automated driving toolbox example 'LaneChangeExample' problem

Hi, I was curious if it would work even if I put another driving scenario in 'LaneChangeExample', an example provided by MATLAB automated driving toolbox. So I put the scenario reader's scenario as a scenario I made and run it. (The scenariofcnname and scenariofilename of the workspace are all matched with the scenario I created) Then I got this error. I'd like to know how to solve this problem.

Causes:

• MATLAB System block 'LaneChangeExample/Occupancy Grid Generator' error occurred when invoking 'stepImpl' method of 'outputgrid'. The error was thrown from ' 'C:\Program Files\MATLAB\R2021b\examples\autonomous_control\main\outputgrid.m' at line 146'.
• 'currentLane' is an unrecognized function or variable.

It seems problems of outputgrid.m, but I don't know how to solve it.

Answer 1

[Kishen Mahadevan]

Hi,

Please try the following steps:

• Add the new driving scenario in the 'helperLCSetup.m' file - this is to make sure that the new driving scenario gets loaded properly. This script initializes the ego car and actor profiles after loading the driving scenario.
• In the helper script, add the scenarioFileName, ScenarioFcnName, and set the corresponding scenarioID. Refer to the highlighted lines in the image below:
• 

This script also sets the selected scenario's name in the Scenario Reader block, so you wouldnt have to add it separately.

Thanks,

Kishen