Vehicle To World
Convert actors from ego vehicle coordinates to world coordinates
- Library:
Automated Driving Toolbox / Driving Scenario and Sensor Modeling
Description
The Vehicle To World block converts actor poses from the vehicle coordinates of the input ego vehicle to world coordinates. Use this block to convert non-ego actor poses output by the Scenario Reader block into world coordinates for use with the 3D simulation environment. Before using these output poses to specify vehicle positions in the 3D environment, first convert them from the cuboid to the 3D simulation world coordinate system by using a Cuboid To 3D Simulation block. For an example of this workflow, see the Visualize Sensor Data from Unreal Engine Simulation Environment example.
Ports
Input
Actors — Actor poses in vehicle coordinates
Simulink® bus containing MATLAB® structure
Actor poses in vehicle 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. |
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-direction, 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-direction, 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. |
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-direction, 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-direction, specified as a real-valued vector of the form [ωx, ωy, ωz]. Units are in degrees per second. |
Output
Actors — Actor poses in world coordinates
Simulink bus containing MATLAB structure
Actor poses in world 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. |
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-direction, 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-direction, 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. InInterpreted executionmode, 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™.
See Also
Cuboid To 3D Simulation | Scenario Reader | World To Vehicle