how to generate a reference signal from the Driving Scenario Designer App?

Hello,I am trying to generate a referene signal from the Driving Scenario Designer app to build mpc controller , I want to get the yaw angle as a vector, everytime I export the scenario as a matlab function, I get the yaw angle only as a (1X1) element .....thanks in advance

Answer 1

[Divija Aleti]

Hello,

Once you are done building your scenario, place a sensor on your Actor, change the 'Update Interval (ms)' as required and run the scenario. Then click 'Export -> Export Sensor Data' . In the dialogue box that appears, give a variable name to which you want to save the data and click OK. The data gets saved to the MATLAB base workspace. The yaw angles can be accessed as a vector by using a for loop.

For example, after 'Export Sensor Data' is clicked, I saved the data as 'sensor_data' as follows:

sensor_data:

Now to get the yaw angles as a vector, a for loop can be written as:

yaw=zeros(1,6);
for i=1:6
    yaw(i)=sensor_data(i).ActorPoses.Yaw;
end

Output:

yaw =

-39.3675 -38.8738 -10.8638 32.5091 -6.1386 -36.1907

[Mahmoud Shetwi]

Hello

Have you come up with any results for the scenarios of how to take the position and Yaw angel from driving?

Please respond, Muhammad