RoadRunner Scenario

Define interface for Simulink actor model

Since R2022a

• 

Libraries:
Automated Driving Toolbox / RoadRunner Scenario

Description

The RoadRunner Scenario block defines the interface of a Simulink^® actor model. The Block Parameters dialog box contains these tabs under which inputs are grouped together.

• Actions

• Events

• Configuration

The RoadRunner Scenario block must be present at the root level of the model, otherwise model compilation results in an error.

Parameters

Actions

Action name — Name of user-defined action

string

Name of user-defined action to map to a bus object.

To add an action name, click the Add button below the User-defined actions input table and double-click on a cell in the Action name column to type a new table entry.

Bus object name — Name of bus object

string

Name of bus object that corresponds to a user-defined action.

To add a bus object name corresponding to a user-defined action, double-click on a cell in the Bus object name column at the same level of the user-defined action, and type a new table entry.

All added bus object names must have a corresponding bus object. Bus objects represent a user-defined action. You must define a bus object in MATLAB^® in such a way that it contains the same parameter names, data types and values as the user-defined action that it represents in RoadRunner Scenario. The RoadRunner Scenario Reader and RoadRunner Scenario Writer blocks rely on a bus object loaded to the MATLAB workspace to recognize the structure of incoming user-defined actions.

For more information about creating a bus object for a user-defined action, see Author RoadRunner Actor Behavior Using User-Defined Actions or Events in Simulink.

Events

Event name — Name of user-defined event

string

Name of user-defined event to map to a bus object.

To add an event name, click the Add button below the User-defined events input table and double-click on a cell in the Event name column to type a new table entry.

Bus object name — Name of bus object

string

Name of bus object that corresponds to a user-defined event.

To add a bus object name corresponding to a user-defined event, double-click on a cell in the Bus object name column at the same level of the user-defined event, and type a new table entry.

All added bus object names must have a corresponding bus object. Bus objects represent a user-defined event. You must define a bus object in MATLAB in such a way that it contains the same parameter names, data types and values as the user-defined event that it represents in RoadRunner Scenario. The RoadRunner Scenario Reader and RoadRunner Scenario Writer blocks rely on a bus object loaded to the MATLAB workspace to recognize the structure of incoming user-defined events.

For more information about creating a bus object for a user-defined event, see Author RoadRunner Actor Behavior Using User-Defined Actions or Events in Simulink.

Configuration

Maximum Points on Path — Maximum number of points on path

500 (default) | positive scalar

Maximum number of points on the path of a vehicle actor to be read by a path-following action.

You can set the value of this parameter to any positive scalar between 1 and 2⁶⁴. There is a tradeoff between the maximum number of points and the simulation performance of the actor behavior model.

This parameter is applicable only if a Simulink actor behavior model contains a RoadRunner Scenario Reader block that reads the Path Following action of an actor by setting Topic Category to Action and Action Type to Path Following. The RoadRunner Scenario Reader block stops reading points on a path after its number reaches the maximum value.

Data Types: uint64

Version History

Introduced in R2022a

R2025a: Specify maximum number of points on path of actor

You can specify the maximum number of points on the path of a vehicle actor to be read by a path-following action.

To configure the maximum number of points, in the Maximum Points on Path field, on the Configuration tab, specify the required value.