plot
Create driving scenario plot
Description
plot( creates a 3-D plot with
orthonormal perspective, as seen from immediately above the driving scenario,
scenario)scenario.
plot(
specifies options using one or more name-value pairs. For example, you can use these
options to display road centers and actor waypoints on the plot.scenario,Name,Value)
Examples
Create and Display Road Boundaries
Create a driving scenario containing a figure-8 road specified in the world coordinates of the scenario. Convert the world coordinates of the scenario to the coordinate system of the ego vehicle.
Create an empty driving scenario.
scenario = drivingScenario;
Add a figure-8 road to the scenario. Display the scenario.
roadCenters = [0 0 1
20 -20 1
20 20 1
-20 -20 1
-20 20 1
0 0 1];
roadWidth = 3;
bankAngle = [0 15 15 -15 -15 0];
road(scenario,roadCenters,roadWidth,bankAngle);
plot(scenario)
Add an ego vehicle to the scenario. Position the vehicle at world coordinates (20, –20) and orient it at a –15 degree yaw angle.
ego = actor(scenario,'ClassID',1,'Position',[20 -20 0],'Yaw',-15);
Obtain the road boundaries in ego vehicle coordinates by using the roadBoundaries function. Specify the ego vehicle as the input argument.
rbEgo1 = roadBoundaries(ego);
Display the result on a bird's-eye plot.
bep = birdsEyePlot; lbp = laneBoundaryPlotter(bep,'DisplayName','Road'); plotLaneBoundary(lbp,rbEgo1)
Obtain the road boundaries in world coordinates by using the roadBoundaries function. Specify the scenario as the input argument.
rbScenario = roadBoundaries(scenario);
Obtain the road boundaries in ego vehicle coordinates by using the driving.scenario.roadBoundariesToEgo function.
rbEgo2 = driving.scenario.roadBoundariesToEgo(rbScenario,ego);
Display the road boundaries on a bird's-eye plot.
bep = birdsEyePlot; lbp = laneBoundaryPlotter(bep,'DisplayName','Road boundaries'); plotLaneBoundary(lbp,{rbEgo2})
Create Driving Scenario with Multiple Actors and Roads
Create a driving scenario containing a curved road, two straight roads, and two actors: a car and a bicycle. Both actors move along the road for 60 seconds.
Create the driving scenario object.
scenario = drivingScenario('SampleTime',0.1','StopTime',60);
Create the curved road using road center points following the arc of a circle with an 800-meter radius. The arc starts at 0°, ends at 90°, and is sampled at 5° increments.
angs = [0:5:90]'; R = 800; roadcenters = R*[cosd(angs) sind(angs) zeros(size(angs))]; roadwidth = 10; road(scenario,roadcenters,roadwidth);
Add two straight roads with the default width, using road center points at each end.
roadcenters = [700 0 0; 100 0 0]; road(scenario,roadcenters)
ans =
Road with properties:
Name: ""
RoadID: 2
RoadCenters: [2x3 double]
RoadWidth: 6
BankAngle: [2x1 double]
roadcenters = [400 400 0; 0 0 0]; road(scenario,roadcenters)
ans =
Road with properties:
Name: ""
RoadID: 3
RoadCenters: [2x3 double]
RoadWidth: 6
BankAngle: [2x1 double]
Get the road boundaries.
rbdry = roadBoundaries(scenario);
Add a car and a bicycle to the scenario. Position the car at the beginning of the first straight road.
car = vehicle(scenario,'ClassID',1,'Position',[700 0 0], ... 'Length',3,'Width',2,'Height',1.6);
Position the bicycle farther down the road.
bicycle = actor(scenario,'ClassID',3,'Position',[706 376 0]', ... 'Length',2,'Width',0.45,'Height',1.5);
Plot the scenario.
plot(scenario,'Centerline','on','RoadCenters','on'); title('Scenario');
Display the actor poses and profiles.
poses = actorPoses(scenario)
poses=2×1 struct array with fields:
ActorID
Position
Velocity
Roll
Pitch
Yaw
AngularVelocity
profiles = actorProfiles(scenario)
profiles=2×1 struct array with fields:
ActorID
ClassID
Length
Width
Height
OriginOffset
MeshVertices
MeshFaces
RCSPattern
RCSAzimuthAngles
RCSElevationAngles
Input Arguments
Tips
To rotate any plot, in the figure window, select View > Camera Toolbar.