laneType

This example shows how to define lane types and simulate a driving scenario for a four-lane road that has different lane types.

Create a driving lane object with default property values.

drivingLane = laneType('Driving')

drivingLane = 
  DrivingLaneType with properties:

        Type: Driving
       Color: [0.8000 0.8000 0.8000]
    Strength: 1

Create a parking lane type object. Specify the color and the strength property values.

parkingLane = laneType('Parking','Color',[1 0 0],'Strength',0.1)

parkingLane = 
  ParkingLaneType with properties:

        Type: Parking
       Color: [1 0 0]
    Strength: 0.1000

Create a three-element, heterogeneous lane type array by concatenating the driving and the parking lane type objects. The lane type array contains lane types for a four-lane road.

lt = [parkingLane drivingLane drivingLane parkingLane];

Create lane specification for a four-lane road. Add the lane type array to the lane specification.

ls = lanespec([2 2],'Type',lt);

Create a driving scenario object. Add the four-lane road with lane specifications ls to the driving scenario.

scenario = drivingScenario;
roadCenters = [0 0 0;40 0 0];
road(scenario,roadCenters,'Lanes',ls)

ans = 
  Road with properties:

           Name: ""
         RoadID: 1
    RoadCenters: [2x3 double]
      RoadWidth: 14.5500
      BankAngle: [2x1 double]
        Heading: [2x1 double]

Plot the scenario. The scenario contains the four-lane road that has two parking lanes and two driving lanes.

plot(scenario)
legend('Driving Lane','Parking Lane')

Create a heterogeneous lane type object array to define driving, shoulder, and border lane types for a four-lane road.

lt = [laneType('Shoulder') laneType('Driving') laneType('Driving') laneType('Border','Color',[0.5 0 1],'Strength',0.1)];

Display the lane type object array.

lt

lt=1×4 heterogeneous LaneType (ShoulderLaneType, DrivingLaneType, BorderLaneType) array with properties:
    Type
    Color
    Strength

Inspect the property values.

c = [{lt.Type}' {lt.Color}' {lt.Strength}'];
cell2table(c,'VariableNames',{'Type','Color','Strength'})

ans=4×3 table
      Type             Color            Strength
    ________    ____________________    ________

    Shoulder    0.59    0.59    0.59        1   
    Driving      0.8     0.8     0.8        1   
    Driving      0.8     0.8     0.8        1   
    Border       0.5       0       1      0.1   

Pass the lane type object array as input to the lanespec function, and then create a lane specification object for the four-lane road.

lspec = lanespec([2 2],'Type',lt);

Define the road centers.

roadCenters = [0 0 0; 40 0 0];

To add roads, create a driving scenario object.

scenario = drivingScenario('StopTime',8);

Add roads with the specified road centers and lane types to the driving scenario.

road(scenario,roadCenters,'Lanes',lspec);

Add two vehicles to the scenario. Position the vehicles on the driving lane.

vehicle1 = vehicle(scenario,'ClassID',1,'Position',[5 2 0]);
vehicle2 = vehicle(scenario,'ClassID',1,'Position',[35 -2 0]);

Define the vehicle trajectories by using waypoints. Set the vehicle trajectory speeds.

waypoints1 = [5 2;10 2;20 2;25 2;30 5;34 5.5];
smoothTrajectory(vehicle1,waypoints1,10)
waypoints2 = [35 -2;20 -2;10 -2;5 -2];
smoothTrajectory(vehicle2,waypoints2,5)

Plot the scenario. To advance the simulation one time step at a time, call the advance function in a loop. Pause every 0.01 second to observe the motion of the vehicles on the plot. The first vehicle travels along the trajectory in the driving lane. It drifts to the shoulder lane for emergency stopping.

% Create a custom figure window and define an axes object
fig = figure;
movegui(fig,'center');
hView = uipanel(fig,'Position',[0 0 1 1],'Title','Scenario with Shoulder, Driving, and Border Lanes');
hPlt = axes(hView);

% Plot the generated driving scenario along with the waypoints.
plot(scenario,'Waypoints','on','Parent',hPlt);
while advance(scenario)
    pause(0.01)
end