run a vehicle dynamics maneuver in 3d environment -凯发k8网页登录

  • documentation
main content

run a vehicle dynamics maneuver in 3d environment

this example shows how to run a vehicle dynamics maneuver in a 3d environment. by integrating vehicle dynamics models with a 3d environment, you can test advanced driver assistance systems (adas) and automated driving (ad) perception, planning, and control software. for the 3d visualization engine platform requirements and hardware recommendations, see .

  1. create and open a working copy of a maneuver reference application. for example, open the double-lane change reference application.

  2. run the maneuver simulation. by default, the 3d environment is disabled.
    when you run the simulation, the visualization subsystem
    provides driver, vehicle, and response information. the reference application logs vehicle
    signals during the maneuver, including steering, vehicle and engine speed, and lateral
    acceleration. you can use the simulation data inspector to import the logged signals and examine
    the data. 
    

    image of visualization subsystem
    

    elementdescription
    driver commands
    driver commands:
    

    • handwheel angle
    • acceleration command
    • brake command
    vehicle response
    vehicle response:
    

    • engine speed
    • vehicle speed
    • acceleration command
    lane change scope block
    lateral vehicle displacement versus time:
    

    • red line — cones marking right lane boundary
    • orange line — cones marking left lane boundary
    • blue line — reference trajectory
    • green line — actual trajectory
    steer, velocity, lat accel scope
                        block
    		

    • steerangle — steering angle versus
                                        time
    •  — longitudinal vehicle
                                        velocity versus time
    •  — lateral acceleration versus
                                        time
    vehicle xy plotter
    vehicle longitudinal versus lateral distance
    iso 15037-1:2006  block
    display iso standard measurement signals in the simulation data
                            inspector, including steering wheel angle and torque, longitudinal and
                            lateral velocity, and sideslip angle
  3. enable the 3d visualization environment. in the visualization subsystem, open the
                     block. set these parameters.
    

    • 
                            3d engine to enabled.
    • 
                            scene name to one of the scenes, for example
                                double lane change.
      

      3d engine scene parameter option set to double lane change.
    • to position the vehicle in the scene:
      

      1. select the position initialization method:
        

        • recommended for scene — set the initial vehicle
                            position to values recommended for the scene
        • user-specified — set your own initial vehicle
                            position
      2. click update the model workspaces with the initial values to
                overwrite the initial vehicle position in the model workspaces with the applied
                values.
  4. rerun the reference application. as the simulation runs, in the simulation 3d
                viewer, view the vehicle response.
    to smoothly change the camera views, use these key
        commands.
    

    keycamera view
    1
    back left
    		

    image showing key commands and corresponding camera view
     
    2
    back
    3
    back right
    4
    left
    5
    internal
    6
    right
    7
    front left
    8
    front
    9
    front right
    0
    overhead
    
 for additional camera controls, use these key commands.
    

    keycamera control
    tab
    cycle the view between all vehicles in the scene.
     
    mouse scroll wheel
    control the camera distance from the vehicle.
     
    l
    toggle a camera lag effect on or off. when you enable the lag
                            effect, the camera view includes:
    

    • position lag, based on the vehicle translational
                                        acceleration
    • rotation lag, based on the vehicle rotational
                                        velocity
    
this lag enables improved visualization of overall
                            vehicle acceleration and rotation.
     
    f
    toggle the free camera mode on or off. when you enable the free
                            camera mode, you can use the mouse to change the pitch and yaw of the
                            camera. this mode enables you to orbit the camera around the
                            vehicle.
     
    for example, when you run the double-lane change maneuver, use the cameras to
                visualize the vehicle as it changes lanes.
    

    • back
      3d scene back camera view of vehicle.
    • front left
      3d scene front left camera view of vehicle.
    • internal
      3d scene internal camera view of vehicle.
    

    note
    

    • to open and close the simulation 3d viewer, use the simulink® run and stop buttons. if you manually close the simulation 3d
                    viewer, simulink stops the simulation with an error.
    • when you enable the 3d visualization environment, you cannot step the
                    simulation back.

        
related topics

    

    







  
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 


  
              

            

          

        

      

      
      

        
      
          

            

              


    




 
            

          

        

      

      
      
    

  
  




网站地图