driving.scenario.roadBoundariesToEgo

Convert road boundaries to ego vehicle coordinates

Syntax

egoRoadBoundaries = driving.scenario.roadBoundariesToEgo(scenarioRoadBoundaries,ego)

egoRoadBoundaries = driving.scenario.roadBoundariesToEgo(scenarioRoadBoundaries,egoPose)

Description

egoRoadBoundaries = driving.scenario.roadBoundariesToEgo(scenarioRoadBoundaries,ego) converts road boundaries from the world coordinates of a driving scenario to the coordinate system of the ego vehicle, ego.

egoRoadBoundaries = driving.scenario.roadBoundariesToEgo(scenarioRoadBoundaries,egoPose) converts road boundaries from world coordinates to vehicle coordinates using the pose of the ego vehicle, egoPose.

Examples

Create and Display Road Boundaries

Create a driving scenario containing a figure-8 road specified in the world coordinates of the scenario. Convert the world coordinates of the scenario to the coordinate system of the ego vehicle.

Create an empty driving scenario.

scenario = drivingScenario;

Add a figure-8 road to the scenario. Display the scenario.

roadCenters = [0  0  1
             20 -20  1
             20  20  1
            -20 -20  1
            -20  20  1
              0   0  1];

roadWidth = 3;
bankAngle = [0 15 15 -15 -15 0];
road(scenario,roadCenters,roadWidth,bankAngle);
plot(scenario)

Add an ego vehicle to the scenario. Position the vehicle at world coordinates (20, –20) and orient it at a –15 degree yaw angle.

ego = actor(scenario,'ClassID',1,'Position',[20 -20 0],'Yaw',-15);

Obtain the road boundaries in ego vehicle coordinates by using the roadBoundaries function. Specify the ego vehicle as the input argument.

rbEgo1 = roadBoundaries(ego);

Display the result on a bird's-eye plot.

bep = birdsEyePlot;
lbp = laneBoundaryPlotter(bep,'DisplayName','Road');
plotLaneBoundary(lbp,rbEgo1)

Obtain the road boundaries in world coordinates by using the roadBoundaries function. Specify the scenario as the input argument.

rbScenario = roadBoundaries(scenario);

Obtain the road boundaries in ego vehicle coordinates by using the driving.scenario.roadBoundariesToEgo function.

rbEgo2 = driving.scenario.roadBoundariesToEgo(rbScenario,ego);

Display the road boundaries on a bird's-eye plot.

bep = birdsEyePlot;
lbp = laneBoundaryPlotter(bep,'DisplayName','Road boundaries');
plotLaneBoundary(lbp,{rbEgo2})

Input Arguments

scenarioRoadBoundaries — Road boundaries of scenario in world coordinates

1-by-N cell array

Road boundaries of the scenario in world coordinates, specified as a 1-by-N cell array. N is the number of road boundaries within the scenario. Each cell corresponds to a road and contains the (x, y, z) coordinates of the road boundaries in a real-valued P-by-3 matrix. P is the number of boundaries and varies from cell to cell. Units are in meters.

ego — Ego vehicle

Actor object | Vehicle object

Ego vehicle, specified as an Actor or Vehicle object. To create these objects, use the actor and vehicle functions, respectively.

egoPose — Ego actor pose

structure

Ego actor pose in the world coordinates of a driving scenario, specified as a structure.

The ego actor pose structure must contain at least these fields.

Field	Description
ActorID	Scenario-defined actor identifier, specified as a positive integer.
In R2024b: FrontAxlePosition	Front-axle position of the vehicle, specified as a three-element row vector in the form [x y z]. Units are in meters. Note If the driving scenario does not contain a front-axle trajectory for at least one vehicle, then the ActorPoses structure does not contain this field.
Position	Position of actor, specified as a real-valued vector of the form [x y z]. Units are in meters.
Velocity	Velocity (v) of actor in the x- y-, and z-directions, specified as a real-valued vector of the form [vx vy vz]. Units are in meters per second.
Roll	Roll angle of actor, specified as a real-valued scalar. Units are in degrees.
Pitch	Pitch angle of actor, specified as a real-valued scalar. Units are in degrees.
Yaw	Yaw angle of actor, specified as a real-valued scalar. Units are in degrees.
AngularVelocity	Angular velocity (ω) of actor in the x-, y-, and z-directions, specified as a real-valued vector of the form [ωx ωy ωz]. Units are in degrees per second.

For full definitions of these structure fields, see the actor and vehicle functions.

Output Arguments

egoRoadBoundaries — Road boundaries in ego vehicle coordinates

real-valued Q-by-3 matrix

Road boundaries in ego vehicle coordinates, returned as a real-valued Q-by-3 matrix. Q is the number of road boundary point coordinates of the form (x, y, z).

All road boundaries are contained in the same matrix, with a row of NaN values separating points in different road boundaries. For example, if the input has three road boundaries of length P₁, P₂, and P₃, then Q = P₁ + P₂ + P₃ + 2. Units are in meters.

Version History

Introduced in R2017a