Assist Automatic Emergency Braking Car-to-Car Rear stationary	The ego vehicle moves forward toward a stationary target vehicle, resulting in a collision between the front side of the ego and the rear side of the target.	For more information on this test, see page 16 of the Euro NCAP Test Protocol document.
"SA AEB CCRm"	Safety Assist Automatic Emergency Braking Car-to-Car Rear moving	The ego vehicle moves forward toward a target vehicle traveling at a constant speed, resulting in a collision between the front side of the ego and the rear side of the target.	For more information on this test, see page 17 of the Euro NCAP Test Protocol document.
"SA AEB CCRb"	Safety Assist Automatic Emergency Braking Car-to-Car Rear braking	The ego vehicle moves forward toward a target vehicle traveling at a constant speed, collides, and then decelerates, resulting in a collision between the front side of the ego and the rear side of the target.	For more information on this test, see page 17 of the Euro NCAP Test Protocol document.
"SA AEB CCFtap"	Safety Assist Automatic Emergency Braking Car-to-Car Front turn across path	The ego vehicle turns across the path of an oncoming target vehicle traveling at a constant speed, resulting in a head-on collision.	For more information on this test, see page 18 of the Euro NCAP Test Protocol document.
"SA AEB CCCscp"	Safety Assist Automatic Emergency Braking Car-to-Car Crossing straight crossing path	The ego and target vehicles move toward a junction on straight, perpendicular paths, resulting in a collision between the front side of the ego and one side of the target.	For more information on this test, see page 19 of the Euro NCAP Test Protocol document.
"SA AEB CCFhos"	Safety Assist Automatic Emergency Braking Car-to-Car Front head-on straight	The ego and target vehicles move toward each other on a same lane, resulting in a head-on collision.	For more information on this test, see page 22 of the Euro NCAP Test Protocol document.
"SA AEB CCFhol"	Safety Assist Automatic Emergency Braking Car-to-Car Front head-on lane change	The ego and target vehicles move toward each other, each traveling on different lanes. The target vehicle performs a lane change into the ego lane, resulting in a head-on collision.	For more information on this test, see page 22 of the Euro NCAP Test Protocol document.

Car-to-Pedestrian Collision Scenarios

ncapTestName	Euro NCAP Test Scenario Full Name	Description	Euro NCAP Test Protocol Document
"VRU AEB Crossing CPFA"	Vulnerable Road User Automatic Emergency Braking Crossing Car-to-Pedestrian Farside Adult	The ego vehicle moves forward toward an adult pedestrian running across its path from the farside, resulting in a collision between the front side of the ego vehicle and the pedestrian.	For more information on this test, see page 24 of the Euro NCAP Test Protocol document.
"VRU AEB Crossing CPNA"	Vulnerable Road User Automatic Emergency Braking Crossing Car-to-Pedestrian Nearside Adult	The ego vehicle moves forward toward an adult pedestrian walking across its path from the nearside, resulting in a collision between the front side of the ego vehicle and the pedestrian.	For more information on this test, see page 24 of the Euro NCAP Test Protocol document.
"VRU AEB Crossing CPNCO"	Vulnerable Road User Automatic Emergency Braking Crossing Car-to-Pedestrian Nearside Child Obstructed	The ego vehicle moves forward toward an child pedestrian walking across its path from the nearside, resulting in a collision between the front side of the ego vehicle and the pedestrian.	For more information on this test, see page 25 of the Euro NCAP Test Protocol document.
"VRU AEB Longitudinal CPLA"	Vulnerable Road User Automatic Emergency Braking Longitudinal Car-to-Pedestrian Longitudinal Adult	The ego vehicle moves forward toward an adult pedestrian walking in front, in the same direction, resulting in a collision between the front side of the ego vehicle and the pedestrian.	For more information on this test, see page 25 of the Euro NCAP Test Protocol document.
"VRU AEB Turning CPTAns"	Vulnerable Road User Automatic Emergency Braking Turning Car-to-Pedestrian Turning Adult nearside same	The ego vehicle moves forward toward an adult pedestrian crossing its path, starting in the same direction, walking across a junction from the nearside, resulting in a collision between the front side of the ego vehicle and the pedestrian.	For more information on this test, see page 27 of the Euro NCAP Test Protocol document.
"VRU AEB Turning CPTAno"	Vulnerable Road User Automatic Emergency Braking Car-to-Pedestrian Turning Adult nearside opposite	The ego vehicle moves forward toward an adult pedestrian crossing its path, starting in the opposite direction, walking across a junction from the nearside, resulting in a collision between the front side of the ego vehicle and the pedestrian.	For more information on this test, see page 27 of the Euro NCAP Test Protocol document.
"VRU AEB Turning CPTAfs"	Vulnerable Road User Automatic Emergency Braking Turning Car-to-Pedestrian Turning Adult farside same	The ego vehicle moves forward toward an adult pedestrian crossing its path, starting in the same direction, walking across a junction from the farside, resulting in a collision between the front side of the ego vehicle and the pedestrian.	For more information on this test, see page 26 of the Euro NCAP Test Protocol document.
"VRU AEB Turning CPTAfo"	Vulnerable Road User Automatic Emergency Braking Turning Car-to-Pedestrian Turning Adult farside opposite	The ego vehicle moves forward toward an adult pedestrian crossing its path, in the opposite direction, walking across a junction from the farside, resulting in a collision between the front side of the ego vehicle and the pedestrian.	For more information on this test, see page 27 of the Euro NCAP Test Protocol document.
"VRU AEB Reverse CPRs"	Vulnerable Road User Automatic Emergency Braking Reverse Car-to-Pedestrian Reverse stationary	The ego vehicle moves rearward toward an adult or child pedestrian standing still, resulting in a collision between the rear side of the ego vehicle and the pedestrian.	For more information on this test, see page 29 of the Euro NCAP Test Protocol document.
"VRU AEB Reverse CPRm"	Vulnerable Road User Automatic Emergency Braking Reverse Car-to-Pedestrian Reverse moving	The ego vehicle moves rearward toward an adult or child pedestrian walking from the nearside, resulting in a collision between the rear side of the ego vehicle and the pedestrian.	For more information on this test, see page 29 of the Euro NCAP Test Protocol document.

Car-to-Motorcyclist Collision Scenarios

ncapTestName	Euro NCAP Test Scenario Full Name	Description	Euro NCAP Test Protocol Document
"VRU AEB Longitudinal CMRs"	Vulnerable Road User Automatic Emergency Braking Longitudinal Car-to-Motorcyclist Reverse stationary	The ego vehicle moves forward toward a motorcyclist in front, traveling in the same direction. It results in a collision between the front side of the ego vehicle and the rear side of the motorcyclist.	For more information on this test, see page 36 of the Euro NCAP Test Protocol document.
"VRU AEB Longitudinal CMRb"	Vulnerable Road User Automatic Emergency Braking Longitudinal Car-to-Motorcyclist Reverse braking	The ego vehicle moves forward toward a motorcyclist in front, traveling in the same direction at a constant speed, which then decelerates, resulting in a collision between the front side of the ego and the rear side of the motorcyclist.	For more information on this test, see page 37 of the Euro NCAP Test Protocol document.
"VRU AEB Turning CMFtap"	Vulnerable Road User Automatic Emergency Braking Turning Car-to-Motorcyclist Front turn across path	The ego vehicle turns across the path of an oncoming motorcyclist that travels at a constant speed, resulting in a collision between the front side of the ego vehicle and the front side of the motorcyclist.	For more information on this test, see page 38 of the Euro NCAP Test Protocol document.
"VRU AEB Lateral CM Oncoming"	Vulnerable Road User Automatic Emergency Braking Lateral Car-to-Motorcyclist Oncoming	The ego vehicle drifts out of lane toward a motorcyclist traveling in the opposite direction, resulting in a collision between the front side of the ego vehicle and the front side of the motorcyclist.	For more information on this test, see page 39 of the Euro NCAP Test Protocol document.
"VRU AEB Lateral CM Overtaking unintentional"	Vulnerable Road User Automatic Emergency Braking Lateral Car-to-Motorcyclist Overtaking unintentional	The ego vehicle unintentionally overtakes a motorcyclist traveling in the same direction on a lane adjacent to the driver side of the ego vehicle.	For more information on this test, see page 41 of the Euro NCAP Test Protocol document.
"VRU AEB Lateral CM Overtaking intentional"	Vulnerable Road User Automatic Emergency Braking Lateral Car-to-Motorcyclist Overtaking intentional	The ego vehicle intentionally overtakes a motorcyclist traveling in the same direction on a lane adjacent to the driver side of the ego vehicle.	For more information on this test, see page 41 of the Euro NCAP Test Protocol document.

Car-to-Bicyclist Collision Scenarios

ncapTestName	Euro NCAP Test Scenario Full Name	Description	Euro NCAP Test Protocol Document
"VRU AEB Crossing CBFA"	Vulnerable Road User Automatic Emergency Braking Crossing Car-to-Bicyclist Farside Adult	The ego vehicle moves forward toward a bicyclist crossing its path cycling from the farside, resulting in a collision between the front side of the ego vehicle and the bicyclist.	For more information on this test, see page 30 of the Euro NCAP Test Protocol document.
"VRU AEB Crossing CBNA"	Vulnerable Road User Automatic Emergency Braking Crossing Car-to-Bicyclist Nearside Adult	The ego vehicle moves forward toward a bicyclist crossing its path cycling from the nearside, resulting in a collision between the front side of the ego vehicle and the bicyclist.	For more information on this test, see page 31 of the Euro NCAP Test Protocol document.
"VRU AEB Crossing CBNAO"	Vulnerable Road User Automatic Emergency Braking Crossing Car-to-Bicyclist Nearside Adult Obstructed	The ego vehicle moves forward toward a bicyclist crossing its path cycling from the nearside from behind an obstruction, resulting in a collision between the front side of the ego vehicle and the bicyclist.	For more information on this test, see page 31 of the Euro NCAP Test Protocol document.
"VRU AEB Longitudinal CBLA"	Vulnerable Road User Automatic Emergency Braking Longitudinal Car-to-Bicyclist Longitudinal Adult	The ego vehicle moves forward toward a bicyclist cycling in front, in the same direction, resulting in a collision between the front side of the ego and the bicyclist.	For more information on this test, see page 32 of the Euro NCAP Test Protocol document.
"VRU AEB Turning CBTAn"	Vulnerable Road User Automatic Emergency Braking Turning Car-to-Bicyclist Turning Adult nearside	The ego vehicle turns toward a bicyclist crossing its path across a junction, cycling in the opposite direction, from the nearside, resulting in a collision between the front side of the ego and the bicyclist.	For more information on this test, see page 33 of the Euro NCAP Test Protocol document.
"VRU AEB Turning CBTAf"	Vulnerable Road User Automatic Emergency Braking Turning Car-to-Bicyclist Turning Adult farside	The ego vehicle turns toward a bicyclist crossing its path across a junction, cycling in the opposite direction, from the farside, resulting in a collision between the front side of the ego vehicle and the bicyclist.	For more information on this test, see page 33 of the Euro NCAP Test Protocol document.

Lane Support System Scenarios

ncapTestName	Euro NCAP Test Scenario Full Name	Description	Euro NCAP Test Protocol Document
"SA LSS LKA Solid Line"	Safety Assist Lane Support System Lane Keep Assist Solid Line	The ego vehicle drifts beyond a solid lane marking into the adjacent lane.	For more information on this test, see page 17 of the Euro NCAP Test Protocol document.
"SA LSS LKA Dashed Line"	Safety Assist Lane Support System Lane Keep Assist Dashed Line	The ego vehicle drifts beyond a dashed lane marking into the adjacent lane.	For more information on this test, see page 17 of the Euro NCAP Test Protocol document.
"SA LSS ELK Solid Line"	Safety Assist Lane Support System Emergency Lane Keeping Solid Line	The ego vehicle drifts beyond a solid lane marking into the adjacent lane.	For more information on this test, see page 15 of the Euro NCAP Test Protocol document.
"SA LSS ELK Road Edge"	Safety Assist Lane Support System Emergency Lane Keeping Road Edge	The ego vehicle drifts beyond a road edge, moving out of the road.	For more information on this test, see page 15 of the Euro NCAP Test Protocol document.
"SA LSS ELK Oncoming vehicle"	Safety Assist Lane Support System Emergency Lane Keeping Oncoming vehicle	The ego vehicle drifts towards an oncoming target into the adjacent lane.	For more information on this test, see page 15 of the Euro NCAP Test Protocol document.
"SA LSS ELK Overtaking vehicle intentional"	Safety Assist Lane Support System Emergency Lane Keeping Overtaking vehicle intentional	The ego vehicle intentionally overtakes a target traveling in the same direction on a lane adjacent to the driver side of the ego vehicle.	For more information on this test, see page 16 of the Euro NCAP Test Protocol document.
"SA LSS ELK Overtaking vehicle unintentional"	Safety Assist Lane Support System Emergency Lane Keeping Overtaking vehicle unintentional	The ego vehicle unintentionally overtakes a target vehicle traveling in the same direction on a lane adjacent to the driver side of the ego vehicle.	For more information on this test, see page 16 of the Euro NCAP Test Protocol document.

Version History

Introduced in R2024a

R2024b_plus: Additional arguments

The ncapScenario function now supports these name-value arguments:

• ShowProgress

• EgoAssetInfo

The ncapScenario function now returns an additional output argument scenarioInfo when you specify AllScenarios=true as input

R2024a_plus: Generate seed scenarios for additional Euro NCAP tests

The ncapScenario function now supports these additional Euro NCAP test scenarios:

• "VRU AEB Reverse CPRs"

• "VRU AEB Reverse CPRm"

• "SA LSS LKA Solid Line"

• "SA LSS LKA Dashed Line"

• "SA LSS ELK Road Edge"

• "SA LSS ELK Solid Line"

• "SA LSS ELK Oncoming vehicle"

• "SA LSS ELK Overtaking vehicle intentional"

• "SA LSS ELK Overtaking vehicle unintentional"

• "VRU AEB Lateral CM Oncoming"

• "VRU AEB Lateral CM Overtaking unintentional"

• "VRU AEB Lateral CM Overtaking intentional"

R2024a_plus: Seed scenario contains fixed ego dimension

For your specified Euro NCAP test scenario ncapTestName, the ncapScenario function specifies the ego vehicle as a sedan with the dimensions [4.5556 1.9378 1.4538 0.8940 0.9483 2.7133] in the form [length width height frontOverhang rearOverhang wheelbase]. Units are in meters.