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Curved Road

Curved road 3D environment

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Description

The Curved Road scene is a 3D environment of a curved highway loop. The scene is rendered using RoadRunner.

Curved road scene with red vehicle

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 Curved road.

Examples

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Open Live Script

Explore the 3D Curved 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.CurvedRoad
spatialRef = 
  imref2d with properties:

           XWorldLimits: [-1491 368]
           YWorldLimits: [-191 1668]
              ImageSize: [5020 5020]
    PixelExtentInWorldX: 0.3703
    PixelExtentInWorldY: 0.3703
    ImageExtentInWorldX: 1859
    ImageExtentInWorldY: 1859
       XIntrinsicLimits: [0.5000 5.0205e+03]
       YIntrinsicLimits: [0.5000 5.0205e+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. 

figure
fileName = 'sim3d_CurvedRoad.jpg';
I = imshow(fileName,spatialRef);
set(gca,'YDir','normal')
xlabel('X (m)')
ylabel('Y (m)')

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) contains an object of type image.

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

xlim([-100 250])
ylim([-200 150])

hold on
plot(0,0,'o','MarkerFaceColor','r','MarkerEdgeColor','k','MarkerSize',8)
offset = 5; % px
text(offset,offset,'(0,0)','Color','k','FontWeight','bold','FontSize',12)
hold off

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) contains 3 objects of type image, line, text. One or more of the lines displays its values using only markers

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 HwCurve.

    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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