LongitudinalDistanceToActorCondition

Specify Longitudinal Distance To Actor condition

Since R2025a

expand all in page

    Description

    A LongitudinalDistanceToActorCondition object represents a Longitudinal Distance To Actor condition in the RoadRunner scenario logic . The Longitudinal Distance To Actor condition specifies for the associated phase to end when an actor reaches a certain longitudinal distance from another actor. Specifying LongitudinalDistanceToActorCondition as the condition type when creating an end or fail condition in your scenario adds a Longitudinal Distance To Actor condition to the specified phase in the scenario logic. You can use the LongitudinalDistanceToActorCondition object to programmatically modify the attributes of the corresponding Longitudinal Distance To Actor condition by changing the property values of the object.

    Creation

    You can create a LongitudinalDistanceToActorCondition object in these ways:

    • The setEndCondition function creates and assigns a condition of the specified type to the end of a specified phase. Specify the conditionType argument as "LongitudinalDistanceToActorCondition" to create a LongitudinalDistanceToActorCondition object associated with the specified phase.

    • The setFailCondition function assigns a condition of the specified type to the Fail Conditions of the scenario root phase. Specify the conditionType argument as "LongitudinalDistanceToActorCondition" to create a LongitudinalDistanceToActorCondition object associated with the scenario Fail Conditions.

    Properties

    expand all

    Name of the condition, specified as a string scalar or character vector.

    Note

    You can specify the Name property of LongitudinalDistanceToActorCondition in MATLAB®, but RoadRunner Scenario does not display the Name property of conditions in the user interface.

    Actor to compare against the condition, specified as one of these objects:

    • Vehicle — Represents a vehicle actor in the RoadRunner scenario.

    • Character — Represents a character actor in the RoadRunner scenario.

    • MovableObject — Represents a movable object actor in the RoadRunner scenario.

    RoadRunner Scenario calculates longitudinal distance based on the position of Actor relative to ReferenceActor.

    Note

    You must specify a nonempty value for this property before you can run the simulation.

    Relative position of the actor with respect to the reference actor, specified as one of these options:

    • "ahead" — Actor is ahead of ReferenceActor.

    • "behind" — Actor is behind ReferenceActor.

    • "either" — Actor is either behind or ahead of ReferenceActor.

    Reference actor that Actor moves relative to, specified as one of these objects:

    • Vehicle — Represents a vehicle actor in the RoadRunner scenario.

    • Character — Represents a character actor in the RoadRunner scenario.

    • MovableObject — Represents a movable object actor in the RoadRunner scenario.

    Note

    You must specify a nonempty value for this property before you can run the simulation.

    Rule for distance comparison, specified as one of these options:

    • "le" — The actor satisfies the condition when it is less than or equal to Distance meters from the reference actor in the relative direction specified by RelativePosition.

    • "ge" — The actor satisfies the condition when it is greater than or equal to Distance meters from the reference actor in the relative direction specified by RelativePosition.

    Longitudinal distance, in meters, at which the actor satisfies the condition, specified as a positive scalar. RoadRunner Scenario uses the method specified by Rule to compare the distance between the actor and a reference actor, in the direction specified by RelativePosition, to the specified value of Distance.

    Data Types: double

    Method of measuring the longitudinal distance between Actor and ReferenceActor with respect to the vehicle boundaries, specified as one of these options:

    • "bounding-boxes" — Measures longitudinal distance between the bounding boxes of the two actors.

    • "origin" — Measures longitudinal distance between the origin points of the two actors.

    Method of calculating the longitudinal distance between Actor and ReferenceActor, specified as one of these options:

    • "lane" — Measures longitudinal distance as the distance between the two actors, projected onto the curvature of the lane of travel.

    • "actor" — Measures longitudinal distance as the distance between the two actors, projected onto the heading direction.

    Examples

    collapse all

    Use a LongitudinalDistanceToActorCondition object to specify for the actor to change lanes when it reaches a longitudinal distance within 5 m of a reference actor.

    This example assumes that you have prior knowledge of working with RoadRunner in MATLAB. Before proceeding, follow the steps outlined in Set Up MATLAB Environment for RoadRunner Authoring Functions to set up your scenario using MATLAB functions for scenario authoring.

    Design Scenario Using Longitudinal Distance To Actor Condition

    Use addPhaseInSerial to add a new actor action phase, srPhase, in serial after the initial phase. Then, use addAction to specify "ChangeLaneAction" as the action type of the new phase. srPhase represents the newly added actor action phase in the RoadRunner scenario logic, and chLn represents the Change Lane action type assigned to srPhase.

    srPhase = addPhaseInSerial(rrLogic,initPhase,"ActorActionPhase",Insertion="after");
chLn = addAction(srPhase,"ChangeLaneAction");

    Assign the actor to the new phase by specifying car as the value of the Actor property of the phase. Specify for the actor to change lanes to the right over 1 second by setting the Direction property to "right", the DynamicsDimension property to "time", and the DynamicsValue property to 1.

    srPhase.Actor = car;
chLn.Direction = "right";
chLn.DynamicsDimension = "time";
chLn.DynamicsValue = 1;

    Add a second actor, car2, to the scenario. Then, reposition car2 to 20 meters in front of car by specifying an initial forward offset of 20.

    car2 = addActor(scnro,mySedan,[0 0 0]);
car2Point = car2.InitialPoint;
anchorToPoint(car2Point,anchorPoint,PosePreservation="reset-pose")
car2.InitialPoint.ForwardOffset = 20;

    Extract the object car2Init for the initial phase of the actor car2. Then, use the findActions function to extract the ChangeSpeedAction object from that phase and change the Speed property of the action to 10 m/s.

    car2Init = initialPhaseForActor(rrLogic,car2);
car2Speed = findActions(car2Init,"ChangeSpeedAction");
car2Speed.Speed = 10;

    Use setEndCondition to add a condition, rrCondition, to the initial phase, initPhase, and specify the condition type as "LongitudinalDistanceToActorCondition". Then, set the Actor property to car, the ReferenceActor property to car2, and the Distance property to 5. This specifies for the actor, car, to change lanes to the right when it reaches a distance within 5 meters of the reference actor, car2.

    rrCondition = setEndCondition(initPhase,"LongitudinalDistanceToActorCondition");
rrCondition.Actor = car;
rrCondition.ReferenceActor = car2;
rrCondition.Distance = 5;

    Run the simulation by using the simulateScenario function. 

    simulateScenario(rrApp)

    Version History

    Introduced in R2025a

    See Also

    | | | |