Road Centerline Acquisition in 3D Simulation for Automated Driving in Curved Road Scenario.

Greetings. I am working with the 3D Simulation for Automated Driving to test my perception algorithm. For my project, I am planning to use the curved road scenario and I need to find a very accurate co-ordinates corresponding to the road centerline for my work. Selecting the waypoints manually is an option, but I experienced it to be inaccurate due to highly pixelated image available.

If someone has woked in this direction, any help would be appreciated.

Answer 1

[Prabhan Purwar]

Hi,

Kindly have a look at the following steps to create a scenario with road center points as waypoints (add bias to get waypoints in the required lane)

• Load curved road scenario in DSD

-Go to open -> Prebuilt Scenario -> Simulation3D -> CurvedRoad

- Add actor to the scenario

• Get road centers for the scene

- Save scenario and load file in Matlab

- Copy waypoints as road center line (add bias to get waypoints in required lane from center point)

data.ActorSpecifications.Waypoints = data.RoadSpecifications.Centers;

- Specify speed

data.ActorSpecifications.Speed = 30*ones(size(data.RoadSpecifications.Centers,1),1);

- Save data variable in scenario file with updated data

- Load scenario in DSD for visualization

• Recreate Scenario in Simulink for 3D Environment

- Load the Simulink model attached (CurvedRoadSimulationCenterLine.slx)

- add a path to scenario file inside Scenario Reader block -> Driving Scenario Designer file name

- Run the scenario

Kindly have a look at the following link for further insights:

• https://www.mathworks.com/help/driving/ug/cuboid-versions-of-3d-simulation-scenes-in-driving-scenario-designer.html

Thanks