chasePlot
Ego-centric projective perspective plot
Description
chasePlot( plots a driving scenario
from the perspective of actor ac)ac. This plot is called a
chase plot and has an ego-centric projective perspective,
where the view is positioned immediately behind the actor.
chasePlot(
specifies options using one or more name-value pairs. For example, you can display
road centers and actor waypoints on the plot.ac,Name,Value)
Examples
Simulate Car Traveling on S-Curve
Simulate a driving scenario with one car traveling on an S-curve. Create and plot the lane boundaries.
Create the driving scenario with one road having an S-curve.
scenario = drivingScenario('StopTime',3);
roadcenters = [-35 20 0; -20 -20 0; 0 0 0; 20 20 0; 35 -20 0];
Create the lanes and add them to the road.
lm = [laneMarking('Solid','Color','w'); ... laneMarking('Dashed','Color','y'); ... laneMarking('Dashed','Color','y'); ... laneMarking('Solid','Color','w')]; ls = lanespec(3,'Marking',lm); road(scenario,roadcenters,'Lanes',ls);
Add an ego vehicle and specify its trajectory from its waypoints. By default, the car travels at a speed of 30 meters per second.
car = vehicle(scenario, ... 'ClassID',1, ... 'Position',[-35 20 0]); waypoints = [-35 20 0; -20 -20 0; 0 0 0; 20 20 0; 35 -20 0]; trajectory(car,waypoints);
Plot the scenario and corresponding chase plot.
plot(scenario)
chasePlot(car)
Run the simulation loop.
Initialize a bird's-eye plot and create an outline plotter, left-lane and right-lane boundary plotters, and a road boundary plotter.
Obtain the road boundaries and rectangular outlines.
Obtain the lane boundaries to the left and right of the vehicle.
Advance the simulation and update the plotters.
bep = birdsEyePlot('XLim',[-40 40],'YLim',[-30 30]); olPlotter = outlinePlotter(bep); lblPlotter = laneBoundaryPlotter(bep,'Color','r','LineStyle','-'); lbrPlotter = laneBoundaryPlotter(bep,'Color','g','LineStyle','-'); rbsEdgePlotter = laneBoundaryPlotter(bep); legend('off'); while advance(scenario) rbs = roadBoundaries(car); [position,yaw,length,width,originOffset,color] = targetOutlines(car); lb = laneBoundaries(car,'XDistance',0:5:30,'LocationType','Center', ... 'AllBoundaries',false); plotLaneBoundary(rbsEdgePlotter,rbs) plotLaneBoundary(lblPlotter,{lb(1).Coordinates}) plotLaneBoundary(lbrPlotter,{lb(2).Coordinates}) plotOutline(olPlotter,position,yaw,length,width, ... 'OriginOffset',originOffset,'Color',color) end
Show Target Outlines in Driving Scenario Simulation
Create a driving scenario and show how target outlines change as the simulation advances.
Create a driving scenario consisting of two intersecting straight roads. The first road segment is 45 meters long. The second straight road is 32 meters long and intersects the first road. A car traveling at 12.0 meters per second along the first road approaches a running pedestrian crossing the intersection at 2.0 meters per second.
scenario = drivingScenario('SampleTime',0.1,'StopTime',1); road(scenario,[-10 0 0; 45 -20 0]); road(scenario,[-10 -10 0; 35 10 0]); ped = actor(scenario,'ClassID',4,'Length',0.4,'Width',0.6,'Height',1.7); car = vehicle(scenario,'ClassID',1); pedspeed = 2.0; carspeed = 12.0; trajectory(ped,[15 -3 0; 15 3 0],pedspeed); trajectory(car,[-10 -10 0; 35 10 0],carspeed);
Create an ego-centric chase plot for the vehicle.
chasePlot(car,'Centerline','on')
Create an empty bird's-eye plot and add an outline plotter and lane boundary plotter. Then, run the simulation. At each simulation step:
Update the chase plot to display the road boundaries and target outlines.
Update the bird's-eye plot to display the updated road boundaries and target outlines. The plot perspective is always with respect to the ego vehicle.
bepPlot = birdsEyePlot('XLim',[-50 50],'YLim',[-40 40]); outlineplotter = outlinePlotter(bepPlot); laneplotter = laneBoundaryPlotter(bepPlot); legend('off') while advance(scenario) rb = roadBoundaries(car); [position,yaw,length,width,originOffset,color] = targetOutlines(car); plotLaneBoundary(laneplotter,rb) plotOutline(outlineplotter,position,yaw,length,width, ... 'OriginOffset',originOffset,'Color',color) pause(0.01) end
