backward lane detection and visualization of these in bird's eye scope

Question

Thaddäus Menzel 2019-4-2

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/453847-backward-lane-detection-and-visualization-of-these-in-bird-s-eye-scope

In the atomated driving toolbox there is the example of lane keep assist (LKA), but if the camera will be rotated by 180 degrees (yaw angle=180°), then no lanes are detected in th bird's eye plot. In R2018b the helperScenarioReader.m can be modified, so that the lanes behind the ego vehicle can be detected and can be used inside the visionDetectionGenerator. But I still don't know how it would be possible to see these lanes behind the ego vehicle in the bird's eye scope, but maybe I already foúnd some parameters for this issue by debugging the bird's eye plot.

In R2019a this is much more complicated, because the scenarioReader is p-coded (modification impossible) and still seems not to return the lanes behind the ego vehicle. The usage of the old (from R2018b) helperScenarioReader.m and the old mat-files of the driving scenario designer seems to work for the simulation, but the bird's eye scope lets matlab crashing if one clicks onto find signals.

Any idea which paramaters have to be modified to see negative lane coordinates in bird's eye scope and how one could realise an own scenario reader in R2019a, that returns also the lane coordinates behind the ego vehicle?