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Large Parking Lot

Large parking lot 3D environment


The Large Parking Lot scene is a 3D environment of a large parking lot that contains cones, curbs, traffic signs, and parked vehicles. The scene is rendered using the Unreal Engine® from Epic Games®.


To simulate a driving algorithm in this scene:

  1. Add a Simulation 3D Scene Configuration block to your Simulink® model.

  2. In this block, set the Scene source parameter to Default Scenes.

  3. Set the enabled Scene name parameter to Large parking lot.


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Explore the 3D Large Parking Lot scene and inspect its dimensions by using a corresponding 2D top-view image of the scene.

You can use this image to inspect the scene before simulation and choose starting coordinates for vehicles. For details on using these images to select waypoints for path-following applications, see the Select Waypoints for Unreal Engine Simulation example.

Load the 2D spatial referencing object that corresponds to the scene. This imref2d object describes the relationship between the pixels in the image and the world coordinates of the scene.

data = load('sim3d_SpatialReferences.mat');
spatialRef = data.spatialReference.LargeParkingLot
spatialRef = 
  imref2d with properties:

           XWorldLimits: [-78.5000 61.5000]
           YWorldLimits: [-75 65]
              ImageSize: [4845 4845]
    PixelExtentInWorldX: 0.0289
    PixelExtentInWorldY: 0.0289
    ImageExtentInWorldX: 140
    ImageExtentInWorldY: 140
       XIntrinsicLimits: [0.5000 4.8455e+03]
       YIntrinsicLimits: [0.5000 4.8455e+03]

Display the image corresponding to the scene. Use the spatial referencing object to display the axes in the world coordinates of the scene. Units are in meters.

By default, the imshow function displays Y-axis values that increase from top to bottom. To align with the Automated Driving Toolbox™ world coordinate system, set the Y-direction to 'normal' so that Y-axis values increase from bottom to top.

Place a marker at the origin of the scene.

fileName = 'sim3d_LargeParkingLot.jpg';
I = imshow(fileName,spatialRef);
xlabel('X (m)')
ylabel('Y (m)')

hold on
offset = 3; % px
hold off

Figure contains an axes object. The axes object contains 3 objects of type image, line, text.


  • If you have the Automated Driving Toolbox™ Interface for Unreal Engine 4 Projects support package, then you can modify this scene. In the Unreal Engine project file that comes with the support package, this scene is named LargeParkingLot.

    For more details on customizing scenes, see Customize Unreal Engine Scenes for Automated Driving.

Introduced in R2019b