Double Lane Change

Explore the 3D Double Lane Change 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.DoubleLaneChange

spatialRef = 
  imref2d with properties:

           XWorldLimits: [-1008 1008]
           YWorldLimits: [-1008 1008]
              ImageSize: [5080 5080]
    PixelExtentInWorldX: 0.3969
    PixelExtentInWorldY: 0.3969
    ImageExtentInWorldX: 2016
    ImageExtentInWorldY: 2016
       XIntrinsicLimits: [0.5000 5.0805e+03]
       YIntrinsicLimits: [0.5000 5.0805e+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 parking lot. The full scene has a length and width of 2016 meters.

figure
fileName = 'sim3d_DoubleLaneChange.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. If you place a vehicle at the scene origin and set the vehicle's yaw angle to 0, the traffic cones for performing the double lane change maneuver are directly in front of the vehicle.

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