World To Vehicle
Libraries:
Automated Driving Toolbox /
Driving Scenario and Sensor Modeling
Description
The World To Vehicle block converts actor poses from world coordinates to the vehicle coordinates of the input ego vehicle.
Ports
Input
Actors — Actor poses in world coordinates
Simulink® bus containing MATLAB® structure
Actor poses in world coordinates, specified as a Simulink bus containing a MATLAB structure.
The structure must contain these fields.
Field | Description | Type |
---|---|---|
NumActors | Number of actors | Nonnegative integer |
Time | Current simulation time | Real-valued scalar |
Actors | Actor poses | NumActors -length array of actor pose structures |
Each actor pose structure in Actors
must contain these
fields.
Field | Description |
---|---|
ActorID | Scenario-defined actor identifier, specified as a positive integer. |
In R2024b:
| Front-axle position of the vehicle, specified as a three-element row vector in the form [x y z]. Units are in meters. Note If the driving scenario does not contain a
front-axle trajectory for at least one vehicle,
then the
|
Position | Position of actor, specified as a real-valued vector of the form [x y z]. Units are in meters. |
Velocity | Velocity (v) of actor in the x- y-, and z-directions, specified as a real-valued vector of the form [vx vy vz]. Units are in meters per second. |
Roll | Roll angle of actor, specified as a real-valued scalar. Units are in degrees. |
Pitch | Pitch angle of actor, specified as a real-valued scalar. Units are in degrees. |
Yaw | Yaw angle of actor, specified as a real-valued scalar. Units are in degrees. |
AngularVelocity | Angular velocity (ω) of actor in the x-, y-, and z-directions, specified as a real-valued vector of the form [ωx ωy ωz]. Units are in degrees per second. |
Ego Vehicle — Ego vehicle pose
Simulink bus containing MATLAB structure
Ego vehicle pose, specified as a Simulink bus containing a MATLAB structure.
The structure must contain these fields.
Field | Description |
---|---|
ActorID | Scenario-defined actor identifier, specified as a positive integer. |
In R2024b:
| Front-axle position of the vehicle, specified as a three-element row vector in the form [x y z]. Units are in meters. Note If the driving scenario does not contain a
front-axle trajectory for at least one vehicle,
then the
|
Position | Position of actor, specified as a real-valued vector of the form [x y z]. Units are in meters. |
Velocity | Velocity (v) of actor in the x- y-, and z-directions, specified as a real-valued vector of the form [vx vy vz]. Units are in meters per second. |
Roll | Roll angle of actor, specified as a real-valued scalar. Units are in degrees. |
Pitch | Pitch angle of actor, specified as a real-valued scalar. Units are in degrees. |
Yaw | Yaw angle of actor, specified as a real-valued scalar. Units are in degrees. |
AngularVelocity | Angular velocity (ω) of actor in the x-, y-, and z-directions, specified as a real-valued vector of the form [ωx ωy ωz]. Units are in degrees per second. |
Output
Actors — Actor poses in vehicle coordinates
Simulink bus containing MATLAB structure
Actor poses in vehicle coordinates, returned as a Simulink bus containing a MATLAB structure.
The structure has these fields.
Field | Description | Type |
---|---|---|
NumActors | Number of actors | Nonnegative integer |
Time | Current simulation time | Real-valued scalar |
Actors | Actor poses | NumActors -length array of actor pose structures |
Each actor pose structure in Actors
has these fields.
Field | Description |
---|---|
ActorID | Scenario-defined actor identifier, specified as a positive integer. |
In R2024b:
| Front-axle position of the vehicle, specified as a three-element row vector in the form [x y z]. Units are in meters. Note If the driving scenario does not contain a
front-axle trajectory for at least one vehicle,
then the
|
Position | Position of actor, specified as a real-valued vector of the form [x y z]. Units are in meters. |
Velocity | Velocity (v) of actor in the x- y-, and z-directions, specified as a real-valued vector of the form [vx vy vz]. Units are in meters per second. |
Roll | Roll angle of actor, specified as a real-valued scalar. Units are in degrees. |
Pitch | Pitch angle of actor, specified as a real-valued scalar. Units are in degrees. |
Yaw | Yaw angle of actor, specified as a real-valued scalar. Units are in degrees. |
AngularVelocity | Angular velocity (ω) of actor in the x-, y-, and z-directions, specified as a real-valued vector of the form [ωx ωy ωz]. Units are in degrees per second. |
Parameters
Source of actors bus name — Source of name for actor poses bus
Auto
(default) | Property
Source of the name for the actor poses bus returned in the Actors output port, specified as one of these options:
Auto
— The block automatically creates an actor poses bus name.Property
— Specify the actor poses bus name by using the Actors bus name parameter.
Actors bus name — Name of actor poses bus
valid bus name
Name of the actor poses bus returned in the Actors output port, specified as a valid bus name.
Dependencies
To enable this parameter, set Source of actors bus name to Property
.
Simulate using — Type of simulation to run
Interpreted execution
(default) | Code generation
Interpreted execution
— Simulate the model using the MATLAB interpreter. This option shortens startup time. InInterpreted execution
mode, you can debug the source code of the block.Code generation
— Simulate the model using generated C/C++ code. The first time you run a simulation, Simulink generates C/C++ code for the block. The C code is reused for subsequent simulations as long as the model does not change. This option requires additional startup time.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.
Version History
Introduced in R2020a
MATLAB 명령
다음 MATLAB 명령에 해당하는 링크를 클릭했습니다.
명령을 실행하려면 MATLAB 명령 창에 입력하십시오. 웹 브라우저는 MATLAB 명령을 지원하지 않습니다.
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