import asam opendrive roads into driving scenario -凯发k8网页登录

import asam opendrive file

to import an asam opendrive file into the driving scenario designer app, follow these steps:

the scenario canvas of the app displays the imported road network.

inspect roads

the roads in the imported network are thousands of meters long. use the mouse wheel to zoom in the road network and inspect it more closely. the road network contains a roundabout that connects six roads.

verify that the road network imported as expected, keeping in mind the following limitations and behaviors within the app.

add actors and sensors to scenario

you can add actors and sensors to a scenario containing asam opendrive roads.

before adding an actor and sensors, if you have road interactions enabled, consider disabling them to prevent you from accidentally dragging road centers and changing the road network. if road interactions are enabled, in the bottom-left corner of the scenario canvas, click the configure the scenario canvas button , and then clear enable road interactions.

add an ego vehicle to the scenario by right-clicking one of the roads in the canvas and selecting add car. to specify the trajectory of the car, right-click the car in the canvas, select add forward waypoints (ctrl f), and add waypoints along the road for the car to pass through. after you add the last waypoint along the road, press enter. the car autorotates in the direction of the first waypoint.

add a camera sensor to the ego vehicle. on the app toolstrip, click add camera. then, on the sensor canvas, add the camera to the predefined location representing the front window of the car.

configure the camera to detect lanes. in the left pane, on the sensors tab, expand the detection parameters section. then, set the detection type parameter to lanes.

generate synthetic detections

to generate lane detections from the camera, on the app toolstrip, 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 left-lane and right-lane boundaries of the ego vehicle.

to export a matlab function that generates the scenario and its detections, on the app toolstrip, click export > matlab function.

to export the detections to the matlab workspace, on the app toolstrip, click export > export sensor data. name the workspace variable and click ok.

save scenario

after you generate the detections, click save to save the scenario file. in addition, you can save the sensor models as separate files. you can also save the road and actor models together as a separate scenario file.

you can reopen this scenario file from the app. alternatively, at the matlab command prompt, you can use this syntax.

drivingscenariodesigner(scenariofilename)

if you are developing a driving algorithm in simulink, you can use a block to read the roads and actors from the drivingscenario object or the scenario file into your model. scenario files containing large asam opendrive road networks can take up to several minutes to read into models. the scenario reader block does not directly read sensor data. to add sensors created in the app to a simulink model, you can generate a model containing your scenario and sensors by selecting export > simulink model. in this model, a scenario reader block reads the scenario and radar and vision sensor blocks model the sensors.