Parking lot 3D environment
The Parking Lot scene is a 3D environment of a parking lot. The scene is rendered using the Unreal Engine® from Epic Games®.
To simulate a driving algorithm in this scene:
Add a Simulation 3D Scene Configuration block to your Simulink® model.
In this block, set the Scene source parameter to
Set the enabled Scene name parameter to
Explore the 3D 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 (Image Processing Toolbox) 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.ParkingLot
spatialRef = imref2d with properties: XWorldLimits: [-195.5000 8.9000] YWorldLimits: [-27.1000 177.3000] ImageSize: [4845 4845] PixelExtentInWorldX: 0.0422 PixelExtentInWorldY: 0.0422 ImageExtentInWorldX: 204.4000 ImageExtentInWorldY: 204.4000 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.
The image displays only the area of the scene containing the parking lot. The full scene has a length and width of 705.6 meters.
figure fileName = 'sim3d_ParkingLot.jpg'; I = imshow(fileName,spatialRef); set(gca,'YDir','normal') xlabel('X (m)') ylabel('Y (m)')
Zoom in on the origin of the scene. Place a marker at the origin.
xlim([-40 10]) ylim([-30 20]) hold on plot(0,0,'o','MarkerFaceColor','r','MarkerEdgeColor','k','MarkerSize',8) offset = 1; % px text(offset,offset,'(0,0)','Color','w','FontWeight','bold','FontSize',12) hold off
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
For more details on customizing scenes, see Customize Unreal Engine Scenes for Automated Driving.