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Straight Road

Straight road 3D environment

Since R2019b

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Description

The Straight Road scene is a 3D environment of a straight four-lane divided highway. The scene is rendered using RoadRunner.

Straight Road scene

Setup

To simulate a driving algorithm in this scene:

  1. Add a Simulation 3D Scene Configuration block to your Simulink® model.

  2. In this block, set the Scene source parameter to Default Scenes.

  3. Set the enabled Scene name parameter to Straight road.

Examples

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Open Live Script

Explore the 3D Straight Road scene and inspect its dimensions by using a corresponding 2D top-view image of the scene.

You can use this image to inspect the scene before simulation and choose starting coordinates for vehicles. For details on using these images to select waypoints for path-following applications, see the Select Waypoints for Unreal Engine Simulation example.

Load the 2D spatial referencing object that corresponds to the scene. This imref2d object describes the relationship between the pixels in the image and the world coordinates of the scene.

data = load('sim3d_SpatialReferences.mat');
spatialRef = data.spatialReference.StraightRoad
spatialRef = 
  imref2d with properties:

           XWorldLimits: [-1008 1008]
           YWorldLimits: [-1008 1008]
              ImageSize: [5040 5040]
    PixelExtentInWorldX: 0.4000
    PixelExtentInWorldY: 0.4000
    ImageExtentInWorldX: 2016
    ImageExtentInWorldY: 2016
       XIntrinsicLimits: [0.5000 5.0405e+03]
       YIntrinsicLimits: [0.5000 5.0405e+03]

Display the image corresponding to the scene. Use the spatial referencing object to display the axes in the world coordinates of the scene. Units are in meters.

By default, the imshow function displays Y-axis values that increase from top to bottom. To align with the Automated Driving Toolbox™ world coordinate system, set the Y-direction to 'normal' so that Y-axis values increase from bottom to top.

The image displays only the area of the scene containing the straight road. The full scene has a length and width of 2016 meters.

figure
fileName = 'sim3d_StraightRoad.jpg';
I = imshow(fileName,spatialRef);
set(gca,'YDir','normal')
xlabel('X (m)')
ylabel('Y (m)')

Zoom in on the origin of the scene. Place a marker at the origin.

xlim([-100 100])
ylim([-100 100])

hold on
plot(0,0,'o','MarkerFaceColor','r','MarkerEdgeColor','k','MarkerSize',8)
offset = 3; % px
text(offset,offset,'(0,0)','Color','w','FontWeight','bold','FontSize',12)
hold off

Tips

  • If you have the Automated Driving Toolbox™ Interface for Unreal Engine® Projects support package, then you can modify this scene. In the Unreal Engine project file that comes with the support package, this scene is named HwStrght.

    For more details on customizing scenes, see Customize Unreal Engine Scenes for Automated Driving.

Version History

Introduced in R2019b

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See Also

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