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Simulation 3D Bicyclist

Implement bicyclist in 3D environment

  • Library:
  • Automated Driving Toolbox / Simulation 3D

  • Simulation 3D Bicyclist Block

Description

The Simulation 3D Pedestrian block implements a bicyclist in a 3D simulation environment. The block uses the input (X, Y) position and yaw angle of the bicyclist to adjust the elevation, roll angle, and pitch angle so that the bicyclist follows the ground terrain. The block determines the bicyclist velocity and heading and adjusts the movement to be idle, pedaling, or braking, appropriately. Use this block for automated driving applications.

To use this block, ensure that the Simulation 3D Scene Configuration block is in your model. If you set the Sample time parameter of the Simulation 3D Pedestrian block to -1, the block inherits the sample time specified in the Simulation 3D Scene Configuration block.

The block input uses the bicyclist Z-up right-handed (RH) Cartesian coordinate system defined in SAE J670 [1] and ISO 8855 [2]. The coordinate system is inertial and initially aligned with the bicyclist-ground contact line between the two wheels:

  • The X-axis is along the longitudinal axis of the bicyclist and points forward.

  • The Y-axis is along the lateral axis of the bicyclist and points to the left.

  • The Z-axis points upward.

The yaw, pitch, and roll angles of the Z-axis, Y-axis, and X-axis, respectively, are positive in the clockwise directions, when looking in the positive directions of these axes. Bicyclists are placed in the world coordinate system of the scenes. For more details, see Coordinate Systems for Unreal Engine Simulation in Automated Driving Toolbox.

Ports

Input

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Lateral position of the bicyclist along the Y-axis of the scene. Y is in the inertial Z-up coordinate system. Units are in meters.

The Y value of the Initial position [X, Y, Z] (m) parameter must match the value of this port at the start of simulation.

To specify multiple positions at port Y along an entire bicyclist path, first define a time series of Y waypoints in MATLAB®. Then, feed these waypoints to Y by using a From Workspace (Simulink) block. To learn how to select and specify waypoints, see the Select Waypoints for Unreal Engine Simulation example.

Longitudinal position of the bicyclist along the X-axis of the scene. X is in the inertial Z-up coordinate system. Units are in meters.

The X value of the Initial position [X, Y, Z] (m) parameter must match the value of this port at the start of simulation.

To specify multiple positions at port X along an entire bicyclist path, first define a time series of X waypoints in MATLAB. Then, feed these waypoints to X by using a From Workspace (Simulink) block. To learn how to select and specify waypoints, see the Select Waypoints for Unreal Engine Simulation example.

Yaw orientation angle of the bicyclist along the Z-axis of the scene. Yaw is in the Z-up coordinate system. Units are in degrees.

The yaw value of the Initial rotation [Roll, Pitch, Yaw] (deg) parameter must match the value of this port at the start of simulation.

To specify multiple orientation angles at port Yaw along an entire bicyclist path, first define a time series of yaw waypoints in MATLAB. Then, feed these waypoints to Yaw by using a From Workspace (Simulink) block. To learn how to select and specify waypoints, see the Select Waypoints for Unreal Engine Simulation example.

Output

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(X, Y, Z) location of the bicyclist in the scene, returned as a real-valued 1-by-3 vector. This location is based on the bicyclist origin, which is on the ground, at the geometric center of the bicyclist. Location values are in the inertial Z-up world coordinate system. Units are in meters.

Dependencies

To enable this port, on the Ground Truth tab, select Output location (m) and orientation (rad).

Data Types: double

Yaw, pitch, and roll orientation angles of the bicyclist about the Z-axis, Y-axis, and X-axes of the scene, respectively, returned as a real-valued 1-by-3 vector. This orientation is based on the bicyclist origin, which is on the ground, at the geometric center of the bicyclist. Orientation values are in the inertial Z-up coordinate system. Units are in radians.

Dependencies

To enable this port, on the Ground Truth tab, select Output location (m) and orientation (rad).

Data Types: double

Parameters

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Bicyclist Parameters

Scale factor for the bicyclist along the X-axis, Y-axis, and Z-axis.

Initial bicyclist position along the X-axis, Y-axis, and Z-axis of the scene. This position is in the inertial Z-up coordinate system. Units are in meters.

Set the X and Y values of this parameter to match the X and Y input port values at the start of simulation.

Initial angle of bicyclist rotation. The angle of rotation is defined by the roll, pitch, and yaw of the bicyclist. Units are in degrees.

Set the yaw value of this parameter to match the Yaw input port value at the start of simulation.

Name of bicyclist. By default, when you use the block in your model, the block sets the Name parameter to SimulinkBicyclistX. The value of X depends on the number of Simulation 3D Bicyclist blocks that you have in your model.

The bicyclist name appears as a selection in the Parent name parameter of any Automated Driving Toolbox™ Simulation 3D sensor blocks within the same model as the bicyclist. With the Parent name parameter, you can select the bicyclist on which to mount the sensor.

Sample time, Ts, in seconds. The graphics frame rate is the inverse of the sample time.

If you set the sample time to -1, the block uses the sample time specified in the Simulation 3D Scene Configuration block.

Ground Truth

Select this parameter to output the location and orientation of the pedestrian at the Location and Orientation ports, respectively.

References

[1] Vehicle Dynamics Standards Committee. Vehicle Dynamics Terminology. SAE J670. Warrendale, PA: Society of Automotive Engineers, 2008.

[2] Technical Committee. Road vehicles — Vehicle dynamics and road-holding ability — Vocabulary. ISO 8855:2011. Geneva, Switzerland: International Organization for Standardization, 2011.

Version History

Introduced in R2022b