World To Vehicle

Convert actors from world coordinates to ego vehicle coordinates

Since R2020a

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Libraries:
Automated Driving Toolbox / Driving Scenario and Sensor Modeling

Description

The World To Vehicle block converts actor poses from world coordinates to the vehicle coordinates of the input ego vehicle.

Ports

Input

Actors — Actor poses in world coordinates

Simulink^® bus containing MATLAB^® structure

Actor poses in world 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 vehicle coordinates

Simulink bus containing MATLAB structure

Actor poses in vehicle 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