Scenario Reader
Read driving scenario into model
- Library:
Automated Driving Toolbox / Driving Scenario and Sensor Modeling
Description
The Scenario Reader block reads the roads and actors from a scenario file
created using the Driving Scenario
Designer app or from a drivingScenario object. The block outputs the
poses of actors in either the coordinate system of the ego vehicle or the world coordinates of
the scenario. You can also output the lane boundaries or output the ego vehicle pose for use
in the 3D simulation environment.
To generate object and lane boundary detections from output actor poses and lane boundaries, pass the pose and boundary outputs to sensor blocks. Use the synthetic detections generated from these sensors to test the performance of sensor fusion algorithms, tracking algorithms, and other automated driving assistance system (ADAS) algorithms. To visualize the performance of these algorithms, use the Bird's-Eye Scope.
You can read the ego vehicle from the scenario or specify an ego vehicle defined in your model as an input to the Scenario Reader block. Use this option to test closed-loop vehicle controller algorithms, such as autonomous emergency braking (AEB), lane keeping assist (LKA), or adaptive cruise control (ACC).
Limitations
The Scenario Reader block does not read sensor data from scenario files saved from the Driving Scenario Designer app. To reproduce sensors in Simulink®, in the app, open the scenario file that contains the sensors. Then, from the app toolstrip, select Export > Export Sensor Simulink Model. Copy the generated sensor blocks into an existing model. Alternatively, select Export > Export Simulink Model and start a new model from the generated Scenario Reader block and sensor blocks.
Large road networks, including OpenDRIVE® road networks, can take up to several minutes to read into models.
Ports
Input
Output
Parameters
Source of driving scenario — Source of driving scenario
From file (default) | From workspace
Source of driving scenario, specified as one of these options:
From file— In the Driving Scenario Designer file name parameter, specify the name of a scenario file that was saved from the Driving Scenario Designer app.From workspace— In the MATLAB or model workspace variable name parameter, specify the name of a MATLAB or model workspace variable that contains adrivingScenarioobject.
Driving Scenario Designer file name — Scenario file name
EgoVehicleGoesStraight.mat (default) | scenario file on MATLAB search path | path to scenario file
Scenario file name, specified as a scenario file on the MATLAB search path or as the full path to a scenario file. A scenario file must
be a MAT-file saved from the Driving Scenario
Designer app. If the Source of ego vehicle parameter is set
to Scenario, then the scenario must contain an ego vehicle.
Otherwise, the block returns an error during simulation.
If the specified scenario file contains sensors, the block ignores them. To include sensors from the scenario in your model, see Tips.
The default scenario file shows an ego vehicle traveling north on a straight, two-lane road, with another vehicle traveling south in the opposite lane.
To add a scenario file to the MATLAB search path, use the addpath function. For example, this code adds the set of folders
containing prebuilt Euro NCAP® scenarios to the MATLAB search path.
path = fullfile(matlabroot,'toolbox','driving','drivingdata', ... 'PrebuiltScenarios','EuroNCAP'); addpath(genpath(path))
In the Driving Scenario Designer file name parameter, you can
then specify the name of any scenario located in these folders, without having to
specify the full file path. For example:
AEB_PedestrianChild_Nearside_50width.mat.
When you are done using the scenario in your models, you can remove any added
folders from the MATLAB search path by using the rmpath function.
rmpath(genpath(path))
Dependencies
To enable this parameter, set Source of driving scenario to
From file.
MATLAB or model workspace variable name — Scenario variable name
scenario (default) | drivingScenario object variable name
Scenario variable name, specified as the name of a MATLAB or model workspace variable that contains a valid drivingScenario object. If a scenario variable with the same name appears in
both the MATLAB and model workspace, the block uses the variable defined in the model
workspace.
If the Source of ego vehicle parameter is set to
Scenario, then the drivingScenario object
must contain an ego vehicle. To designate which actor in the object is the ego vehicle,
in the Ego vehicle ActorID parameter, specify the
ActorID property value of that actor.
When connecting the Actors output port to Radar Detection
Generator and Vision Detection
Generator blocks, update these blocks to obtain the actor profiles directly
from the drivingScenario object. On the Actor
Profiles tab of each block, set the Select method to
specify actor profiles parameter to MATLAB expression.
Then, set the MATLAB expression for actor profiles
parameter to call the actorProfiles function on the object.
For example: actorProfiles(scenario).
When connecting the Actors output port to Lidar Point Cloud
Generator blocks, leave the Source of actor profiles
parameter in these blocks set to the default From Scenario Reader
block. With this option selected, the lidar sensors obtain the actor
profiles directly from the scenario read by the Scenario Reader
block.
The default variable name, scenario, is the default name of
drivingScenario objects produced by the MATLAB functions that are exported from the Driving Scenario
Designer app. By default, this variable is not included in the MATLAB or model workspace.
Dependencies
To enable this parameter, set Source of driving scenario to
From workspace.
Coordinate system of actors output — Coordinate system of actors output
Vehicle coordinates (default) | World coordinates
Coordinate system of the output actors, specified as one of these values:
Vehicle coordinates— Coordinates are defined with respect to the ego vehicle. Select this value when your scenario has only one ego vehicle.World coordinates— Coordinates are defined with respect to the driving scenario. Select this value in multi-agent scenarios that contain more than one ego vehicle. If you select this value, model visualization using the Bird's-Eye Scope is not supported.
For more details on the vehicle and world coordinate systems, see Coordinate Systems in Automated Driving Toolbox.
Source of ego vehicle — Source of ego vehicle
Scenario (default) | Input port
Source of ego vehicle, specified as one of these options:
Scenario— Use the ego vehicle defined in the scenario that is specified by the Driving Scenario Designer file name or MATLAB or model workspace variable name parameter. The pose of the ego vehicle is excluded from the Actors output port. Actor positions are in vehicle coordinates, meaning that they are relative to the world coordinate position of the ego vehicle in the scenario.Select this option to test open-loop ADAS algorithms, where the ego vehicle behavior is predefined and does not change as the scenario advances. For an example, see Test Open-Loop ADAS Algorithm Using Driving Scenario.
Input port— Specify the ego vehicle by using the Ego Vehicle input port. The pose of the ego vehicle is not included in the Actors output port.With this option, the ego vehicle in your model must include a starting position that is in world coordinates. All other actor poses are in vehicle coordinates and are positioned relative to the ego vehicle. For an example of an ego vehicle with defined position information, see Lane Keeping Assist with Lane Detection. When defining the starting position of the ego vehicle, consider using the position that is already defined in the scenario. By using this position, if you set Source of ego vehicle to
Scenarioand then back toInput port, you do not have to manually change the starting position.Select this option to test closed-loop ADAS algorithms, where the ego vehicle reacts to changes as the scenario advances. For an example, see Test Closed-Loop ADAS Algorithm Using Driving Scenario.
Dependencies
To enable this parameter, set Coordinate system of actors
output to Vehicle coordinates.
Ego vehicle ActorID — Actor ID of ego vehicle
1 (default) | positive integer
Actor ID of ego vehicle, specified as a positive integer. Use this parameter to
simulate using the ego vehicle that is read from a drivingScenario
object.
When Source of ego vehicle is set to
Scenario, set this parameter to anActorIDvalue that is stored in theActorsproperty of the specifieddrivingScenarioobject. To check validActorIDvalues, use this syntax, wherescenariois the name of thedrivingScenariovariable name.actorIDs = [scenario.Actors.ActorID]
When Source of ego vehicle is set to
Input Port, you must set this parameter to theActorIDvalue at the Ego Vehicle input port of the block.
Dependencies
To enable this parameter, set these parameters in this order:
Set Source of driving scenario to
From workspace.Set Coordinate system of actors output to
Vehicle coordinates.
Output ego vehicle pose — Output pose of ego vehicle
off (default) | on
Select this parameter to output the pose of the ego vehicle at the Ego Vehicle port.
Dependencies
To enable this parameter, set Coordinate system of actors
output to Vehicle coordinates and
Source of ego vehicle to
Scenario.
Ego vehicle follows ground — Orient ego vehicle to follow road surface
off (default) | on
Select this parameter to orient the ego vehicle to follow the elevation of the road surface. The block updates the elevation, roll, pitch, and yaw of the ego vehicle and outputs actors and lane boundaries relative to the updated ego vehicle coordinates. The block does not update the velocity or angular velocity of the ego vehicle.
Use this parameter in closed-loop simulations where the elevation of the road network varies.
Note
At the junctions of roads that have different elevations and banking angles, the updated ego vehicle values might not be accurate.
In open-loop simulations, where Source of ego vehicle is set to
Scenario, the ego vehicle follows the elevation specified
in the driving scenario.
Dependencies
To enable this parameter, set Coordinate system of actors
output to Vehicle coordinates and
Source of ego vehicle to Input
port.
Sample time (s) — Sample time of simulation
0.1 (default) | positive real scalar
Sample time of simulation, in seconds, specified as a positive real scalar.
Inherited and continuous sample times are not supported. This sample time is separate
from the sample times that the Driving Scenario Designer app and
drivingScenario object use for simulations.
Lane boundaries to output — Lane boundaries to output
None (default) | Ego vehicle lane boundaries | All lane boundaries
Lane boundaries to output, specified as one of these options:
None— Do not output any lane boundaries.Ego vehicle lane boundaries— Output the left and right lane boundaries of the ego vehicle.All lane boundaries— Output all lane boundaries of the road on which the ego vehicle is traveling.
If you select Ego vehicle lane boundaries or
All lane boundaries, then the block returns the lane
boundaries in the Lane Boundaries output port.
Dependencies
To enable this parameter, set Coordinate system of actors
output to Vehicle coordinates.
Distances from ego vehicle for computing boundaries (m) — Distances from ego vehicle at which to compute lane boundaries
linspace(-150,150,101) (default) | N-element real-valued vector
Distances from the ego vehicle at which to compute the lane boundaries, specified as an N-element real-valued vector. N is the number of distance values. When detecting lanes from rear-facing cameras, specify negative distances. When detecting lanes from front-facing cameras, specify positive distances. Units are in meters.
By default, the block computes 101 lane boundaries over the range from 150 meters behind the ego vehicle to 150 meters ahead of the ego vehicle. These distances are linearly spaced 3 meters apart.
Example: 1:0.1:10 computes a lane boundary every 0.1 meters over
the range from 1 to 10 meters ahead of the ego vehicle.
Dependencies
To enable this parameter, set Lane boundaries to output to
Ego vehicle lane boundaries or All lane
boundaries.
Location of boundaries on lane markings — Lane boundary location
Center of lane markings (default) | Inner edge of lane markings
Lane boundary location on the lane markings, specified as one of the options in this table.
| Lane Boundary Location | Description | Example |
|---|---|---|
Center of lane markings | Lane boundaries are centered on the lane markings. | A three-lane road has four lane boundaries: one per lane marking.
|
Inner edge of lane markings | Lane boundaries are placed at the inner edges of the lane markings. | A three-lane road has six lane boundaries: two per lane.
|
Dependencies
To enable this parameter, set Lane boundaries to output to
Ego vehicle lane boundaries or All lane
boundaries.
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.
Source of lane boundaries bus name — Source of name for lane boundaries bus
Auto (default) | Property
Source of the name for the lane boundaries bus returned in the Lane Boundaries output port, specified as one of these options:
Auto— The block automatically creates a lane boundaries bus name.Property— Specify the lane boundaries bus name by using the Lane boundaries bus name parameter.
Dependencies
To enable this parameter, set Lane boundaries to output to
Ego vehicle lane boundaries or All lane
boundaries.
Lane boundaries bus name — Name of lane boundaries bus
valid bus name
Name of the lane boundaries bus returned in the Lane Boundaries output port, specified as a valid bus name.
Dependencies
To enable this parameter:
Set Lane boundaries to output to
Ego vehicle lane boundariesorAll lane boundaries.Set Source of lane boundaries bus name to
Property.
Source of ego vehicle bus name — Source of name for ego vehicle pose bus
Auto (default) | Property
Source of the name for the ego vehicle pose bus returned in the Ego Vehicle output port, specified as one of these options:
Auto— The block automatically creates an ego vehicle pose bus name.Property— Specify the ego vehicle pose bus name by using the Ego vehicle bus name parameter.
Dependencies
To enable this parameter, select the Output ego vehicle pose parameter.
Ego vehicle bus name — Name of ego vehicle pose bus
valid bus name
Name of the ego vehicle pose bus returned in the Ego Vehicle output port, specified as a valid bus name.
Dependencies
To enable this parameter, select the Output ego vehicle pose
parameter and set Source of ego vehicle bus name to
Property.
Show coordinate labels — Display coordinate system of inputs and outputs
on (default) | off
Select this parameter to display the coordinate system of block inputs and outputs on the Scenario Reader block in the block diagram.
The Ego Vehicle input and output are always in world coordinates.
The Lane Boundaries output is always in vehicle coordinates.
You can return the Actors output in either vehicle or world coordinates, depending on the Coordinate system of actors output parameter selection.
Model Examples
Tips
For best results, use only one active Scenario Reader block per model. To use multiple Scenario Reader blocks in one model, switch between the blocks by specifying them in a variant subsystem.
To test your algorithm on variations of a driving scenario, you can update the scenario between simulations.
If the source of the scenario is a scenario file, open the scenario file in the Driving Scenario Designer app, update the parameters, and resave the file.
If the source of the scenario is a
drivingScenarioobject, update the object in the MATLAB or model workspace. Alternatively, import the object into the app, modify the scenario in the app, and then generate a new object from the app. For more details, see Create Driving Scenario Variations Programmatically.
To switch between scenarios with different parameter settings, you can use Simulink Test™ software. For an example, see Automate Testing for Highway Lane Following.