Obtain vehicleCostMap from drivingScenario

Question

redwan 2018-4-28

2
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https://ww2.mathworks.cn/matlabcentral/answers/397892-obtain-vehiclecostmap-from-drivingscenario

评论： FP24 2018-7-23

Hello,

Is there any way to obtain vehicleCostmap object from drivingScenario object. I've added one ego Car and one barrier in my driving scenario. I would like to obtain a vehicleCostmap which only assumes that the only cost to drive is the barrier in the road. I'm using a straight road with no lanes. Without vehicleCostMap, plan, pathplannerRRT will not work, according to the document.

Please help me. Thanks in advance.

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Answer 1

Anand 2018-6-4

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https://ww2.mathworks.cn/matlabcentral/answers/397892-obtain-vehiclecostmap-from-drivingscenario#answer_323111

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There is no direct ability to do this. There are two ways to accomplish this however:

Create a 2D matrix with the values in your map and create a vehicleCostmap object.
Create a 'blank' vehicleCostmap object and populate it with the barriers using the setCosts function.

% Create a 2D matrix with the barricades.
C = 0.1*ones(100, 100); 
C(30:35,50:90) = 0.8;
% Construct a vehicleCostmap object
costmap1 = vehicleCostmap(C);
% Plot created costmap
figure, plot(costmap1)
% Create a vehicleCostmap object 100m-by-100m
costmap2 = vehicleCostmap(100, 100, 'CellSize', 1);
% Mark a rectangular obstacle
[xx,yy] = meshgrid(50:90, 65:70);
xyPoints = [xx(:),yy(:)];
setCosts(costmap2, xyPoints, 0.8);
% Plot created costmap
figure, plot(costmap2)