currentLane
Get current lane of actor
Description
Examples
Find Current Lanes of Two Cars
Obtain the current lane boundaries of cars during a driving scenario simulation.
Create a driving scenario containing a straight, three-lane road.
scenario = drivingScenario; roadCenters = [0 0; 80 0]; road(scenario,roadCenters,'Lanes',lanespec([1 2],'Width',3));
Add an ego vehicle moving at 20 meters per second and a target vehicle moving at 10 meters per second.
ego = vehicle(scenario,'ClassID',1,'Position',[5 0 0], ... 'Length',3,'Width',2,'Height',1.6); smoothTrajectory(ego,[1 0 0; 20 0 0; 30 0 0;50 0 0],20); target = vehicle(scenario,'ClassID',1,'Position',[5 0 0], ... 'Length',3,'Width',2,'Height',1.6); smoothTrajectory(target,[5 -3 0; 20 -3 0; 30 -3 0;50 -3 0],10);
Plot the scenario.
plot(scenario)
Run the simulation loop.
while advance(scenario) [cl1,numlanes] = currentLane(ego); [cl2,numlanes] = currentLane(target); end
Display the current lane of each vehicle.
disp(cl1) disp(cl2)
2 3
Input Arguments
ac
— Actor
Actor
object | Vehicle
object
Actor belonging to a drivingScenario
object, specified as an
Actor
or Vehicle
object. To create these objects, use the
actor
and vehicle
functions, respectively.
Output Arguments
cl
— Current lane of actor
positive integer | []
Current lane of the actor, returned as a positive integer. Lanes are
numbered from left to right, relative to the actor, starting from 1. When
the actor is not on a road or is on a road without any lanes specified,
cl
is returned as empty,
[]
.
numlanes
— Number of lanes on road
positive integer | []
Number of lanes on the road that the actor is traveling on, returned as a
positive integer. When the actor is not on a road or is on a road without
any lanes specified, numlanes
is returned as empty,
[]
.
Version History
Introduced in R2018a
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