MATLAB: Runtime update of waypoints/path in drivingScenario

actorAutomated Driving ToolboxdrivingloopMATLABplotplottingruntimescenariosimulatesimulationtoolboxvehiclewaypointswhile loop

I want to input " waypoints " directly in runtime to the " drivingScenario " function of Automated Driving System Toolbox.

When I simulate, it runs once for the first pre-defined waypoint and then it says "The simulation is not running. Call restartSimulation to start over."

I used a while loop but it makes several figure plots in different new windows which is annoying and I don't think it would actually work that way.

So how to get input in runtime to move the vehicle/actor?

Best Answer

If you want to control the position/orientation of any specific actor you can set its properties yourself instead of defining a path. If you want to see the changes take effect immediately you can call updatePlots() on the scenario. Otherwise, the changes will render in the plots on the next call to the advance() method.

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MATLAB: Make road junctions as overpass in driving scenario app

From my understanding you want to avoid vehicles to run into each other. To achieve this you need to overlay the roads properly. To do this you can increase the z value of the rode center. Also you should change the z value of the trajectory.

MATLAB: How to use Driving Scenario Interactively

You can set the position and orientation properties directly. Here's an example setting the X position to drive up a straight road.

d = drivingScenario;
road(d, [0 0; 25 0])
v = actor(d, 'Position', [1 0 0]);
plot(d);
for index = 1:0.1:20
    v.Position = [index 0 0];
    advance(d);
    pause(0.01)
end

And Here's an example settings the Yaw with the car appearing to be spinning out

for index = 1:0.1:20
    v.Position = [index 0 0];
    v.Yaw = index*5;
    advance(d);
    pause(0.01)
end

Best Answer

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