Virtual Mcity

Virtual Mcity 3D environment

Description

The Virtual Mcity scene is a 3D environment containing a virtual representation of Mcity^®, which is a testing ground belonging to the University of Michigan. For more details, see Mcity Test Facility.

The scene is rendered using the Unreal Engine^® from Epic Games^®.

Setup

To simulate a driving maneuver in this scene:

Add a Simulation 3D Scene Configuration block to your Simulink^® model.
In this block, set the Scene source parameter to Default Scenes.
Set the enabled Scene name parameter to Virtual Mcity.

Layout

The scene uses the world coordinate system to locate objects. The active area of the scene contains the road.

Overall	Active Area

Scene Dimensions

This table provides the scene area corner locations in the world coordinate system. Dimensions are in m.

Locations	X (m)	Y (m)	Z (m)
Scene — Top left	`-116.85`	`-369.18`	`-.02`
Scene — Bottom right	`226.13`	`172.26`	`-.02`
Active area — Bottom left	`-60.61`	`106.75`	`-.02`

Locations

(m)

Scene — Top left

-116.85

-369.18

-.02

Scene — Bottom right

226.13

172.26

-.02

Active area — Bottom left

-60.61

106.75

-.02

Recommended Starting Location

This table provides the recommended starting location for the vehicle in the world coordinate system. Dimensions are in m and deg.

Recommended Starting Location
`-26.00`	`76.0`	`0`	`0`	`0`	`-40`

Recommended Starting Location

(m)

Roll

(deg)

Pitch

(deg)

Yaw

(deg)

-26.00

76.0

0

-40

World Coordinate System

The 3D visualization environment uses a world coordinate system with axes that are fixed in the inertial reference frame.

Axis	Description
X	Forward direction of the vehicle Roll — Right-handed rotation about X-axis
Y	Extends to the right of the vehicle, parallel to the ground plane Pitch — Right-handed rotation about Y-axis
Z	Extends upwards Yaw — Left-handed rotation about Z-axis

Axis

Description

Forward direction of the vehicle

Roll — Right-handed rotation about X-axis

Extends to the right of the vehicle, parallel to the ground plane

Pitch — Right-handed rotation about Y-axis

Extends upwards

Yaw — Left-handed rotation about Z-axis

Vehicles

Trucks, Bicycles, and Sedans

This table provides the vehicle tag names and initial locations for other vehicles in the scene, in the world coordinate system. Dimensions are in m and deg.

Object	Unreal Engine Editor Name	Locations
Object	Unreal Engine Editor Name	X (m)	Y (m)	Z (m)	Roll (deg)	Pitch (deg)	Yaw (deg)
Vehicle	`SK_BoxTruck`	`20.96`	`-136.90`	`0`	`0`	`0`	`-90`
	`SM_Motorcycle`	`42.50`	`-157.60`	`0`	`0`	`0`	`-20`
	`SK_SedanCar`	`5.83`	`-117.91`	`0`	`0`	`0`	`0`
	`SM_Bicycle`	`10.88`	`-84.42`	`0`	`0`	`0`	`90`

Objects

Cones

Locations

This table provides the object names and locations in the world coordinate system. Dimensions are in m and deg.

Object	Unreal Engine Editor Name	Location
Object	Unreal Engine Editor Name	X (m)	Y (m)	Z (m)	Roll (deg)	Pitch (deg)	Yaw (deg)
`Cone`	`SM_Cone`	`22.33`	`-131.51`	`0`	`0`	`0`	`0`
	`SM_Cone2`	`21.23`	`-131.51`	`0`	`0`	`0`	`0`
	`SM_Cone3`	`20.03`	`-131.51`	`0`	`0`	`0`	`0`
	`SM_Cone4`	`18.93`	`-131.51`	`0`	`0`	`0`	`0`

Barrier

Locations

This table provides the object names and locations in the world coordinate system. Dimensions are in m and deg.

Object	Unreal Engine Editor Name	Location
Object	Unreal Engine Editor Name	X (m)	Y (m)	Z (m)	Roll (deg)	Pitch (deg)	Yaw (deg)
Barrier	`SM_Barrier13`	`79.65`	`-173.39`	`0`	`0`	`0`	`-35`
	`SM_Barrier14`	`77.31`	`-175.94`	`0`	`0`	`0`	`-55`
	`SM_Barrier15`	`74.42`	`-177.49`	`0`	`0`	`0`	`-80`
	`SM_Barrier16`	`71.18`	`-177.64`	`0`	`0`	`0`	`-95`

Animals

Locations

This table provides the object names and locations in the world coordinate system. Dimensions are in m and deg.

Object	Unreal Engine Editor Name	Location
Animals	`Deer`	`36.84`	`-122.15`	`0`	`0`	`0`	`0`

Object

Unreal Engine Editor Name

Location

(m)

Roll

(deg)

Pitch

(deg)

Yaw

(deg)

Animals

Deer

36.84

-122.15

0

Traffic Signs

Locations

This table provides the object names and locations in the world coordinate system. Dimensions are in m and deg.

Object	Unreal Engine Editor Name	Location
Object	Unreal Engine Editor Name	X (m)	Y (m)	Z (m)	Roll (deg)	Pitch (deg)	Yaw (deg)
Traffic signs	`SM_StopSign`	`-35.21`	`44.19`	`0`	`0`	`0`	`95`
	`SM_YellowRoadSign`	`-38.75`	`18.14`	`-.02`	`0`	`0`	`-170`
	`LargeDoubleArrowSign4`	`-35.19`	`-4.39`	`0`	`0`	`0`	`-90`
	`LargeDoubleArrowSign`	`-31.01`	`-60.55`	`0`	`0`	`0`	`-80`
	`RailroadSign2`	`-27.06`	`-88.67`	`0`	`0`	`0`	`5`
	`RailroadSign`	`-17.79`	`-89.77`	`0`	`0`	`0`	`-170`
	`SM_YieldSign`	`26.80`	`-165.14`	`0`	`0`	`0`	`0`
	`SM_StopSign7`	`54.84`	`-200.43`	`0`	`0`	`0`	`-90`
	`LargeDoubleArrowSign3`	`47.54`	`-218.00`	`0`	`0`	`0`	`-15`
	`SM_StopSign9`	`70.32`	`-195.66`	`0`	`0`	`0`	`0`
	`SM_YellowRoadSign3`	`82.66`	`-285.75`	`-.02`	`0`	`0`	`15`
	`SM_SpeedLimitSign2`	`80.89`	`-226.85`	`-.06`	`0`	`0`	`0`
	`LargeDoubleArrowSign5`	`104.10`	`-212.80`	`0`	`0`	`0`	`80`
	`ChevronAlignmentSign`	`98.45`	`-191.22`	`0`	`0`	`0`	`101`
	`ChevronAlignmentSign2`	`102.05`	`-197.62`	`0`	`0`	`0`	`76.5`
	`ChevronAlignmentSign3`	`103.98`	`-206.06`	`0`	`0`	`0`	`85`
	`SM_Large_Exit_Sign`	`122.45`	`-212.50`	`0`	`0`	`0`	`0`
	`SM_Large_Exit_Sign2`	`101.79`	`-151.66`	`0`	`0`	`0`	`180`
	`SM_StopSign3`	`32.01`	`-163.68`	`0`	`0`	`0`	`160`
	`SM_StopSign2`	`54.98`	`-177.12`	`0`	`0`	`0`	`90`
	`SM_StopSign5`	`126.63`	`-58.50`	`0`	`0`	`0`	`155`
	`SM_StopSign6`	`125.28`	`-130.73`	`0`	`0`	`0`	`-180`
	`SM_StopSign8`	`82.01`	`-192.74`	`0`	`0`	`0`	`-180`
	`SM_StopSign4`	`59.90`	`-161.03`	`0`	`0`	`0`	`-25`
	`LargeSingleArrowSign`	`121.01`	`-148.56`	`0`	`0`	`0`	`0`
	`SM_YieldSign2`	`162.22`	`-109.64`	`0`	`0`	`0`	`25`
	`SM_WindingRoadSign`	`127.11`	`-50.21`	`.01`	`0`	`0`	`50`
	`SchoolBusOnlySign`	`44.03`	`-51.11`	`0`	`0`	`0`	`90`
	`SM_YellowRoadSign5`	`68.05`	`-47.03`	`.01`	`0`	`0`	`-175`
	`SM_CrossSignal8`	`74.37`	`-14.11`	`0`	`0`	`0`	`-165`
	`SM_CrossSignal7`	`64.69`	`-22.69`	`0`	`0`	`0`	`-150`
	`SM_CrossSignal6`	`62.51`	`-20.34`	`0`	`0`	`0`	`40`
	`SM_CrossSignal5`	`72.42`	`-12.06`	`0`	`0`	`0`	`40`
	`SM_YellowRoadSign2`	`60.01`	`-2.69`	`-.01`	`0`	`0`	`50`
	`SM_CrossSignal2`	`28.53`	`-20.58`	`0`	`0`	`0`	`-20`
	`SM_CrossSignal`	`21.19`	`-17.95`	`0`	`0`	`0`	`-20`
	`SM_CrossSignal3`	`17.55`	`-21.53`	`0`	`0`	`0`	`-170`
	`SM_CrossSignal4`	`6.59`	`-27.66`	`0`	`0`	`0`	`-145`
	`SM_YieldSign4`	`4.89`	`-23.42`	`0`	`0`	`0`	`-140`
	`SM_YellowRoadSign4`	`9.23`	`-45.63`	`0`	`0`	`0`	`-175`
	`SM_BikeLaneSign`	`24.13`	`-92.03`	`.15`	`0`	`0`	`0`

Traffic Lights

Locations

This table provides the object names and locations in the world coordinate system. Dimensions are in m and deg.

Object	Unreal Engine Editor Name	Location
Object	Unreal Engine Editor Name	X (m)	Y (m)	Z (m)	Roll (deg)	Pitch (deg)	Yaw (deg)
Traffic lights	`SM_TrafficLights`	`27.40`	`-138.55`	`.16`	`0`	`0`	`90`
	`SM_TrafficLights2`	`9.38`	`-106.90`	`.16`	`0`	`0`	`-90`
	`SM_TrafficLightsSideOnly3`	`8.44`	`-47.95`	`-.03`	`0`	`0`	`-92.2`
	`SM_TrafficLightsSideOnly4`	`1.64`	`-55.10`	`.16`	`0`	`0`	`-5`
	`SM_TrafficLightsSideOnly5`	`9.24`	`-67.70`	`.16`	`0`	`0`	`85`
	`SM_TrafficLightsSideOnly6`	`24.50`	`-67.82`	`.16`	`0`	`0`	`85`
	`SM_TrafficLights3`	`27.89`	`-109.86`	`.16`	`0`	`0`	`180`
	`SM_HangingTrafficLightSingle`	`74.43`	`-69.25`	`7.37`	`0`	`0`	`0`
	`SM_HangingTrafficLightSingle2`	`76.13`	`-69.10`	`7.34`	`0`	`0`	`0`
	`SM_HangingTrafficLightSingle3`	`82.58`	`-60.10`	`7.57`	`0`	`0`	`-90`
	`SM_HangingTrafficLightSingle4`	`82.65`	`-61.48`	`7.54`	`0`	`0`	`-90`
	`SM_HangingTrafficLightSingle6`	`73.67`	`-51.25`	`7.97`	`0`	`0`	`-180`
	`SM_HangingTrafficLightSingle7`	`75.07`	`-51.25`	`7.95`	`0`	`0`	`-180`
	`SM_HangingTrafficLight`	`-24.78`	`-61.49`	`6.71`	`0`	`0`	`100`
	`SM_RailroadCrossing4`	`-18.21`	`-86.63`	`.01`	`0`	`0`	`8`
	`SM_RailroadCrossing5`	`-26.73`	`-90.78`	`.01`	`0`	`0`	`-172`

Limitations

In the Vehicle Dynamics Blockset™ Interface for Unreal Engine Projects support package, this scene is not available for customization.
For details on which scenes you can customize, see Customize 3D Scenes for Vehicle Dynamics Simulations.

Version History

Introduced in R2018b

Virtual Mcity

Description

Setup

Layout

Scene Dimensions

Recommended Starting Location

World Coordinate System

Vehicles

Trucks, Bicycles, and Sedans

Objects

Cones

Barrier

Animals

Traffic Signs

Traffic Lights

Limitations

Version History

See Also

Topics

External Websites