MATLAB 및 Simulink를 사용하여 RoadRunner Scenario 시뮬레이션하기

MATLAB^® 및 Simulink^® 동작 개발, 액터 동작 퍼블리시, RoadRunner Scenario 시뮬레이션에서 동작 시뮬레이션, 시뮬레이션 제어, 시뮬레이션 파라미터에 액세스

Automated Driving Toolbox™는 MATLAB과 Simulink에서 모델링된 액터를 사용하여 RoadRunner에서 시나리오를 시뮬레이션하기 위한 프레임워크를 제공합니다. RoadRunner를 MATLAB과 함께 사용하려면 Connect MATLAB and RoadRunner to Control and Analyze Simulations 항목을 참조하십시오.

워크플로의 단계는 다음과 같습니다.

MATLAB System object 또는 Simulink 모델을 작성하여 액터 동작을 정의합니다.
액터 동작을 RoadRunner에 연결합니다.
선택적으로, 액터 동작을 퍼블리시합니다.
RoadRunner 시뮬레이션을 위해 MATLAB 또는 Simulink에 정의된 파라미터를 조정합니다.
RoadRunner 사용자 인터페이스를 사용하여 시나리오를 시뮬레이션하거나 MATLAB에서 프로그래밍 방식으로 시뮬레이션을 제어합니다.
시뮬레이션 로그를 사용하여 시뮬레이션 결과를 검사합니다.
저장된 시뮬레이션 로그에서 시나리오 시뮬레이션을 재생합니다.
시나리오 시뮬레이션 데이터를 ASAM Open Simulation Interface (OSI)^® 파일 형식으로 저장합니다.

자세한 내용은 Overview of Simulating RoadRunner Scenarios with MATLAB and Simulink 항목을 참조하십시오.

객체

모두 확장

시나리오 시뮬레이션

ScenarioSimulation Create, access, and control RoadRunner Scenario simulations from MATLAB (R2022a 이후)

시나리오 서비스

ScenarioServices Perform calculations on scene elements of RoadRunner Scenario in MATLAB (R2024b 이후)

액터 모델링

`ActorSimulation`	Access and modify runtime specifications of RoadRunner Scenario actor in MATLAB (R2022a 이후)
`ActorModel`	View static specifications of RoadRunner Scenario actor in MATLAB (R2022a 이후)

센서 모델링

SensorSimulation Add sensors and access sensor data from RoadRunner Scenario simulation (R2023a 이후)

기록

ScenarioLog View RoadRunner Scenario simulation outcomes in MATLAB at any time step (R2022a 이후)

ASAM Open Simulation Interface (OSI)

`openSimulationInterface`	Store RoadRunner Scenario simulation data in ASAM Open Simulation Interface (OSI) format (R2024b 이후)
`groundTruthArea`	Ground truth area centered at ego vehicle origin (R2025a 이후)

클래스

모두 확장

Unreal Engine 3차원 뷰어

sim3d.scenario.ActorBehavior Define RoadRunner actors that use Unreal Engine viewer visualization (R2023b 이후)

함수

모두 확장

시나리오 시뮬레이션

`addObserver`	Add observer to scenario simulation (R2022a 이후)
`get`	Get value of scenario simulation parameter (R2022a 이후)
`load`	Load saved simulation log (R2023a 이후)
`removeObserver`	Remove observer from scenario simulation (R2022a 이후)
`reportDiagnostic`	Report information, warning, or error message during scenario simulation (R2022a 이후)
`save`	Save simulation log to file for later use (R2023a 이후)
`set`	Set value of scenario simulation parameter (R2022a 이후)
`Simulink.ScenarioSimulation.find`	Return scenario simulations or actors in current MATLAB session (R2022a 이후)

시나리오 서비스

get Get calculations on scene elements of RoadRunner Scenario in MATLAB (R2024b 이후)

액터 모델링

`sendEvent`	Send event to scenario (R2022b 이후)
`receiveEvent`	Receive event from scenario (R2023a 이후)
`convertToStruct`	Convert actor to MATLAB structure (R2022a 이후)
`get`	Get scenario or static attribute of actor (R2022a 이후)
`getAction`	Get actions associated with actor (R2022a 이후)
`getAttribute`	Get run-time attribute of actor (R2022a 이후)
`setAttribute`	Set run-time attribute of actor (R2022a 이후)
`getAttribute`	Return static attribute of actor (R2022a 이후)
`reportDiagnostic`	Report information, warning, or error message during scenario simulation (R2022a 이후)
`Simulink.ActorSimulation.createMATLABStruct`	Create MATLAB structure for bus object for RoadRunner (R2024a 이후)
`Simulink.ActorSimulation.load`	Load built-in RoadRunner bus definitions into MATLAB workspace (R2024a 이후)

센서 모델링

`addSensors`	Add sensors to vehicle actors in RoadRunner scenario (R2023a 이후)
`targetPoses`	Get positions and orientations of targets in sensor range from RoadRunner Scenario (R2023a 이후)
`laneBoundaries`	Get lane boundaries relative to host vehicle from RoadRunner Scenario (R2023a 이후)

퍼블리시 중

`publishActor`	Generate package for actor simulation (R2022a 이후)
`publishActorBehavior`	Generate proto file for actor simulation (R2022a 이후)
`publishCustomAction`	Generate asset file for user-defined action (R2022b 이후)
`publishCustomEvent`	Generate asset file for user-defined event (R2023a 이후)

기록

`get`	Get logged scenario simulation data (R2022a 이후)
`view`	View logged scenario simulation data (R2024a 이후)

ASAM Open Simulation Interface (OSI)

`startRoadRunnerSimulation`	Start RoadRunner Scenario simulation (R2024b 이후)
`write`	Write OSI data to binary file (R2024b 이후)
`getProtoMessage`	Get OSI protocol buffer (protobuf) message at each simulation step (R2024b 이후)

Unreal Engine 3차원 뷰어

`onSimulationStart`	Specify code to run at start of simulation (R2023b 이후)
`onSimulationStop`	Specify code to run at end of simulation (R2023b 이후)
`onSimulationStep`	Specify code to run at each time step (R2023b 이후)
`matrix2transform`	Convert 4-by-4 pose matrix to translation, rotation, and scale vectors (R2023b 이후)
`transform2matrix`	Convert translation, rotation, and scale vectors to 4-by-4 pose matrix (R2023b 이후)

블록

RoadRunner Scenario	Define interface for Simulink actor model (R2022a 이후)
RoadRunner Scenario Reader	Reads selected topic from `RoadRunner` scenario (R2022a 이후)
RoadRunner Scenario Writer	Write selected topic to `RoadRunner` scenario (R2022a 이후)

앱

조감도 스코프

Visualize sensor coverages, detections, and tracks

도움말 항목

Connect MATLAB and RoadRunner to Control and Analyze Simulations
Use MATLAB with RoadRunner to control simulations programmatically and model actors in MATLAB or Simulink.
Overview of Simulating RoadRunner Scenarios with MATLAB and Simulink
This topic describes the workflow to simulate RoadRunner scenarios with MATLAB and Simulink.
Simulate RoadRunner Scenarios with Actors Modeled in Simulink
Author RoadRunner actor behaviors in Simulink and associate actor behavior in RoadRunner.
Simulate RoadRunner Scenarios with Actors Modeled in MATLAB
Author RoadRunner actors as MATLAB System object™ files and associate behaviors in RoadRunner.
Simulate RoadRunner Scenarios with Traffic Signals in MATLAB
Simulate RoadRunner Scenarios containing traffic signal actors in MATLAB.
Add Sensors to RoadRunner Scenario Using MATLAB
Simulate a RoadRunner Scenario with sensor models defined in MATLAB and visualize object and lane detections.
Add Sensors to RoadRunner Scenario Using Simulink
Simulate a RoadRunner Scenario with sensor models defined in Simulink and visualize object and lane detections.
Publish Ground Truth and Sensor Data from RoadRunner Scenario to ROS 2 Network (ROS Toolbox)
Publish ground-truth and sensor data from a RoadRunner scenario to ROS 2 network and visualize it using ROS Data Analyzer app. (R2025a 이후)
Publish Actor Behavior as Proto File, Package, Action Asset or Event Asset
Publish your Simulink or MATLAB System object actor behaviors as proto files, packages, action asset files or event asset files.
Publish Ready-to-Run Actor Behaviors for Reuse and Simulation Performance
Publish your Simulink or MATLAB System object actor behaviors with Matlab System blocks as ready-to-run packages to improve simulation performance.
Simulate RoadRunner Scenarios with Actors Modeled in MATLAB and View in Unreal Engine 3D Viewer
Define custom actor behavior and visualize RoadRunner simulations in 3D using sim3d.scenario.ActorBehavior object.
What Is a RoadRunner Pose Matrix?
Understand the position and orientation of a RoadRunner actor using its four-by-four pose matrix.