Add actor to driving scenario
adds an
ac
= actor(scenario
)Actor
object, ac
, to the driving scenario,
scenario
. The actor has default property values.
Actors are cuboids (box shapes) that represent objects in motion, such as cars, pedestrians, and bicycles. Actors can also represent stationary obstacles that can influence the motion of other actors, such as barriers. For more details about how actors are defined, see Actor and Vehicle Positions and Dimensions.
sets actor properties using one or more name-value pair arguments. For example, you can set
the position, velocity, dimensions, and orientation of the actor. You can also set a time
for the actor to spawn or despawn in the scenario.ac
= actor(scenario
,Name,Value
)
Note
You can configure the actors in a driving scenario to spawn and despawn, and then
import the associated drivingScenario
object into the Driving Scenario
Designer app. The app considers the first actor created in the driving scenario
to be the ego actor and does not allow the ego actor to either spawn or despawn in the
scenario.
Create a driving scenario containing a curved road, two straight roads, and two actors: a car and a bicycle. Both actors move along the road for 60 seconds.
Create the driving scenario object.
scenario = drivingScenario('SampleTime',0.1','StopTime',60);
Create the curved road using road center points following the arc of a circle with an 800-meter radius. The arc starts at 0°, ends at 90°, and is sampled at 5° increments.
angs = [0:5:90]'; R = 800; roadcenters = R*[cosd(angs) sind(angs) zeros(size(angs))]; roadwidth = 10; road(scenario,roadcenters,roadwidth);
Add two straight roads with the default width, using road center points at each end.
roadcenters = [700 0 0; 100 0 0]; road(scenario,roadcenters)
ans = Road with properties: Name: "" RoadID: 2 RoadCenters: [2x3 double] RoadWidth: 6 BankAngle: [2x1 double]
roadcenters = [400 400 0; 0 0 0]; road(scenario,roadcenters)
ans = Road with properties: Name: "" RoadID: 3 RoadCenters: [2x3 double] RoadWidth: 6 BankAngle: [2x1 double]
Get the road boundaries.
rbdry = roadBoundaries(scenario);
Add a car and a bicycle to the scenario. Position the car at the beginning of the first straight road.
car = vehicle(scenario,'ClassID',1,'Position',[700 0 0], ... 'Length',3,'Width',2,'Height',1.6);
Position the bicycle farther down the road.
bicycle = actor(scenario,'ClassID',3,'Position',[706 376 0]', ... 'Length',2,'Width',0.45,'Height',1.5);
Plot the scenario.
plot(scenario,'Centerline','on','RoadCenters','on'); title('Scenario');
Display the actor poses and profiles.
poses = actorPoses(scenario)
poses=2×1 struct array with fields:
ActorID
Position
Velocity
Roll
Pitch
Yaw
AngularVelocity
profiles = actorProfiles(scenario)
profiles=2×1 struct array with fields:
ActorID
ClassID
Length
Width
Height
OriginOffset
MeshVertices
MeshFaces
RCSPattern
RCSAzimuthAngles
RCSElevationAngles
Create a driving scenario. Set the stop time for the scenario to 3 seconds.
scenario = drivingScenario('StopTime',3);
Add a two-lane road to the scenario.
roadCenters = [0 1 0; 53 1 0];
laneSpecification = lanespec([1 1]);
road(scenario,roadCenters,'Lanes',laneSpecification);
Add another road that intersects the first road at a right angle to form a T-shape.
roadCenters = [20.3 33.4 0; 20 3 0];
laneSpecification = lanespec(2);
road(scenario,roadCenters,'Lanes',laneSpecification)
ans = Road with properties: Name: "" RoadID: 2 RoadCenters: [2x3 double] RoadWidth: 7.3500 BankAngle: [2x1 double]
Add the ego vehicle to the scenario and define its waypoints. Set the ego vehicle speed to 20 m/s and generate the trajectories for the ego vehicle.
egoVehicle = vehicle(scenario,'ClassID',1, ... 'Position',[1.5 2.5 0]); waypoints = [2 3 0; 13 3 0; 21 3 0; 31 3 0; 43 3 0; 47 3 0]; speed = 15; trajectory(egoVehicle,waypoints,speed)
Add a non-ego actor to the scenario. Set the non-ego actor to spawn and despawn during the simulation by specifying an entry time and an exit time.
nonEgoactor1 = actor(scenario,'ClassID',1, ... 'Position',[22 30 0],'EntryTime',0.8,'ExitTime',2);
Define the waypoints for the non-ego actor. Set the non-ego actor speed to 35 m/s and generate its trajectories.
waypoints = [22 30 0; 22 23 0; 22 13 0; 22 7 0; 18 -0.3 0; 12 -0.8 0; 3 -0.8 0]; speed = 35; trajectory(nonEgoactor1,waypoints,speed)
Add another non-ego actor to the scenario. Set the second non-ego actor to spawn during the simulation by specifying an entry time. Since you do not specify an exit time, this actor will remain in the scenario until the scenario ends.
nonEgoactor2 = actor(scenario,'ClassID',1, ... 'Position',[48 -1 0],'EntryTime',2);
Define the waypoints for the second non-ego actor. Set the actor speed to 60 m/s and generate its trajectories.
waypoints = [48 -1 0; 42 -1 0; 28 -1 0; 16 -1 0; 6 -1 0]; speed = 60; trajectory(nonEgoactor2,waypoints,speed)
Create a custom figure window to plot the scenario.
fig = figure; set(fig,'Position',[0 0 600 600]) movegui(fig,'center') hViewPnl = uipanel(fig,'Position',[0 0 1 1],'Title','Actor Spawn and Despawn'); hPlt = axes(hViewPnl);
Plot the scenario and run the simulation. Observe how the non-ego actors spawn and despawn in the scenario while simulation is running.
plot(scenario,'Waypoints','on','Parent',hPlt) while advance(scenario) pause(0.1) end
scenario
— Driving scenariodrivingScenario
objectDriving scenario, specified as a drivingScenario
object.
Specify optional
comma-separated pairs of Name,Value
arguments. Name
is
the argument name and Value
is the corresponding value.
Name
must appear inside quotes. You can specify several name and value
pair arguments in any order as
Name1,Value1,...,NameN,ValueN
.
'Height',1.7
sets the height of the actor to 1.7 meters upon
creation.'ClassID'
— Classification identifier0
(default) | nonnegative integerClassification identifier of actor, specified as the comma-separated pair consisting of 'ClassID'
and a nonnegative integer.
Specify ClassID
values to group together actors that have similar
dimensions, radar cross-section (RCS) patterns, or other properties. As a best practice,
before adding actors to a drivingScenario
object, determine the
actor classification scheme you want to use. Then, when creating the actors, specify the
ClassID
name-value pair to set classification identifiers
according to the actor classification scheme.
Suppose you want to create a scenario containing these actors:
Two cars, one of which is the ego vehicle
A truck
A bicycle
The code shows a sample classification scheme for this scenario, where 1
refers to cars, 2
refers to trucks, and 3
refers to bicycles. The cars have default vehicle properties. The truck and bicycle have the dimensions of a typical truck and bicycle, respectively.
scenario = drivingScenario; ego = vehicle(scenario,'ClassID',1); car = vehicle(scenario,'ClassID',1); truck = vehicle(scenario,'ClassID',2,'Length',8.2,'Width',2.5,'Height',3.5); bicycle = actor(scenario,'ClassID',3,'Length',1.7,'Width',0.45,'Height',1.7);
The default ClassID
of 0
is reserved for an object of an unknown or unassigned class. If you plan to import drivingScenario
objects into the Driving Scenario Designer app, do not leave the ClassID
property of actors set to 0
. The app does not recognize a ClassID
of 0
for actors and returns an error. Instead, set ClassID
values of actors according to the actor classification scheme used in the app.
ClassID | Class Name |
---|---|
1 | Car |
2 | Truck |
3 | Bicycle |
4 | Pedestrian |
5 | Barrier |
'Name'
— Name of actor""
(default) | character vector | string scalarName of the actor, specified as the comma-separated pair consisting of
'Name'
and a character vector or string scalar.
Example: 'Name','Actor1'
Example: "Name","Actor1"
Data Types: char
| string
'EntryTime'
— Entry time for actor to spawn0
(default) | positive scalarEntry time for an actor to spawn in the driving scenario, specified as the
comma-separated pair consisting of 'EntryTime'
and a positive
scalar. Units are in seconds, measured from the start time of the scenario.
Specify this name-value pair argument to add or make an actor appear in the driving scenario at the specified time, while the simulation is running.
If the actor has an associated exit time, then the entry time must be less than the specified exit time.
If the actor does not have an associated exit time, then the entry time must
be less than or equal to the stop time of the scenario. You can set the stop
time for the scenario by specifying a value for the
'StopTime'
property of the drivingScenario
object.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
'ExitTime'
— Exit time for actor to despawnInf
(default) | positive scalarExit time for an actor to despawn from the driving scenario, specified as the
comma-separated pair consisting of 'ExitTime'
and a positive
scalar. Units are in seconds, measured from the start time of the scenario.
Specify this name-value pair argument to remove or make an actor disappear from the scenario at a specified time while the simulation is running.
If the actor has an associated entry time, then the exit time must be greater than the specified entry time.
If the actor does not have an associated entry time, then the exit time must
be less than or equal to the stop time of the scenario. You can set the stop
time for the scenario by specifying a value for the
'StopTime'
property of the drivingScenario
object.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
'PlotColor'
— Display color of actorDisplay color of actor, specified as the comma-separated pair consisting of
'PlotColor'
and an RGB triplet, hexadecimal color code, color
name, or short color name.
The actor appears in the specified color in all programmatic scenario
visualizations, including the plot
function, chasePlot
function, and plotting functions of birdsEyePlot
objects. If you import the scenario into the Driving Scenario
Designer app, then the actor appears in this color in all app visualizations.
If you import the scenario into Simulink®, then the actor appears in this color in the Bird's-Eye
Scope.
If you do not specify a color for the actor, the function assigns one based on the
default color order of Axes
objects. For more details, see the
ColorOrder
property for Axes
objects.
For a custom color, specify an RGB triplet or a hexadecimal color code.
An RGB triplet is a three-element row vector whose elements
specify the intensities of the red, green, and blue
components of the color. The intensities must be in the
range [0,1]
; for example, [0.4
0.6 0.7]
.
A hexadecimal color code is a character vector or a string
scalar that starts with a hash symbol (#
)
followed by three or six hexadecimal digits, which can range
from 0
to F
. The
values are not case sensitive. Thus, the color codes
'#FF8800'
,
'#ff8800'
,
'#F80'
, and
'#f80'
are equivalent.
Alternatively, you can specify some common colors by name. This table lists the named color options, the equivalent RGB triplets, and hexadecimal color codes.
Color Name | Short Name | RGB Triplet | Hexadecimal Color Code | Appearance |
---|---|---|---|---|
'red' | 'r' | [1 0 0] | '#FF0000' | |
'green' | 'g' | [0 1 0] | '#00FF00' | |
'blue' | 'b' | [0 0 1] | '#0000FF' | |
'cyan' | 'c' | [0 1 1] | '#00FFFF' | |
'magenta' | 'm' | [1 0 1] | '#FF00FF' | |
'yellow' | 'y' | [1 1 0] | '#FFFF00' | |
'black' | 'k' | [0 0 0] | '#000000' | |
'white' | 'w' | [1 1 1] | '#FFFFFF' |
Here are the RGB triplets and hexadecimal color codes for the default colors MATLAB® uses in many types of plots.
RGB Triplet | Hexadecimal Color Code | Appearance |
---|---|---|
[0 0.4470 0.7410] | '#0072BD' | |
[0.8500 0.3250 0.0980] | '#D95319' | |
[0.9290 0.6940 0.1250] | '#EDB120' | |
[0.4940 0.1840 0.5560] | '#7E2F8E' | |
[0.4660 0.6740 0.1880] | '#77AC30' | |
[0.3010 0.7450 0.9330] | '#4DBEEE' | |
[0.6350 0.0780 0.1840] | '#A2142F' |
'Position'
— Position of actor center[0 0 0]
(default) | [x
y
z] real-valued vectorPosition of the actor center, specified as the comma-separated pair consisting of
'Position'
and an [x
y
z] real-valued vector.
The center of the actor is [L/2 W/2 b], where:
L/2 is the midpoint of actor length L.
W/2 is the midpoint of actor width W.
b is the bottom of the cuboid.
Units are in meters.
Example: [10;50;0]
'Velocity'
— Velocity of actor center[0 0 0]
(default) | [vx
vy
vz] real-valued vectorVelocity (v) of the actor center in the x-,
y- and z-directions, specified as the
comma-separated pair consisting of 'Velocity'
and a
[vx
vy
vz] real-valued vector. The
'Position'
name-value pair specifies the actor center. Units
are in meters per second.
Example: [-4;7;10]
'Yaw'
— Yaw angle of actor0
(default) | real scalarYaw angle of the actor, specified as the comma-separated pair consisting of
'Yaw'
and a real scalar. Yaw is the angle
of rotation of the actor around the z-axis. Yaw is
clockwise-positive when looking in the forward direction of the axis, which points up
from the ground. Therefore, when viewing actors from the top down, such as on a
bird's-eye plot, yaw is counterclockwise-positive. Angle values are wrapped to the
range [–180, 180]. Units are in degrees.
Example: -0.4
'Pitch'
— Pitch angle of actor0
(default) | real scalarPitch angle of the actor, specified as the comma-separated pair consisting of
'Pitch'
and a real scalar. Pitch is the
angle of rotation of the actor around the y-axis and is
clockwise-positive when looking in the forward direction of the axis. Angle values are
wrapped to the range [–180, 180]. Units are in degrees.
Example: 5.8
'Roll'
— Roll angle of actor0
(default) | real scalarRoll angle of the actor, specified as the comma-separated pair consisting of
'Roll'
and a real scalar. Roll is the
angle of rotation of the actor around the x-axis and is
clockwise-positive when looking in the forward direction of the axis. Angle values are
wrapped to the range [–180, 180]. Units are in degrees.
Example: -10
'AngularVelocity'
— Angular velocity of actor[0 0 0]
(default) | [ωx
ωy
ωz] real-valued vectorAngular velocity (ω) of the actor, in world coordinates,
specified as the comma-separated pair consisting of
'AngularVelocity'
and a
[ωx
ωy
ωz] real-valued vector. Units are in degrees
per second.
Example: [20 40 20]
'Length'
— Length of actor4.7
(default) | positive real scalarLength of the actor, specified as the comma-separated pair consisting of
'Length'
and a positive real scalar. Units are in meters.
Example: 5.5
'Width'
— Width of actor1.8
(default) | positive real scalarWidth of the actor, specified as the comma-separated pair consisting of
'Width'
and a positive real scalar. Units are in meters.
Example: 3.0
'Height'
— Height of actor1.4
(default) | positive real scalarHeight of the actor, specified as the comma-separated pair consisting of
'Height'
and a positive real scalar. Units are meters.
Example: 2.1
'Mesh'
— Extended object meshextendedObjectMesh
objectExtended object mesh, specified as an extendedObjectMesh
object.
'RCSPattern'
— Radar cross-section pattern of actor[10 10; 10 10]
(default) | Q-by-P real-valued matrixRadar cross-section (RCS) pattern of actor, specified as the comma-separated pair
consisting of 'RCSPattern'
and a
Q-by-P real-valued matrix. RCS is a function
of the azimuth and elevation angles, where:
Q is the number of elevation angles specified by the
'RCSElevationAngles'
name-value pair.
P is the number of azimuth angles specified by the
'RCSAzimuthAngles'
name-value pair.
Units are in decibels per square meter (dBsm).
Example: 5.8
'RCSAzimuthAngles'
— Azimuth angles of actor's RCS pattern[-180 180]
(default) | P-element real-valued vectorAzimuth angles of the actor's RCS pattern, specified as the comma-separated pair
consisting of 'RCSAzimuthAngles'
and a P-element
real-valued vector. P is the number of azimuth angles. Values are
in the range [–180°, 180°].
Each element of RCSAzimuthAngles
defines the azimuth angle of
the corresponding column of the 'RCSPattern'
name-value pair.
Units are in degrees.
Example: [-90:90]
'RCSElevationAngles'
— Elevation angles of actor's RCS pattern[-90 90]
(default) | Q-element real-valued vectorElevation angles of the actor's RCS pattern, specified as the comma-separated pair
consisting of 'RCSElevationAngles'
and a
Q-element real-valued vector. Q is the number of
elevation angles. Values are in the range [–90°, 90°].
Each element of RCSElevationAngles
defines the elevation
angle of the corresponding row of the RCSPattern
property. Units
are in degrees.
Example: [0:90]
ac
— Driving scenario actorActor
objectDriving scenario actor, returned as an Actor
object belonging to
the driving scenario specified by scenario
.
You can modify the Actor
object by changing its property values.
The property names correspond to the name-value pair arguments used to create the
object. The only property that you cannot modify is ActorID
, which
is a positive integer indicating the unique, scenario-defined ID of the actor.
To specify or visualize actor motion, use these functions:
trajectory | Create actor or vehicle trajectory in driving scenario |
chasePlot | Ego-centric projective perspective plot |
To get information about actor characteristics, use these functions:
actorPoses | Positions, velocities, and orientations of actors in driving scenario |
actorProfiles | Physical and radar characteristics of actors in driving scenario |
targetOutlines | Outlines of targets viewed by actor |
targetPoses | Target positions and orientations relative to ego vehicle |
driving.scenario.targetsToEgo | Convert actor poses to ego vehicle coordinates |
driving.scenario.targetsToScenario | Convert target actor poses from ego vehicle coordinates to world coordinates of scenario |
To get information about the roads and lanes that the actor is on, use these functions:
roadBoundaries | Get road boundaries |
driving.scenario.roadBoundariesToEgo | Convert road boundaries to ego vehicle coordinates |
currentLane | Get current lane of actor |
laneBoundaries | Get lane boundaries of actor lane |
laneMarkingVertices | Lane marking vertices and faces in driving scenario |
roadMesh | Mesh representation of an actor's nearest roads in driving scenario. |
In driving scenarios, an actor is a cuboid (box-shaped) object with a specific length, width, and height. Actors also have a radar cross-section (RCS) pattern, specified in dBsm, which you can refine by setting angular azimuth and elevation coordinates. The position of an actor is defined as the center of its bottom face. This center point is used as the actor's rotational center, its point of contact with the ground, and its origin in its local coordinate system. In this coordinate system:
The X-axis points forward from the actor.
The Y-axis points left from the actor.
The Z-axis points up from the ground.
Roll, pitch, and yaw are clockwise-positive when looking in the forward direction of the X-, Y-, and Z-axes, respectively.
A vehicle is an actor that moves on wheels. Vehicles have three extra properties that govern the placement of their front and rear axle.
Wheelbase — Distance between the front and rear axles
Front overhang — Distance between the front of the vehicle and the front axle
Rear overhang — Distance between the rear axle and the rear of the vehicle
Unlike other types of actors, the position of a vehicle is defined by the point on the ground that is below the center of its rear axle. This point corresponds to the natural center of rotation of the vehicle. As with nonvehicle actors, this point is the origin in the local coordinate system of the vehicle, where:
The X-axis points forward from the vehicle.
The Y-axis points left from the vehicle.
The Z-axis points up from the ground.
Roll, pitch, and yaw are clockwise-positive when looking in the forward direction of the X-, Y-, and Z-axes, respectively.
This table shows a list of common actors and their dimensions. To specify these values in Actor
and Vehicle
objects, set the corresponding properties shown.
Actor Classification | Actor Object | Actor Properties | ||||||
---|---|---|---|---|---|---|---|---|
Length | Width | Height | FrontOverhang | RearOverhang | Wheelbase | RCSPattern | ||
Pedestrian | Actor | 0.24 m | 0.45 m | 1.7 m | N/A | N/A | N/A | –8 dBsm |
Car | Vehicle | 4.7 m | 1.8 m | 1.4 m | 0.9 m | 1.0 m | 2.8 m | 10 dBsm |
Motorcycle | Vehicle | 2.2 m | 0.6 m | 1.5 m | 0.37 m | 0.32 m | 1.51 m | 0 dBsm |
A modified version of this example exists on your system. Do you want to open this version instead?
You clicked a link that corresponds to this MATLAB command:
Run the command by entering it in the MATLAB Command Window. Web browsers do not support MATLAB commands.
Choose a web site to get translated content where available and see local events and offers. Based on your location, we recommend that you select: .
Select web siteYou can also select a web site from the following list:
Select the China site (in Chinese or English) for best site performance. Other MathWorks country sites are not optimized for visits from your location.