Generate Synthetic Detections from a Euro NCAP Scenario

The Driving Scenario Designer app provides a library of prebuilt scenarios representing European New Car Assessment Programme (Euro NCAP®) test protocols. The app includes scenarios for testing autonomous emergency braking (AEB), emergency lane keeping (ELK), and lane keep assist (LKA) systems.

Choose a Euro NCAP Scenario

To get started, open the Driving Scenario Designer app. At the MATLAB® command prompt, enter drivingScenarioDesigner.

In the app, the Euro NCAP scenarios are stored as MAT-files and organized into folders. To open a Euro NCAP file, from the app toolstrip, select Open > Prebuilt Scenario. The PrebuiltScenarios folder opens, which includes subfolders for all prebuilt scenarios available in the app (see also Generate Synthetic Detections from a Prebuilt Driving Scenario).

Double-click the EuroNCAP folder, and then choose a Euro NCAP scenario from one of these subfolders.

Autonomous Emergency Braking

These scenarios are designed to test autonomous emergency braking (AEB) systems. AEB systems warn drivers of impending collisions and automatically apply brakes to prevent collisions or reduce the impact of collisions. Some AEB systems prepare the vehicle and restraint systems for impact.

The table lists a subset of the available AEB scenarios. Other AEB scenarios in the folder vary the points of collision, the amount of overlap between vehicles, and the initial gap between vehicles.

File NameDescription
AEB_Bicyclist_Longitudinal_25width.mat

The ego vehicle collides with the bicyclist that is in front of it. Before the collision, the bicyclist and ego vehicle are traveling in the same direction along the longitudinal axis. At collision time, the bicycle is 25% of the way across the width of the ego vehicle.

AEB_CCRb_2_initialGap_12m.mat

A car-to-car rear braking (CCRb) scenario, where the ego vehicle rear-ends a braking vehicle. The braking vehicle begins to decelerate at 2 m/s2. The initial gap between the ego vehicle and the braking vehicle is 12 m.

AEB_CCRm_50overlap.mat

A car-to-car rear moving (CCRm) scenario, where the ego vehicle rear-ends a moving vehicle. At collision time, the ego vehicle overlaps with 50% of the width of the moving vehicle.

AEB_CCRs_-75overlap.mat

A car-to-car rear stationary (CCRs) scenario, where the ego vehicle rear-ends a stationary vehicle. At collision time, the ego vehicle overlaps with –75% of the width of the stationary vehicle. When the ego vehicle is to the left of the other vehicle, the percent overlap is negative.

AEB_Pedestrian_Farside_50width.mat

The ego vehicle collides with a pedestrian who is traveling from the left side of the road, which Euro NCAP test protocols refer to as the far side. These protocols assume that vehicles travel on the right side of the road. Therefore, the left side of the road is the side farthest from the ego vehicle. At collision time, the pedestrian is 50% of the way across the width of the ego vehicle.

AEB_PedestrianChild_Nearside_50width.mat

The ego vehicle collides with a pedestrian who is traveling from the right side of the road, which Euro NCAP test protocols refer to as the near side. These protocols assume that vehicles travel on the right side of the road. Therefore, the right side of the road is the side nearest to the ego vehicle. At collision time, the pedestrian is 50% of the way across the width of the ego vehicle.

Emergency Lane Keeping

These scenarios are designed to test emergency lane keeping (ELK) systems. ELK systems prevent collisions by warning drivers of impending, unintentional lane departures.

The table lists a subset of the available ELK scenarios. Other ELK scenarios in the folder vary the lateral velocity of the ego vehicle and the lane marking types.

File NameDescription
ELK_FasterOvertakingVeh_Intent_Vlat_0.5.mat

The ego vehicle intentionally changes lanes and collides with a faster, overtaking vehicle that is in the other lane. The ego vehicle travels at a lateral velocity of 0.5 m/s.

ELK_OncomingVeh_Vlat_0.3.mat

The ego vehicle unintentionally changes lanes and collides with an oncoming vehicle that is in the other lane. The ego vehicle travels at a lateral velocity of 0.3 m/s.

ELK_OvertakingVeh_Unintent_Vlat_0.3.mat

The ego vehicle unintentionally changes lanes, overtakes a vehicle in the other lane, and collides with that vehicle. The ego vehicle travels at a lateral velocity of 0.3 m/s.

ELK_RoadEdge_NoBndry_Vlat_0.2.mat

The ego vehicle unintentionally changes lanes and ends up on the road edge. The road edge has no lane boundary markings. The ego vehicle travels at a lateral velocity of 0.2 m/s.

Lane Keep Assist

These scenarios are designed to test lane keep assist (LKA) systems. LKA systems detect unintentional lane departures and automatically adjust the steering angle of the vehicle to stay within the lane boundaries.

The table lists a subset of the available LKA scenarios. Other LKA scenarios in the folder vary the lateral velocity of the ego vehicle and the lane marking types.

File NameDescription
LKA_DashedLine_Solid_Left_Vlat_0.5.mat

The ego vehicle unintentionally departs from a lane that is dashed on the left and solid on the right. The car departs the lane from the left (dashed) side, traveling at a lateral velocity of 0.5 m/s.

LKA_DashedLine_Unmarked_Right_Vlat_0.5.mat

The ego vehicle unintentionally departs from a lane that is dashed on the right and unmarked on the left. The car departs the lane from the right (dashed) side, traveling at a lateral velocity of 0.5 m/s.

LKA_RoadEdge_NoBndry_Vlat_0.5.mat

The ego vehicle unintentionally departs from a lane and ends up on the road edge. The road edge has no lane boundary markings. The car travels at a lateral velocity of 0.5 m/s.

LKA_RoadEdge_NoMarkings_Vlat_0.5.mat

The ego vehicle unintentionally departs from a lane and ends up on the road edge. The road has no lane markings. The car travels at a lateral velocity of 0.5 m/s.

LKA_SolidLine_Dashed_Left_Vlat_0.5.mat

The ego vehicle unintentionally departs from a lane that is solid on the left and dashed on the right. The car departs the lane from the left (solid) side, traveling at a lateral velocity of 0.5 m/s.

LKA_SolidLine_Unmarked_Right_Vlat_0.5.mat

The ego vehicle unintentionally departs from a lane that is a solid on the right and unmarked on the left. The car departs the lane from the right (solid) side, traveling at a lateral velocity of 0.5 m/s.

Modify Scenario

By default, in Euro NCAP scenarios, the ego vehicle does not contain sensors. If you are testing a vehicle sensor, from the app toolstrip, click Add Camera or Add Radar to add a sensor to the ego vehicle. Then, on the Sensor tab, adjust the parameters of the sensors to match your sensor model. If you are testing a camera sensor, to enable the camera to detect lanes, expand the Detection Parameters section, and set Detection Type to Lanes & Objects.

You can also adjust the parameters of the roads and actors in the scenario. For example, from the Actors tab on the left, you can change the position or velocity of the ego vehicle or other actors. From the Roads tab, you can change the width of lanes or the type of lane markings.

Generate Synthetic Detections

To generate detections from any added sensors, click Run. As the scenario runs, the Ego-Centric View displays the scenario from the perspective of the ego vehicle. The Bird’s-Eye Plot displays the detections.

Export the detections.

  • To export the detections to the MATLAB workspace, from the app toolstrip, click Export > Export Sensor Data. Name the workspace variable and click OK.

  • To export a MATLAB function that generates the scenario and its detections, click Export > Export MATLAB Function. The scenario is a drivingScenario object. The sensor detections are generated by visionDetectionGenerator and radarDetectionGenerator System objects. To adjust the parameters of the scenario, you can update the code in the exported function directly. To generate new detections, call the exported function.

Save Scenario

Because Euro NCAP scenarios are read-only, save a copy of the driving scenario to a new folder. From the app toolstrip, select Save > Scenario File As to save the scenario file.

You can reopen this scenario file from within the app or by using the following syntax at the MATLAB command prompt:

drivingScenarioDesigner(scenarioFileName)

You can modify one or more scenario parameters and save multiple variations of the same scenario. For example, you can adjust the velocity of the ego vehicle or the type of lane markings on the road. Then you can save an altered version of the scenario.

If you are developing a driving algorithm in Simulink®, you can use a Scenario Reader block to read the roads and actors from this file into your model. However, because the block does not support reading in sensor data, the sensor you created is ignored. You must instead create the sensors within your model, using blocks such as Radar Detection Generator and Vision Detection Generator.

References

[1] European New Car Assessment Programme. Euro NCAP Assessment Protocol - SA. Version 8.0.2. January 2018.

[2] European New Car Assessment Programme. Euro NCAP AEB C2C Test Protocol. Version 2.0.1. January 2018.

[3] European New Car Assessment Programme. Euro NCAP LSS Test Protocol. Version 2.0.1. January 2018.

See Also

Apps

Blocks

Objects

Related Topics

External Websites