3D Engine

Configure scenes in reference applications

Description

The 3D Engine block implements the 3D simulation environment. Vehicle Dynamics Blockset™ integrates the 3D simulation environment with Simulink^® so that you can query the world around the vehicle for virtually testing perception, control, and planning algorithms.

To position the vehicle in the scene:

1. Select the position initialization method:

   • Recommended for scene — Set the initial vehicle position to values recommended for the scene

   • User-specified — Set your own initial vehicle position

2. Click Update the model workspaces with the initial values to overwrite the initial vehicle position in the model workspaces with the applied values.

Examples

Scene Interrogation with Camera and Ray Tracing Reference Application

Interrogate a 3D Unreal Engine^® scene with a vehicle dynamics model by using a camera and ray tracing reference application project.

• Open Script

Ports

Input

VehFdbk — Vehicle feedback

Bus

Bus containing vehicle feedback signals, including velocity, acceleration, and steering wheel torque.

Parameters

3D Engine

3D Engine — Enable 3D visualization

off (default) | on

Enable 3D visualization.

Scene — 3D scene

Straight road | Curved road | Parking lot | Double lane change | Open surface | US city block | US highway | Virtual Mcity | Large parking lot

Specify the name of the 3D scene.

Engine frame rate, dt3D — Graphics

.03 (default)

Graphics frame rate, in s. The graphics frame rate is the inverse of the sample time.

Recommended for scene — Initial vehicle position

on (default) | off

Use vehicle positions that are recommended for the scene.

User-specified — Initial vehicle position

off (default) | on

Specify to set your own initial vehicle position values.

Initial longitudinal position, X_o — Initial longitudinal position

off (default) | on

Initial vehicle CG position along the earth-fixed X-axis, in m.

Initial lateral position, Y_o — Initial lateral position

off (default) | on

Initial vehicle CG position along the earth-fixed Y-axis, in m.

Initial vertical position, Z_o — Initial vertical position

off (default) | on

Initial vehicle CG position along the earth-fixed Z-axis, in m.

Initial roll angle, phi_o — Roll

off (default) | on

Rotation of the vehicle-fixed frame about the earth-fixed X-axis (roll), in rad.

Initial pitch angle, theta_o — Pitch

off (default) | on

Rotation of the vehicle-fixed frame about the earth-fixed Y-axis (pitch), in rad.

Initial yaw angle, psi_o — Yaw

off (default) | on

Rotation of the vehicle-fixed frame about the earth-fixed Z-axis (yaw), in rad.

Version History

Introduced in R2019a