How to create driving scenario using MATLAB programming

Introduction

MATLABSolutions demonstrate In this particular task, we shows how to generate ground truth for synthetic sensor data and tracking algorithms. It also shows how to update actor poses in open-loop and closed-loop simulations. Finally, it shows how to use the driving scenario to perform coordinate conversion and incorporate them into the bird's-eye plot.

One of the goals of a driving scenario is to generate "ground truth" test cases for use with sensor detection and tracking algorithms used on a specific vehicle.

This ground truth is typically defined in a global coordinate system; but, because sensors are typically mounted on a moving vehicle, this data needs to be converted to a reference frame that moves along with the vehicle. The driving scenario facilitates this conversion automatically, allowing you to specify roads and trajectories of objects in global coordinates and provides tools to convert and visualize this information in the reference frame of any actor in the scenario.

Here's a step-by-step approach to create a basic driving scenario:

1. Setup MATLAB Environment: Make sure you have MATLAB installed and set up on your system.

2. Create a Driving Scenario Object: Use the drivingScenario function to create a driving scenario object.

   scenario = drivingScenario;
   

3. Define Road Geometries: Define roads, lanes, and other road geometries using the road and laneBoundary functions.

   road(scenario, 'RoadName', 'StraightRoad', 'Lanes', 2);
   

4. Add Vehicles: Add vehicles to the scenario using the vehicle function.

   egoCar = vehicle(scenario, 'ClassID', 1, 'Position', [0, 0]);
   

5. Specify Vehicle Trajectories: Define the trajectory of each vehicle using the trajectory function.

   trajectory(egoCar, [0 0; 50 0], [0 0; 30 0]);
   

   This example sets a linear trajectory for the ego vehicle.

6. Simulate the Scenario: Use the simulate function to run the simulation.

   simulate(scenario);
   

   This will run the simulation for a default time.

7. Visualization (Optional): Use the animate function to visualize the scenario.

   animate(scenario);
   

   This will open a window to visualize the driving scenario.