RoadRunner Scenario

Libraries:
Automated Driving Toolbox /
RoadRunner Scenario
Description
The RoadRunner Scenario block defines the interface of a Simulink® actor model. The Block Parameters dialog box contains these tabs under which inputs are grouped together.
Actions
Events
Configuration
The RoadRunner Scenario block must be present at the root level of the model, otherwise model compilation results in an error.
Parameters
Actions
Name of user-defined action to map to a bus object.
To add an action name, click the Add button below the User-defined actions input table and double-click on a cell in the Action name column to type a new table entry.
Name of bus object that corresponds to a user-defined action.
To add a bus object name corresponding to a user-defined action, double-click on a cell in the Bus object name column at the same level of the user-defined action, and type a new table entry.
All added bus object names must have a corresponding bus object. Bus objects represent a user-defined action. You must define a bus object in MATLAB® in such a way that it contains the same parameter names, data types and values as the user-defined action that it represents in RoadRunner Scenario. The RoadRunner Scenario Reader and RoadRunner Scenario Writer blocks rely on a bus object loaded to the MATLAB workspace to recognize the structure of incoming user-defined actions.
For more information about creating a bus object for a user-defined action, see Author RoadRunner Actor Behavior Using User-Defined Actions or Events in Simulink.
Events
Name of user-defined event to map to a bus object.
To add an event name, click the Add button below the User-defined events input table and double-click on a cell in the Event name column to type a new table entry.
Name of bus object that corresponds to a user-defined event.
To add a bus object name corresponding to a user-defined event, double-click on a cell in the Bus object name column at the same level of the user-defined event, and type a new table entry.
All added bus object names must have a corresponding bus object. Bus objects represent a user-defined event. You must define a bus object in MATLAB in such a way that it contains the same parameter names, data types and values as the user-defined event that it represents in RoadRunner Scenario. The RoadRunner Scenario Reader and RoadRunner Scenario Writer blocks rely on a bus object loaded to the MATLAB workspace to recognize the structure of incoming user-defined events.
For more information about creating a bus object for a user-defined event, see Author RoadRunner Actor Behavior Using User-Defined Actions or Events in Simulink.
Configuration
Maximum number of points on the path of a vehicle actor to be read by a path-following action.
You can set the value of this parameter to any positive scalar between 1 and 264. There is a tradeoff between the maximum number of points and the simulation performance of the actor behavior model.
This parameter is applicable only if a Simulink actor behavior model contains a RoadRunner Scenario
Reader block that reads the Path
Following action of an actor by setting Topic Category
to Action
and Action Type to
Path Following
. The RoadRunner Scenario
Reader block stops reading points on a path after its number reaches the
maximum value.
Data Types: uint64
Version History
Introduced in R2022aYou can specify the maximum number of points on the path of a vehicle actor to be read by a path-following action.
To configure the maximum number of points, in the Maximum Points on Path field, on the Configuration tab, specify the required value.
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