plot

Plot driving scenario

Syntax

plot(scenario)

plot(scenario,Name,Value)

Description

plot(scenario) creates a 3-D plot with orthonormal perspective, as seen from immediately above the driving scenario, scenario.

plot(scenario,Name,Value) specifies options using one or more name-value pairs. For example, you can use these options to display road centers and actor waypoints on the plot.

Examples

Create and Display Road Boundaries

Create a driving scenario containing a figure-8 road specified in the world coordinates of the scenario. Convert the world coordinates of the scenario to the coordinate system of the ego vehicle.

Create an empty driving scenario.

scenario = drivingScenario;

Add a figure-8 road to the scenario. Display the scenario.

roadCenters = [0  0  1
             20 -20  1
             20  20  1
            -20 -20  1
            -20  20  1
              0   0  1];

roadWidth = 3;
bankAngle = [0 15 15 -15 -15 0];
road(scenario,roadCenters,roadWidth,bankAngle);
plot(scenario)

Add an ego vehicle to the scenario. Position the vehicle at world coordinates (20, –20) and orient it at a –15 degree yaw angle.

ego = actor(scenario,'ClassID',1,'Position',[20 -20 0],'Yaw',-15);

Obtain the road boundaries in ego vehicle coordinates by using the roadBoundaries function. Specify the ego vehicle as the input argument.

rbEgo1 = roadBoundaries(ego);

Display the result on a bird's-eye plot.

bep = birdsEyePlot;
lbp = laneBoundaryPlotter(bep,'DisplayName','Road');
plotLaneBoundary(lbp,rbEgo1)

Obtain the road boundaries in world coordinates by using the roadBoundaries function. Specify the scenario as the input argument.

rbScenario = roadBoundaries(scenario);

Obtain the road boundaries in ego vehicle coordinates by using the driving.scenario.roadBoundariesToEgo function.

rbEgo2 = driving.scenario.roadBoundariesToEgo(rbScenario,ego);

Display the road boundaries on a bird's-eye plot.

bep = birdsEyePlot;
lbp = laneBoundaryPlotter(bep,'DisplayName','Road boundaries');
plotLaneBoundary(lbp,{rbEgo2})

Create Driving Scenario with Multiple Actors and Roads

Create a driving scenario containing a curved road, two straight roads, and two actors: a car and a bicycle. Both actors move along the road for 60 seconds.

Create the driving scenario object.

scenario = drivingScenario('SampleTime',0.1','StopTime',60);

Create the curved road using road center points following the arc of a circle with an 800-meter radius. The arc starts at 0°, ends at 90°, and is sampled at 5° increments.

angs = [0:5:90]';
R = 800;
roadcenters = R*[cosd(angs) sind(angs) zeros(size(angs))];
roadwidth = 10;
cr = road(scenario,roadcenters,roadwidth);

Add two straight roads with the default width, using road center points at each end. To the first straight road add barriers on both road edges.

roadcenters = [700 0 0; 100 0 0];
sr1 = road(scenario,roadcenters);
barrier(scenario,sr1)
barrier(scenario,sr1,'RoadEdge','left')
roadcenters = [400 400 0; 0 0 0];
road(scenario,roadcenters);

Get the road boundaries.

rbdry = roadBoundaries(scenario);

Add a car and a bicycle to the scenario. Position the car at the beginning of the first straight road.

car = vehicle(scenario,'ClassID',1,'Position',[700 0 0], ...
    'Length',3,'Width',2,'Height',1.6);

Position the bicycle farther down the road.

bicycle = actor(scenario,'ClassID',3,'Position',[706 376 0]', ...
    'Length',2,'Width',0.45,'Height',1.5);

Plot the scenario.

plot(scenario,'Centerline','on','RoadCenters','on');
title('Scenario');

Display the actor poses and profiles.

allActorPoses = actorPoses(scenario)

allActorPoses=242×1 struct array with fields:
    ActorID
    Position
    Velocity
    Roll
    Pitch
    Yaw
    AngularVelocity

allActorProfiles = actorProfiles(scenario)

allActorProfiles=242×1 struct array with fields:
    ActorID
    ClassID
    Length
    Width
    Height
    OriginOffset
    MeshVertices
    MeshFaces
    RCSPattern
    RCSAzimuthAngles
    RCSElevationAngles

Because there are barriers in this scenario, and each barrier segment is considered an actor, actorPoses and actorProfiles functions return the poses of all stationary and non-stationary actors. To only obtain the poses and profiles of non-stationary actors such as vehicles and bicycles, first obtain their corresponding actor IDs using the scenario.Actors.ActorID property.

movableActorIDs = [scenario.Actors.ActorID];

Then, use those IDs to filter only non-stationary actor poses and profiles.

movableActorPoseIndices = ismember([allActorPoses.ActorID],movableActorIDs);

movableActorPoses = allActorPoses(movableActorPoseIndices)

movableActorPoses=2×1 struct array with fields:
    ActorID
    Position
    Velocity
    Roll
    Pitch
    Yaw
    AngularVelocity

movableActorProfiles = allActorProfiles(movableActorPoseIndices)

movableActorProfiles=2×1 struct array with fields:
    ActorID
    ClassID
    Length
    Width
    Height
    OriginOffset
    MeshVertices
    MeshFaces
    RCSPattern
    RCSAzimuthAngles
    RCSElevationAngles

Create Trajectory with Front-Axle Steering for Long Vehicle

Since R2024b

Create a driving scenario object.

scenario = drivingScenario;

Add road and lane segments to the driving scenario.

roadCenters = [0.5 15.84 0;
              35.5 5.85 0;
              28.6 1.35 0;
              22.8 -18.64 0];
marking = [laneMarking("Solid",Color=[0.98 0.86 0.36]) ...
    laneMarking("Dashed") ...
    laneMarking("Dashed")];
laneSpecification = lanespec(2,Width=5,Marking=marking);
road(scenario,roadCenters,Lanes=laneSpecification,Name="Road")

ans = 
  Road with properties:

           Name: "Road"
         RoadID: 1
    RoadCenters: [4×3 double]
      RoadWidth: 10.1500
      BankAngle: [4×1 double]
        Heading: [4×1 double]

Specify the vehicle parameters, along with its waypoints and relative speed values.

egoVehicle = vehicle(scenario, ...
    ClassID=2, ...
    Length=12, ...
    Width=2.5, ...
    Height=3.5, ...
    Position=[12.01 21.84 0.01], ...
    RearOverhang=1, ...
    FrontOverhang=0.9, ...
    Mesh=driving.scenario.truckMesh, ...
    Name="Truck");
waypoints = [11.91 23.84 0.01;
            19.7 25.94 0.01;
            31.8 24.34 0.01;
            40.29 15.55 0.01;
            38.59 5.15 0.01;
            31 0.05 0.01;
            26.4 -4.75 0.01;
            25.3 -12.04 0.01];
speed = [30 30 30 30 30 30 30 30]';

Create a trajectory for the vehicle, with reference to the front-axle for steering.

trajectory(egoVehicle,waypoints,speed,ReferenceSteerPosition="front-axle")

Plot the scenario, displaying the rear-axle trajectory, and run the simulation. Observe the dashed line trajectory for the rear axle, created with reference to the front-axle steering.

plot(scenario,Waypoints="on",RoadCenters="on",ShowRearAxle="on")
title("Trajectory with Front-Axle Steering")
while advance(scenario)
    pause(0.1)
end

Input Arguments

scenario — Driving scenario

drivingScenario object

Driving scenario, specified as a drivingScenario object.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

Example: plot(sc,'Centerline','on','RoadCenters','on') displays the center line and road centers of each road segment.

Parent — Axes in which to draw plot

Axes object

Axes in which to draw the plot, specified as the comma-separated pair consisting of 'Parent' and an Axes object. If you do not specify Parent, a new figure is created.

Centerline — Display center line of roads

'off' (default) | 'on'

Display the center line of roads, specified as the comma-separated pair consisting of 'Centerline' and 'off' or 'on'. The center line follows the middle of each road segment. Center lines are discontinuous through areas such as intersections or road splits.

RoadCenters — Display road centers

'off' (default) | 'on'

Display road centers, specified as the comma-separated pair consisting of 'RoadCenters' and 'off' or 'on'. The road centers define the roads shown in the plot.

Waypoints — Display actor waypoints

'off' (default) | 'on'

Display actor waypoints, specified as the comma-separated pair consisting of 'Waypoints' and 'off' or 'on'. Waypoints define the trajectory of the actor.

Meshes — Display actor meshes

'off' (default) | 'on'

Display actor meshes instead of cuboids, specified as the comma-separated pair consisting of 'Meshes' and 'off' or 'on'.

ActorIndicators — Actors around which to draw indicator

[] (default) | vector of ActorID integers

Actors around which to draw indicators, specified as the comma-separated pair consisting of 'ActorIndicators' and a vector of ActorID integers. The driving scenario plot draws circles around the actors that have the specified ActorID values. Each circle is the same color as the actor that it surrounds. The circles are not sensor coverage areas.

Use this name-value pair to highlight the ego vehicle in driving scenarios that contain several vehicles.

ParkingLotEdges — Display parking lot edge numbers

'off' (default) | 'on'

Display parking lot edge numbers, specified as the comma-separated pair consisting of 'ParkingLotEdges' and 'off' or 'on'. The order of the edge numbers is based on the order of the vertices defined in each parking lot.

ShowRearAxle — Display rear-axle trajectory

"off" (default) | "on"

Since R2024b

Display rear-axle trajectory, specified as "off" or "on".

If you set ShowRearAxle to "on", the plot function displays both the front-axle and rear-axle trajectories. The front-axle trajectories are solid lines crossing each waypoint, whereas, the rear-axle trajectories are dashed lines in which arrows represent the heading direction of the vehicle at each waypoint. For more information, see the Create Trajectory with Front-Axle Steering for Long Vehicle example.

Note

To use the ShowRearAxle name-value argument, your driving scenario must contain the trajectory of a vehicle with front-axle steering.

Tips

• To rotate any plot, in the figure window, select View > Camera Toolbar.

Version History

Introduced in R2017a

R2024b: Additional name-value arguments

If a driving scenario contains the trajectory of a vehicle with front-axle steering, you can now use the ShowRearAxle name-value argument to plot its rear-axle trajectory.