Programmatic Scenario Authoring

Programmatically create driving scenarios by using a drivingScenario object

The drivingScenario object enables you to author driving scenarios from the MATLAB^® command line. Use this object to design complex road networks and specify actors and their trajectories. You can then generate synthetic detections or lidar point cloud data from these scenarios by using statistical sensor models. To use detections or point clouds, view them on a bird's-eye plot.

The flexible interface of the drivingScenario object enables you to create variations of a scenario for rapidly testing driving algorithms under various conditions. For more details, see Create Driving Scenario Variations Programmatically.

Functions

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Driving Scenarios

Scenarios

`drivingScenario`	Create driving scenario
`advance`	Advance driving scenario simulation by one time step
`plot`	Create driving scenario plot
`record`	Run driving scenario and record actor states
`restart`	Restart driving scenario simulation from beginning
`updatePlots`	Update driving scenario plots
`export`	Export road network to OpenDRIVE

Actors

`actor`	Add actor to driving scenario
`actorPoses`	Positions, velocities, and orientations of actors in driving scenario
`actorProfiles`	Physical and radar characteristics of actors in driving scenario
`vehicle`	Add vehicle to driving scenario
`chasePlot`	Ego-centric projective perspective plot
`trajectory`	Create actor or vehicle trajectory in driving scenario
`targetMeshes`	Mesh vertices and faces relative to specific actor
`targetOutlines`	Outlines of targets viewed by actor
`targetPoses`	Target positions and orientations relative to ego vehicle
`driving.scenario.targetsToEgo`	Convert target poses from scenario to ego coordinates
`driving.scenario.targetsToScenario`	Convert target poses from ego to scenario coordinates

Roads

`road`	Add road to driving scenario
`roadNetwork`	Add road network to driving scenario
`roadBoundaries`	Get road boundaries
`driving.scenario.roadBoundariesToEgo`	Convert road boundaries to ego vehicle coordinates
`roadMesh`	Mesh representation of roads near actor

Lanes

`currentLane`	Get current lane of actor
`lanespec`	Create road lane specifications
`laneType`	Create road lane type object
`laneMarking`	Create road lane marking object
`laneMarkingVertices`	Lane marking vertices and faces in driving scenario
`laneBoundaries`	Get lane boundaries of actor lane
`clothoidLaneBoundary`	Clothoid-shaped lane boundary model
`computeBoundaryModel`	Compute lane boundary points from clothoid lane boundary model

Sensors

`radarDetectionGenerator`	Generate radar detections for driving scenario
`visionDetectionGenerator`	Generate vision detections for driving scenario
`lidarPointCloudGenerator`	Generate lidar point cloud data for driving scenario

Meshes for Lidar Simulation

Mesh Creation

`extendedObjectMesh`	Mesh representation of extended object
`translate`	Translate mesh along coordinate axes
`rotate`	Rotate mesh about coordinate axes
`scale`	Scale mesh in each dimension
`applyTransform`	Apply forward transformation to mesh vertices
`join`	Join two object meshes
`scaleToFit`	Auto-scale object mesh to match specified cuboid dimensions
`show`	Display the mesh as a patch on the current axes

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`	Mesh representation of truck in driving scenario

Bird's-Eye Plot

Plotter Creation

`birdsEyePlot`	Plot detections, tracks, and sensor coverages around vehicle
`coverageAreaPlotter`	Coverage area plotter for bird's-eye plot
`detectionPlotter`	Detection plotter for bird's-eye plot
`trackPlotter`	Track plotter for bird's-eye plot
`laneBoundaryPlotter`	Lane boundary plotter for bird's-eye plot
`laneMarkingPlotter`	Lane marking plotter for bird's-eye plot
`meshPlotter`	Mesh plotter for bird's-eye plot
`pathPlotter`	Path plotter for bird's-eye plot
`pointCloudPlotter`	Point cloud plotter for bird's-eye plot
`outlinePlotter`	Outline plotter for bird's-eye plot

Plotter Display

`plotCoverageArea`	Display sensor coverage area on bird's-eye plot
`plotDetection`	Display object detections on bird's-eye plot
`plotLaneBoundary`	Display lane boundaries on bird’s-eye plot
`plotLaneMarking`	Display lane markings on bird’s-eye plot
`plotMesh`	Display object meshes on bird's-eye plot
`plotOutline`	Display object outlines on bird's-eye plot
`plotPath`	Display actor paths on bird’s-eye plot
`plotPointCloud`	Display generated point cloud on bird's-eye plot
`plotTrack`	Display object tracks on bird's-eye plot

Plotter Utilities

`findPlotter`	Find plotters associated with bird’s-eye plot
`clearData`	Clear data from specific plotter of bird’s-eye plot
`clearPlotterData`	Clear data from bird’s-eye plot