RoadRunner Scenario Reader
Libraries:
Automated Driving Toolbox /
RoadRunner Scenario
Description
The RoadRunner Scenario Reader block reads the selected topic from the
RoadRunner
scenario. You can set the Topic Category
parameter to Actor
, Action
or
Sensor
. The block outputs data as messages.
When you select the Actor
topic, the block outputs the data
associated with the actor, such as Actor Specifications
and
Actor Pose
. When you select the Action
topic, the block outputs data such as Speed Change
and
Lane Change
. The block returns the simulation states from the
previous time step. You can filter data based on the actor associated with the Simulink® actor model.
When you select the Sensor
topic, the block outputs the data
associated with the sensor of specified Sensor ID
. You can select the
type of sensor data the block must output by specifying Target
Poses
or Lane Boundaries
.
Examples
Add Sensors to RoadRunner Scenario Using Simulink
Simulate a RoadRunner Scenario with sensor models defined in Simulink and visualize object and lane detections.
Ports
Output
Message — State information from scenario
Simulink message
State information from scenario, returned as a Simulink message. To extract data from the Simulink message, connect the RoadRunner Scenario Reader block to the Receive (Simulink) block.
Parameters
Topic Category — Topic category
Actor
(default) | Action
| Sensor
| Event
Topic category, specified as one of these values:
Actor
— Reads the actor data from the scenarioAction
— Reads the action data from the scenarioSensor
— Reads the sensor data from the scenarioEvent
— Reads the event data from the scenario
Actor Type — Type of actor in scenario
All Types
(default) | Vehicle
Type of actor in scenario, specified as All Types
or
Vehicle
. The Vehicle
type includes additional
wheel information of the actor.
Dependencies
To enable this parameter, set Topic Category to
Actor
.
Action Type — Type of action
Path Following
(default) | Change Parameter
| Lane Change
| Lateral Offset
| Longitudinal Distance
| Speed Change
| UserDefined
Type of action that can be read from the scenario, specified as one of these values:
Change Parameter
— Reads the user-created parameter from the scenarioLateral Offset
— Reads the lateral offset action data from the scenarioPath Following
— Reads the path following action data from the scenarioSpeed Change
— Reads the speed change action data from the scenarioLane Change
— Reads the lane change action data from the scenarioLongitudinal Distance
— Reads the longitudinal distance action data from the scenarioUserDefined
— Reads the custom parameters of a user-defined action from the scenario
This table describes the output bus structure when you set Topic
Category to Action
and Action
Type to Change Parameter
.
Field Name | Description |
---|---|
Actor Action | Information about the current action of specified actor, returned
as a |
Parameter | Information about the changed user-specified behavior parameter,
returned as a |
The Actor Action
structure is the same for all action types. This
table describes the Actor Action
structure of the above output bus
structure.
Field Name | Description |
---|---|
ActionID | Identifier of the actor action, returned as a
|
ActorID | Identifier of actor performing the action, returned as a
|
PhaseInterval | Phase interval to which the action is applied.
|
ActionTypes | Action type.
|
This table describes the Parameter
structure of the above output
bus structure.
Field Name | Description |
---|---|
Name | Name of the changed user-specified behavior parameter, returned as a string. |
Value | New value of the user-specified behavior parameter, returned as a string. |
ParameterType | Type of parameter. |
This table describes the output bus structure when you set Topic
Category to Action
and Action
Type to Lane Change
.
Field Name | Description |
---|---|
ActorAction | Information about the current action of specified actor, returned
as a |
LaneChangeTarget | Target lane after lane change, returned as a
|
TransitionDynamics | Dynamics of the transition to the lane change, returned as a
|
The ActorAction
structure is the same for all action types and is
described above.
This table describes the LaneChangeTarget
structure of the above
output bus structure.
Field Name | Description |
---|---|
LaneValue | Number of lanes to change before reaching the target lane, returned as an
int32 value. |
LaneComparison | Direction of the lane change.
|
RefActorID | Identifier of reference actor, returned as a
uint64 . |
This table describes the TransitionDynamics
structure of the
above output bus structure.
Field Name | Description |
---|---|
Dimension | Transition metric measuring the action change.
|
Shape | Shape of the transition curve.
|
Value | Value of the chosen transition metric, returned as a
double . |
Note
The TransitionDynamics
structure is the same for all action
types that employ its use.
This table describes the output bus structure when you set Topic
Category to Action
and Action
Type to Lateral Offset
.
Field Name | Description |
---|---|
ActorAction | Information about the current action of specified actor, returned as a
struct . |
LateralOffsetTarget | Lateral offset relative to the current path of specified actor, returned
as a struct . |
TransitionDynamics | Transition dynamics for the lateral offset change, specified as a
struct . |
The ActorAction
structure is the same for all action types and is
described above.
This table describes the LateralOffsetTarget
structure of the
above output bus structure.
Field Name | Description |
---|---|
OffsetValue | Target lateral offset relative to the current path, returned as a
double .
|
The TransitionDynamics
structure is the same for all action types
that employ its use and is described above.
This table describes the output bus structure when you set Topic
Category to Action
and Action
Type to Longitudinal Distance
.
Field Name | Description |
---|---|
ActorAction | Information about the current action of the specified actor, returned as
a struct . |
DistanceTarget | Information about the longitudinal distance to the reference actor,
returned as a struct . |
ReferenceSamplingMode | Phase interval at which the target longitudinal distance is achieved.
|
DynamicConstraints | Dynamic constraints for the longitudinal distance change, returned as a
struct . |
The ActorAction
structure is the same for all action types and is
described above.
This table describes the DistanceTarget
structure of the above
output bus structure.
Field Name | Description |
---|---|
RefActorID | Identifier of reference actor, returned as a
uint64 . |
DistanceDimensionType | Type of distance to reference actor.
|
DistanceType | Specification of longitudinal distance as either time distance or space distance.
|
ActorCoordinateSystemType | Coordinate system in which to measure required longitudinal distance.
|
Value | Longitudinal distance, returned as a double . |
PositionComparison | Relative position to reference actor.
|
MeasureFrom | Longitudinal distance is either measured between the closest points on two actors' bounding boxes or between the origin point of both actors.
|
This table describes the DynamicConstraints
structure of the
above output bus structure.
Field Name | Description |
---|---|
UnlimitedDynamics | Presence of dynamic constraints, returned as a Boolean value. |
MaxSpeed | Maximum speed that an actor can attain while approaching target
longitudinal distance to reference actor, returned as a
double . |
MaxAcceleration | Maximum acceleration that an actor can attain while approaching target
longitudinal distance to reference actor, returned as a
double . |
MaxDeceleration | Maximum deceleration that an actor can attain while approaching target
longitudinal distance to reference actor, returned as a
double . |
This table describes the output bus structure when you set Topic
Category to Action
and Action
Type to Path Following
.
Field Name | Description |
---|---|
ActorAction | Information about the current action of specified actor, returned as a
struct . |
PathTarget | Actor target path, returned as a struct . |
The ActorAction
structure is the same for all action types and is
described above.
This table describes the PathTarget
structure of the above output
bus structure.
Field Name | Description |
---|---|
Path | Set of 3-D coordinates representing the target path, returned as an N-by-3 array where N = NumPoints. Each column value in the first row is the x-, y- and z- coordinate, respectively, of the first point in the target path, and so on. |
NumPoints | Total number of points in the target path, returned as a positive integer. Tip Currently, the RoadRunner Scenario Reader block reads the first 500 points of a target path. To read longer paths, see the MATLAB System block, Path Action Adapter in the example, Trajectory Follower with RoadRunner Scenario. |
HasTimings | Indication of target path containing timing information, returned as a Boolean value. |
Timings | Timing information for each point of the path, returned as an N-by-1 structure array where N = NumPoints. |
This table describes the Timings
structure of the above
PathTarget
structure.
Field Name | Description |
---|---|
Time | Time of arrival of the actor at this point, relative to the time at the starting point of the path. Returned in seconds. |
Speed | Speed of actor at the time of arrival, returned in meters per second. |
WaitTime | Waiting time period of actor at arrival, returned in seconds. If this value is non-zero, then the actor is at rest. |
This table describes the output bus structure when you set Topic
Category to Action
and Action
Type to Speed Change
.
Field Name | Description |
---|---|
ActorAction | Information about the current action of specified actor, returned as a
struct . |
SpeedTarget | Target speed after speed change, returned as a
struct . |
TransitionDynamics | Transition dynamics for the speed change, specified as a
struct . |
The ActorAction
structure is the same for all action types and is
described above.
This table describes the SpeedTarget
structure of the above
output bus structure.
Field Name | Description |
---|---|
SpeedValue | Target speed value, returned as a double . |
SpeedComparison | Comparison type of current speed with the target speed.
|
RefActorID | Identifier of reference actor, if any, returned as a
uint64 . |
RefSamplingMode | Speed sampling mode of reference actor, if any.
|
The TransitionDynamics
structure is the same for all action types
that employ its use and is described above.
This table describes the output bus structure when you set Topic
Category to Action
and Action
Type to UserDefined
.
Field Name | Description |
---|---|
ActorAction | Information about the current action of specified actor, returned
as a |
Name | Action name, returned as a string. |
Parameters | Custom parameters of the user-defined action, returned as a
struct . This struct contains the name
and value for each custom parameter. |
The ActorAction
structure is the same for all action types and is
described above.
Dependencies
To enable this parameter, set Topic Category to
Action
.
Sensor View — Sensor data derived from scenario ground truth
Target Poses
(default) | Target Poses For Host
| Lane Boundaries
| Target Poses And Lane Boundaries
Sensor data derived from the scenario ground truth, specified as one of these options:
Target Poses
— The block outputs poses of targets within sensor range in host vehicle coordinates. For the bus structure of the output target poses, see the output argument description of thetargetPoses
function.Target Poses For Host
— The block outputs poses of all targets in the in host vehicle coordinates. For the bus structure of the output target poses, see the output argument description of thetargetPoses
function.Lane Boundaries
— The block outputs lane boundaries within sensor range in host vehicle coordinates. For the bus structure of the output lane boundaries, see the output argument description of thelaneBoundaries
function.Target Poses And Lane Boundaries
— The block outputs both lane boundaries and poses of targets within the sensor range in host vehicle coordinates.
The origin of the host vehicle coordinates is the geometric center of the host vehicle.
You can send the above outputs directly to sensor detection generator blocks and obtain detections.
Dependencies
To enable this parameter, set Topic Category to
Sensor
.
Event Type — Type of event
User-Defined
Type of event to read from a scenario.
The event being read must be mapped to the corresponding bus object in the RoadRunner Scenario block.
Dependencies
To enable this parameter, set Topic Category to
Event
.
Topic — Actor data for all types
Actor Specifications
(default) | Actor Pose
| Actor Pose (Driving Scenario compatible)
| Actor Lane Location
Actor data for all types, specified as one of these options:
Actor Specifications
— Static attributes associated with the actor, such as actor ID, actor name, and bounding boxActor Pose
— Dynamic data associated with the actor, such as pose, velocity, and angular velocity. For vehicle assets included with or created in RoadRunner, the actor origin is the geometric center of the actor.Actor Pose (Driving Scenario compatible)
— Dynamic data associated with the actor, such as actor ID, position, velocity, roll, pitch, yaw, and angular velocity. For vehicle assets included with or created in RoadRunner, the actor origin is the point on the ground below the center of its rear axle.Actor Lane Location
— Dynamic data associated with the lane location of actors.
This table describes the output bus structure when you set Topic
Category to Actor
, Actor
Type to All Types
and Topic
to Actor Specifications
.
Field Name | Description |
---|---|
ActorID | Actor identifier, returned as a
|
ActorName | Actor name, returned as a string. |
BoundingBox | Bounding box of the actor, returned as a
struct . |
This table describes the BoundingBox
structure of the above
output bus structure.
Field Name | Description |
---|---|
Min | The bounding box corner with minimal x-, y- and z- values, returned as a 1-by-3 array. |
Max | The bounding box corner with maximal x-, y- and z- values, returned as a 1-by-3 array. |
This table describes the output bus structure when you set Topic
Category to Actor
, Actor
Type to All Types
and Topic
to Actor Pose
.
Field Name | Description |
---|---|
ActorID | Scenario-defined actor identifier, returned as a
uint64 . |
Pose | Position and orientation of the actor, returned as a 4-by-4 array. See What Is a RoadRunner Pose Matrix? |
Velocity | Actor velocity, in meters per second, in the x-, y-and z- directions, returned as a 1-by-3 vector. |
AngularVelocity | Angular velocity, in radians per second, of actor in the x-, y-and z- directions, returned as a 1-by-3 vector. |
This table describes the output bus structure when you set Topic
Category to Actor
, Actor
Type to All Types
and Topic
to Actor Pose(Driving Scenario compatible)
.
Field Name | Description |
---|---|
ActorID | Scenario-defined actor identifier, returned as a
uint64 . |
Position | Position of actor, returned 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-directions, returned as a real-valued vector of the form [vx vy vz]. Units are in meters per second. |
Roll | Roll angle of actor, returned as a real-valued scalar. Units are in degrees. |
Pitch | Pitch angle of actor, returned as a real-valued scalar. Units are in degrees. |
Yaw | Yaw angle of actor, returned as a real-valued scalar. Units are in degrees. |
AngularVelocity | Angular velocity (ω) of actor in the x-, y-, and z-directions, returned as a real-valued vector of the form [ωx ωy ωz]. Units are in degrees per second. |
This table describes the output bus structure when you set Topic
Category to Actor
, Actor
Type to All Types
, and
Topic to Actor Lane Location
.
Field Name | Description |
---|---|
ActorID | Scenario-defined actor identifier, returned as a
uint64 . |
IsOnLane | Boolean value indicating if the actor is located on a lane. An actor is considered to be on a certain lane if its model origin lies in between the left and right boundaries of this lane. |
LocationOnLane | Current lane of actor, returned as a struct . If an
actor straddles several lanes, the most aligned lane is returned. |
This table describes the LocationOnLane
structure of the
Actor Lane Location
.
Field Name | Description |
---|---|
LaneID | UUID identifier of the most aligned lane, returned as a string. |
Position | Position of the actor on the lane-center polyline (in s-value). The s-value is a double value within [0, 1] that indicates a position on a 3-D polyline with 0 at the start and 1 at the end of the polyline. |
Angle | Angle between the actor travel direction and tangent at the lane position. Units are in radians. |
You can use the RoadRunner Scenario Reader block to
access the lane location of all the actors in your simulation by setting
Filter to None
. In this case, the
block outputs a message associated with each actor and each message has a field for
actor ID. You can use a Queue (Simulink) block to store and queue messages.
See Filter.
Dependencies
To enable these options for this parameter, set Actor Type to
All Types
.
Topic — Actor data for vehicle type
Vehicle Specifications
(default) | Vehicle Pose
Actor data for vehicle type, specified as one of these options:
Vehicle Specifications
— Static attributes associated with the vehicle, such as paint color, and wheel specifications.Vehicle Pose
— Dynamic data associated with the actor, such as wheel poses
This table describes the output bus structure when you set Topic
Category to Actor
, Actor
Type to Vehicle
and Topic
to Vehicle Specifications
.
Field Name | Description |
---|---|
ActorSpec | Actor specifications, returned as a struct . |
PaintColor | Color of the actor, returned as a struct . |
NumWheels | Number of wheels, returned as a |
Wheels | Wheel specifications of vehicle-type actor, returned as a
struct . |
This table describes the ActorSpec
structure of the above output
bus structure.
Field Name | Description |
---|---|
ActorID | Actor identifier, returned as a
|
ActorName | Actor name, returned as a string. |
BoundingBox | Bounding box of the actor, returned as a
struct . |
Note
The ActorSpec
structure is also returned when you set
Topic Category to Actor
,
Actor Type to All Types
and
Topic to Actor
Specifications
.
This table describes the PaintColor
structure of the above output
bus structure.
Field Name | Description |
---|---|
r | Red color, returned as a uint32 value. |
g | Green color, returned as a uint32 value. |
b | Blue color, returned as a uint32 value. |
a | Transparency of the color (alpha), returned as a
uint32 value. |
This table describes the Wheels
structure of the above output bus
structure.
Field Name | Description |
---|---|
AxleIndex | Axle index of a wheel. The front-most axle has the starting index value
of zero, with index values increasing towards the vehicle rear. Returned as a
uint32 value. |
WheelOffset | x-, y- and z- coordinates of the wheel center, in the vehicle coordinate system. Returned as a 1-by-3 vector. |
WheelRadius | Radius of the wheel in meters. Returned as a double. |
This table describes the output bus structure when you set Topic
Category to Actor
, Actor
Type to Vehicle
and Topic
to Vehicle Pose
.
Field Name | Description |
---|---|
ActorRuntime | Actor runtime values, returned as a struct . |
NumWheels | Number of wheels, returned as a uint32 value. |
WheelPoses | Runtime pose of each wheel of vehicle-type actor, returned as a multidimensional 4-by-4-by-N array. N is the number of wheels of the vehicle-type actor.
|
This table describes the ActorRuntime
structure of the above
output bus structure.
Field Name | Description |
---|---|
ActorID | Scenario-defined actor identifier, returned as a
uint64 . |
Pose | Position and orientation of the actor, returned as a 4-by-4 array. See What Is a RoadRunner Pose Matrix? for more information. |
Velocity | Actor velocity, in meters per second, in the x-, y-and z- directions, returned as a 1-by-3 vector. |
AngularVelocity | Angular velocity, in radians per second, of actor in the x-, y-and z- directions, returned as a 1-by-3 vector. |
Note
The ActorRuntime
structure is also returned when you set
Topic Category to Actor
,
Actor Type to All Types
and
Topic to Actor Pose
.
Dependencies
To enable these options for this parameter, set Actor Type
to Vehicle
.
Topic — Lane boundaries to output
Ego-Lane
(default) | Ego and Adjacent Lanes
| All Lanes
Lane boundaries to output, specified as one of these options:
Ego-Lane
— The block outputs the boundaries for the lane in which host vehicle actor is traveling.Ego and Adjacent Lanes
— The block outputs the boundaries for the adjacent left and right lanes along with the lane in which host vehicle actor is traveling.All Lanes
— The block outputs the boundaries for all lanes on the road.
Dependencies
To enable this parameter, set Topic Category to
Sensor
and Sensor View to
Lane Boundaries
.
Filter — Filter criteria
Self
(default) | None
Filter criteria for relevant topic data, specified as
None
or Self
.
None
outputs data for all actors in the
scenario.Self
outputs data for the Simulink model actor.
When you set Filter to None
, the
block outputs a message for each actor in your simulation. Messages carry data,
including the actor ID. You can store messages in a Queue (Simulink) block. Then, you can process these messages. For example, you can use
MATLAB System block. For more information, see Process Message Payload Using MATLAB System Block (Simulink).
Sensor ID — Unique index of sensor
1
(default) | positive integer
Unique index of the sensor, specified as a positive integer. The Sensor
ID
must correspond to the Unique identifier of
sensor parameter of the corresponding sensor model detection generator
block.
Dependencies
To enable this parameter, set Topic Category to
Sensor
and Sensor View to either
Target Poses
, Lane Boundaries
or Target Poses And Lane Boundaries
.
Sample Time — Sample time of simulation
positive real scalar
Sample time of simulation in seconds, specified as a positive real scalar.
Event Name — Name of event
string
Name of the user-defined event to read from a scenario.
Dependencies
To enable this parameter, set Topic Category to
Event
and Event Type to
User-Defined
.
Version History
Introduced in R2022aR2023a: LaneLocation
topic for all actors
Starting in R2023a, MapLocation
and its bus definition
BusVehicleMaplocation
are not supported, when you access
Vehicle Pose
using a RoadRunner Scenario Reader block.
To read an actor location, use the new dedicated topic Actor Lane
Location
. The change allows you to access location data associated with any
actor in your RoadRunner Scenario simulation.
See Also
RoadRunner Scenario | RoadRunner Scenario Writer | Receive (Simulink)
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