variationProperties

Store scenario property variations

Since R2023a

Description

The variationProperties object stores scenario property variations, such as actor, collision, scene, and Euro NCAP^® test bench properties, to use to create scenario variants.

Creation

Syntax

variations = variationProperties

Description

variations = variationProperties creates an empty variationProperties object, variations.

example

Note

This object requires the Automated Driving Toolbox™ Test Suite for Euro NCAP^® Protocols support package. You can install Automated Driving Toolbox Test Suite for Euro NCAP Protocols from the Add-On Explorer. For more information about installing add-ons, see Get and Manage Add-Ons.

Properties

expand all

`ActorVariationProperties` — Actor variation properties
structure

Actor variation properties, specified as a structure. The structure contains these fields:

ActorID — ID of the actor, specified as a positive integer.
Speed — Speed of the actor, specified as a scalar or an M-element row vector. M is the number of waypoints. Units are in meters per second.
Dimension — Dimensions of the actor, specified as a structure with fields Length, Width, Height, RearOverhang, and FrontOverhang. Units are in meters.
Waypoints — Waypoints of the actor, specified as an M-by-3 matrix. M is the number of waypoints. Each row represents the actor position in the form [x y z]. Units are in meters.
Yaw — Yaw angle of the actor, specified as an M-element column vector. M is the number of waypoints. Units are in radians.
By default, the fields of the ActorVariationProperties structure are empty arrays, [].

Note

To set the fields of the ActorVariationProperties structure, you must use the varyActorProperties object function.

`CollisionVariationProperties` — Collision variation properties
`[]` (default) | structure

Collision variation properties, specified as a structure. The structure contains these fields:

Actor1ID — ID of the first colliding actor in the pair, specified as a positive integer.
Actor2ID — ID of the second colliding actor in the pair, specified as a positive integer.
Actor1CollisionFraction — Point of collision relative to the collision side of the first actor, specified as a scalar in the range [0, 1]. For more information, see Collision Fraction.
Actor1CollisionSide — Side of the first actor at which the collision occurs, specified as "Front", "Left", "Back", or "Right".
Actor2CollisionFraction — Point of collision relative to the collision side of the second actor, specified as a scalar in the range [0, 1]. For more information, see Collision Fraction.
Actor2CollisionSide — Side of the second actor at which the collision occurs, specified as "Front", "Left", "Back", or "Right".
VariationType — Parameter to change to generate variant with collision, specified as "WaitTime", "EntryTime", or "Waypoints".

Note

To set the fields of the CollisionVariationProperties structure, you must use the varyCollisionProperties object function.

`SceneVariationProperties` — Scene variation properties
structure

Scene variation properties, specified as a structure. The structure contains these fields:

RoadID — ID of the road, specified as a positive integer.
LaneID — ID of the lane, specified as a positive integer.
Width — Width of the road or lane, specified as a positive scalar. Units are in meters.
LaneType — Type of the lane, specified as "driving" or "parking".
Marking — Lane markings of the road, specified as "solid", "dashed", "doublesolid", or "doubledashed".
MarkingColor — Marking color of the lane or road boundaries, specified as "white" or "yellow".
MarkingWidth — Marking width of the road or lane boundaries, specified as a positive scalar or a two-element numeric row vector. Units are in meters.

By default, the fields of the SceneVariationProperties structure are empty arrays, [].

Note

To set the fields of the SceneVariationProperties structure, you must use the varySceneProperties object function.

`TestVariationProperties` — Euro NCAP test bench variation properties
structure

Euro NCAP test bench variation properties, specified as a structure. The structure contains these fields:

StartTestTime — Time to start safety assessment test. Units are in seconds.
EndTestTime — Time to end safety assessment test. Units are in seconds.
HandoverTime — Time to hand-over of control for Euro NCAP safety assessment testing, specified as a scalar. Units are in seconds.

By default, the fields of the TestVariationProperties structure are empty arrays, [].

Note

To set the fields of the TestVariationProperties structure, you must use the varyTestProperties object function.

Object Functions

`varyActorProperties`	Add variations to actor properties
`varyCollisionProperties`	Add variations to collision properties
`varySceneProperties`	Add variations to scene properties
`varyTestProperties`	Add variations to Euro NCAP test bench properties

Examples

collapse all

Add Variations to Speed and Waypoint Actor Properties

This example uses:

Open Live Script

Create an empty variationProperties object.

variation = variationProperties;

Display empty actor properties.

disp(variation.ActorVariationProperties)

      ActorID: []
        Speed: []
    Dimension: []
    Waypoints: []
          Yaw: []

Add speed and waypoint variations to the actor with an ActorID of 1.

waypoints = [0 0 0; 10 0 0];
varyActorProperties(variation,1,Speed=10,Waypoints=waypoints);

Display the actor property variations.

disp(variation.ActorVariationProperties)

      ActorID: 1
        Speed: 10
    Dimension: []
    Waypoints: [2×3 double]
          Yaw: []

Vary Scene Properties to Generate Scenario Variants

This example uses:

Open Live Script

Load a driving scenario into the workspace.

load("scenarioWithSingleActor.mat")

Create a scenario descriptor from the input seed scenario.

seedScenarioDescriptor = getScenarioDescriptor(scenario,Simulator="DrivingScenario");

Create a variationProperties object.

variation1 = variationProperties;

Add scene property variations to a road by specifying the road ID, width of the road, and marking color of the road boundaries.

roadID = 1;
varySceneProperties(variation1,roadID,Width=30,MarkingColor="yellow")

Using the seed scenario descriptor and the scene variation, generate a scenario variant descriptor.

scenarioVariantDescriptor1 = generateVariants(seedScenarioDescriptor,variation1);

Generate a variant scenario, as a drivingScenario object, from the scenario variant descriptor object.

scenarioVariant1 = getScenario(scenarioVariantDescriptor1,Simulator="DrivingScenario");

Create another variationProperties object.

variation2 = variationProperties;

Add scene property variations to a lane by specifying the road ID, lane ID, width of the lane, lane marking, and marking color of the lane boundaries.

roadID = 1;
laneID = 2;
varySceneProperties(variation2,roadID,laneID,Width=10,Marking="solid",MarkingColor="white")

Using the seed scenario descriptor and the scene variation, generate another scenario variant descriptor.

scenarioVariantDescriptor2 = generateVariants(seedScenarioDescriptor,variation2);

Generate another variant scenario, as a drivingScenario object, from the scenario variant descriptor object.

scenarioVariant2 = getScenario(scenarioVariantDescriptor2,Simulator="DrivingScenario");

Create a custom figure window to plot the seed scenario and the scenario variants.

figScene = figure;
set(figScene,Position=[200 200 900 300])
hCarViewPanel1 = uipanel(figScene,Position=[0 0 0.33 1],Title="Input Seed Scenario");
hCarPlot1 = axes(hCarViewPanel1);
hCarViewPanel2 = uipanel(figScene,Position=[0.34 0 0.33 1],Title='Generated Scenario Variant1');
hCarPlot2 = axes(hCarViewPanel2);
hCarViewPanel3 = uipanel(figScene,Position=[0.68 0 0.33 1],Title='Generated Scenario Variant2');
hCarPlot3 = axes(hCarViewPanel3);

Plot the seed scenario and its variants. Observe the scene variation in the generated scenario variants.

plot(scenario,Waypoints="on",Parent=hCarPlot1)
plot(scenarioVariant1,Waypoints="on",Parent=hCarPlot2)
plot(scenarioVariant2,Waypoints="on",Parent=hCarPlot3)