Vehicle To World

Convert actors from ego vehicle coordinates to world coordinates

Since R2020a

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Libraries:
Automated Driving Toolbox / Driving Scenario and Sensor Modeling

Description

The Vehicle To World block converts actor poses from the vehicle coordinates of the input ego vehicle to world coordinates. Use this block to convert non-ego actor poses output by the Scenario Reader block into world coordinates for use with the 3D simulation environment. Before using these output poses to specify vehicle positions in the 3D environment, first convert them from the cuboid to the 3D simulation world coordinate system by using a Cuboid To 3D Simulation block. For an example of this workflow, see the Visualize Sensor Data from Unreal Engine Simulation Environment example.

Examples

Visualize Sensor Data from Unreal Engine Simulation Environment

Visualize sensor coverage areas and detections obtained from high-fidelity radar and lidar sensors in the Unreal Engine^® simulation environment.

• Open Live Script

Ports

Input

Actors — Actor poses in vehicle coordinates

Simulink^® bus containing MATLAB^® structure

Actor poses in vehicle coordinates, specified as a Simulink bus containing a MATLAB structure.

The structure must contain these fields.

Field	Description	Type
NumActors	Number of actors	Nonnegative integer
Time	Current simulation time	Real-valued scalar
Actors	Actor poses	NumActors-length array of actor pose structures

Each actor pose structure in Actors must contain these fields.

Field	Description
ActorID	Scenario-defined actor identifier, specified as a positive integer.
In R2024b: FrontAxlePosition	Front-axle position of the vehicle, specified as a three-element row vector in the form [x y z]. Units are in meters. Note If the driving scenario does not contain a front-axle trajectory for at least one vehicle, then the ActorPoses structure does not contain this field.
Position	Position of actor, specified as a real-valued vector of the form [x y z]. Units are in meters.
Velocity	Velocity (v) of actor in the x- y-, and z-directions, specified as a real-valued vector of the form [vx vy vz]. Units are in meters per second.
Roll	Roll angle of actor, specified as a real-valued scalar. Units are in degrees.
Pitch	Pitch angle of actor, specified as a real-valued scalar. Units are in degrees.
Yaw	Yaw angle of actor, specified as a real-valued scalar. Units are in degrees.
AngularVelocity	Angular velocity (ω) of actor in the x-, y-, and z-directions, specified as a real-valued vector of the form [ωx ωy ωz]. Units are in degrees per second.

Ego Vehicle — Ego vehicle pose

Simulink bus containing MATLAB structure

Ego vehicle pose, specified as a Simulink bus containing a MATLAB structure.

The structure must contain these fields.

Field	Description
ActorID	Scenario-defined actor identifier, specified as a positive integer.
In R2024b: FrontAxlePosition	Front-axle position of the vehicle, specified as a three-element row vector in the form [x y z]. Units are in meters. Note If the driving scenario does not contain a front-axle trajectory for at least one vehicle, then the ActorPoses structure does not contain this field.
Position	Position of actor, specified as a real-valued vector of the form [x y z]. Units are in meters.
Velocity	Velocity (v) of actor in the x- y-, and z-directions, specified as a real-valued vector of the form [vx vy vz]. Units are in meters per second.
Roll	Roll angle of actor, specified as a real-valued scalar. Units are in degrees.
Pitch	Pitch angle of actor, specified as a real-valued scalar. Units are in degrees.
Yaw	Yaw angle of actor, specified as a real-valued scalar. Units are in degrees.
AngularVelocity	Angular velocity (ω) of actor in the x-, y-, and z-directions, specified as a real-valued vector of the form [ωx ωy ωz]. Units are in degrees per second.

Output

Actors — Actor poses in world coordinates

Simulink bus containing MATLAB structure

Actor poses in world coordinates, returned as a Simulink bus containing a MATLAB structure.

The structure has these fields.

Field	Description	Type
NumActors	Number of actors	Nonnegative integer
Time	Current simulation time	Real-valued scalar
Actors	Actor poses	NumActors-length array of actor pose structures

Each actor pose structure in Actors has these fields.

Field	Description
ActorID	Scenario-defined actor identifier, specified as a positive integer.
In R2024b: FrontAxlePosition	Front-axle position of the vehicle, specified as a three-element row vector in the form [x y z]. Units are in meters. Note If the driving scenario does not contain a front-axle trajectory for at least one vehicle, then the ActorPoses structure does not contain this field.
Position	Position of actor, specified as a real-valued vector of the form [x y z]. Units are in meters.
Velocity	Velocity (v) of actor in the x- y-, and z-directions, specified as a real-valued vector of the form [vx vy vz]. Units are in meters per second.
Roll	Roll angle of actor, specified as a real-valued scalar. Units are in degrees.
Pitch	Pitch angle of actor, specified as a real-valued scalar. Units are in degrees.
Yaw	Yaw angle of actor, specified as a real-valued scalar. Units are in degrees.
AngularVelocity	Angular velocity (ω) of actor in the x-, y-, and z-directions, specified as a real-valued vector of the form [ωx ωy ωz]. Units are in degrees per second.

Parameters

Source of actors bus name — Source of name for actor poses bus

Auto (default) | Property

Source of the name for the actor poses bus returned in the Actors output port, specified as one of these options:

• Auto — The block automatically creates an actor poses bus name.

• Property — Specify the actor poses bus name by using the Actors bus name parameter.

Actors bus name — Name of actor poses bus

valid bus name

Name of the actor poses bus returned in the Actors output port, specified as a valid bus name.

Dependencies

To enable this parameter, set Source of actors bus name to Property.

Simulate using — Type of simulation to run

Interpreted execution (default) | Code generation

• Interpreted execution — Simulate the model using the MATLAB interpreter. This option shortens startup time. In Interpreted execution mode, you can debug the source code of the block.

• Code generation — Simulate the model using generated C/C++ code. The first time you run a simulation, Simulink generates C/C++ code for the block. The C code is reused for subsequent simulations as long as the model does not change. This option requires additional startup time.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2020a