How to plot two driving scenarios togather

Greetings,

if i have two driving scenarios:

scenario1 = drivingScenario('SampleTime', 0.05);

scenario2 = drivingScenario('SampleTime', 0.05);

after creating roads and vehicles, how do i plot them in the same figure? becuase plot(scenario1) generates an independent figure with the plot and road in it

for example, i tried this but it doesnt work:

figure

plot(scenario1)

hold on

plot(scenario2)

and matlab actually generates two new plots beside figure itself and hold on has no meaning too

[Roshin Kadanna Pally]

You can use:

hAxes1 = subplot(2,1,1);

hAxes2 = subplot(2,1,2);

plot(scenario1,Parent=hAxes1)

plot(scenario2,Parent=hAxes2)

[abdullah alshakhs]

thank you for the answer , but actually need them in exactly same plot to implement a collision avoidance simulation and so on

[Greg Dionne]

Have you tried using the same handle?

   % Create new scenarios
    scenario1 = drivingScenario;
    scenario2 = drivingScenario;
    % make a shared axes object
    hSharedAxes = axes;
    % add a plot for debug
    plot(scenario1,Parent=hSharedAxes);
    plot(scenario2,Parent=hSharedAxes);
    % add a straight road segment 25 m in length. cross-wise in each 
    % scenario
    road(scenario1, [0 0 0; 25 0 0]);
    road(scenario2, [0 0 0; 0 25 0]);
  
    % add a vehicle to each one
    v1 = vehicle(scenario1);
    v2 = vehicle(scenario2);
  
    % tell them to follow a trajectory along the road at 20 m/s.
    smoothTrajectory(v1,[v1.RearOverhang 0 0; 25-v1.Length+v1.RearOverhang 0 0], 20)
    smoothTrajectory(v2,[0 v2.RearOverhang 0; 0 25-v1.Length+v1.RearOverhang 0], 20)
  
    % Start the simulation loop
    while advance(scenario1) && advance(scenario2)
       % let plot update
       pause(0.1)
    end

Granted, the scenarios will be distinct, so the roads won't automatically merge into intersections and whatnot.

Were you hoping to merge two scenarios into one or something like that?

Answer 1

[Harimurali]

Hi Abdullah,

I understand that you want to plot two driving scenarios on the same plot to implement a collision avoidance simulation.

In this case, MATLAB does not support plotting two or more driving scenarios on the same plot. A collision avoidance simulation can be done using a single driving scenario by creating two vehicles in the same scenario and simulating their collision.

Please refer to the “Create Driving Scenario with Multiple Actors and Roads” section of the following documentation for more information about creating a driving scenario with multiple actors: https://www.mathworks.com/help/driving/ref/drivingscenario.vehicle.html

Here is a sample MATLAB code that implements a simple collision avoidance simulation:

% Create a driving scenario 
scenario = drivingScenario(SampleTime=0.1, StopTime=10); 
 
% Add a straight road 
roadCenters = [0 0; 100 0]; 
road(scenario, roadCenters); 
 
% Add the ego vehicle 
ego = vehicle(scenario, 'Position', [0 -2 0]); 
 
% Add another vehicle 
other = vehicle(scenario, 'Position', [20 -2 0]); 
 
% Specify the trajectories of the vehicles 
trajectory(ego, [0 -2 0; 100 -2 0], [0 30]); 
trajectory(other, [20 -2 0; 100 -2 0], [0 15]); 
safeDistance = 5; 
plot(scenario,'Waypoints','on') 
while advance(scenario) 
    pause(0.2) 
    % Get the positions of the ego vehicle and the other vehicle 
    egoPos = ego.Position; 
    otherPos = other.Position; 
     
    % Calculate the distance between the vehicles 
    distance = norm(egoPos - otherPos); 
 
    % Change the trajectory of the ego vehicle depending on the current position 
    if egoPos(1) < otherPos(1) && distance < safeDistance && ego.Velocity(1) ~= 0 
        trajectory(ego, [egoPos(1), egoPos(2), egoPos(3); otherPos(1), egoPos(2), egoPos(3)], [ego.Velocity(1) 0]); 
    end 
end 

Please refer to the following documentation for more information about the “trajectory” function:

https://www.mathworks.com/help/driving/ref/drivingscenario.trajectory.html

Hope this helps.