![]() These blocks generate detections from the 3D simulation environment. The model includes two sensor blocks with default parameter settings. Choose the color that most closely matches the colors available in the Color parameter of the Simulation 3D Vehicle with Ground Following block. #Unreal network radar PatchTo change the color of a vehicle in the app, on the Actors tab, click the color patch to the right of the actor name in the actor selection list. To maintain similar vehicle visualizations between the Bird's-Eye Scope and the 3D simulation window, the specified type and color must match. In addition, the Color parameter corresponds to the vehicle color specified in the app. In each Simulation 3D Vehicle with Ground Following block, the Type parameter corresponds to the 3D Display Type selected for that vehicle in the app. In the 3D simulation environment, the ground terrain of the 3D scene determines the Z-position (elevation), roll angle, and pitch angle of the vehicles. The ActorID for each vehicle is the value that precedes the colon.Įach Cuboid To 3D Simulation block outputs X, Y, and Yaw values that feed directly into their corresponding vehicle blocks. In the Driving Scenario Designer app, you can find the corresponding ActorID values on the Actors tab, in the actor selection list. The Scenario Reader block outputs ActorID values in its Actors output port. In the ActorID used for conversion parameters of these blocks, the specified ActorID of each vehicle determines which vehicle origin to convert. The Cuboid To 3D Simulation blocks convert the cuboid origin positions to the 3D simulation origin positions. In 3D scenarios, the vehicle origin is on ground, at the geometric center of the vehicle. In cuboid scenarios, the vehicle origin is on the ground, at the center of the rear axle. Locations of vehicle origins differ between cuboid and 3D scenarios. For more details about the vehicle and world coordinate systems, see Coordinate Systems in Automated Driving Toolbox. Because the ego vehicle is output in world coordinates, this conversion is not necessary for the ego vehicle. A Vehicle To World block converts these non-ego actor poses into world coordinates. However, the Scenario Reader block outputs the poses of non-ego actors in ego vehicle coordinates. In the 3D environment, vehicle positions are in world coordinates. Each vehicle is a direct counterpart to one of the vehicles defined in the Driving Scenario Designer app scenario file. The Simulation 3D Vehicle with Ground Following blocks specify the appearances and trajectories of the vehicles in the 3D simulation environment. This process causes the ground truth and sensor data visualizations to flicker. If the ground truth and sensor data have different sample times, then the scope visualizes them at different time intervals. By setting a single sample time across the entire model, the Bird's-Eye Scope displays data from all blocks at a constant rate. In addition, all other 3D simulation vehicle and sensor blocks inherit their sample time from the Simulation 3D Scene Configuration block. The Simulation 3D Scene Configuration block and Scenario Reader block both have their Sample time parameter set to 0.1. #Unreal network radar updateIf you update the scenario, you do not need to generate a new Scenario Reader block. Then, on the app toolstrip, select Export > Export Simulink Model. First, open the scenario file in the Driving Scenario Designer app. If you are creating a new scenario, you can generate a Scenario Reader block that reads data from your scenario file. To use the same scene for the cuboid and 3D simulation environments, the ground truth data for both environments must match. The Bird's-Eye Scope visualizes this ground truth data, not the ground truth data of the 3D simulation environment. The Scenario Reader block reads the ground truth data (road boundaries, lane markings, and actor poses) from the app scenario file. During simulation, the 3D simulation window displays the scene from behind the ego vehicle. The Scene view parameter is set to Ego Vehicle. This scene corresponds to the cuboid version defined in the app scenario file. The Scene name parameter is set to the default Straight road scene. ![]()
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