Road Centerline Acquisition in 3D Simulation for Automated Driving in Curved Road Scenario.

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Pragyan Dahal
Pragyan Dahal 2020-6-24
回答： Prabhan Purwar 2021-7-30
Greetings. I am working with the 3D Simulation for Automated Driving to test my perception algorithm. For my project, I am planning to use the curved road scenario and I need to find a very accurate co-ordinates corresponding to the road centerline for my work. Selecting the waypoints manually is an option, but I experienced it to be inaccurate due to highly pixelated image available.
If someone has woked in this direction, any help would be appreciated.

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回答（1 个）

Prabhan Purwar
Prabhan Purwar 2021-7-30
Hi,
Kindly have a look at the following steps to create a scenario with road center points as waypoints (add bias to get waypoints in the required lane)
  • Load curved road scenario in DSD
-Go to open -> Prebuilt Scenario -> Simulation3D -> CurvedRoad
- Add actor to the scenario
  • Get road centers for the scene
- Save scenario and load file in Matlab
- Copy waypoints as road center line (add bias to get waypoints in required lane from center point)
data.ActorSpecifications.Waypoints = data.RoadSpecifications.Centers;
- Specify speed
data.ActorSpecifications.Speed = 30*ones(size(data.RoadSpecifications.Centers,1),1);
- Save data variable in scenario file with updated data
- Load scenario in DSD for visualization
  • Recreate Scenario in Simulink for 3D Environment
- Load the Simulink model attached (CurvedRoadSimulationCenterLine.slx)
- add a path to scenario file inside Scenario Reader block -> Driving Scenario Designer file name
- Run the scenario
Kindly have a look at the following link for further insights:
Thanks

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