Modelling of Curved road in order to simulate in Carmaker

Hello guys,

I need support to model a curved road to simulate the scenario with matlab and IPG Carmaker? Could you support me on how to begin this_

Answer 1

[Ram Prasanth]

You can try using Driving Scenario Designer application in Matlab which will be useful to make your own scenario's.

Like Building curved roads, Ego's, Actors on the Roads and Ego's Charecteristic on the road while actors are present.

You can refer to the documentation of Driving Scenario Designer here - Design driving scenarios, configure sensors, and generate synthetic data - MATLAB - MathWorks France

[Ram Prasanth]

If you want to control the curvature then it is much more complicated than building just curved Roads. You need to define the curvature outside the Scenario designer then integrate it to get the heading angle which is the only controlling parameter in the scenario and then integrate it again to get the Y position on the road with this you can have an average approximation between the poitns. usually clothoids is the most robust way to define the curvature of the road.

[Arsiv]

Hi actually Im using the matlab 2015 and i dont know if the this version supports the Driving scenario designer.

[Ram Prasanth]

Ok. Driving Scenario Designer works only from R2018b. if you have automated toolbox. I think you need to try clothoids function. This is the Matlab documentation for clothoids - Clothoid-shaped lane boundary model - MATLAB - MathWorks France. But even it was introduced from R2018a but you can try it as it is just a function might have adopted in the toolbox if you have.

[Arsiv]

Looks like it is also not availiable!

[Ram Prasanth]

Hi. Then there is no other option rather than hardcoding the lane boundaries.

Here is a sample curved scenario which i created for one of my personal project. It might be a starting point for you. You inspire from this code and create your own scenario if needed.

% Define the characteristics of the curved road
lengthOfRoad = 100; % The length of the road in meters
roadWidth = 3.5; % The width of the road in meters
radiusOfCurvature = 50; % The radius of curvature of the road in meters
widthOfLane = 3.5; % The width of each lane in meters

% Generate points to represent the curved road
numberOfPoints = 1000; % The number of points to generate
angles = linspace(0, pi, numberOfPoints); % The range of angles for the curve
xCoordinates = radiusOfCurvature * cos(angles); % The x coordinates of the points
yCoordinates = radiusOfCurvature * sin(angles); % The y coordinates of the points

% Adjust the curve to fit the desired position and orientation
xCoordinates = xCoordinates - radiusOfCurvature; % Shift the center of the curve
yCoordinates = yCoordinates + roadWidth/2; % Adjust the curve vertically
xCoordinates = xCoordinates + lengthOfRoad/2; % Adjust the curve horizontally

% Plot the curved road
plot(xCoordinates, yCoordinates, 'b-', 'LineWidth', 2); % Plot the road curve

% Add lane markings
laneMarkingWidth = 0.1; % The width of lane markings
for lane = 1:2 % For each lane
    laneCenterY = (lane - 1) * widthOfLane + widthOfLane/2; % Calculate the y coordinate of the lane center
    laneMarkingY = [laneCenterY - widthOfLane/4, laneCenterY + widthOfLane/4]; % Calculate lane marking y coordinates
    plot([0, lengthOfRoad], [laneCenterY, laneCenterY], 'w-', 'LineWidth', roadWidth); % Plot lane boundaries
    for i = 1:floor(lengthOfRoad/widthOfLane)
        plot([i*widthOfLane, i*widthOfLane], laneMarkingY, 'y-', 'LineWidth', laneMarkingWidth); % Plot lane markings
    end
end

% Set plot properties
axis equal; % Set equal aspect ratio
xlabel('X (m)'); ylabel('Y (m)'); % Label axes
title('Curved Road Scenario'); % Set title
grid on; % Show grid

I used these codes to display the post processing data from the simulink at an App Created in the Matlab App Designer.

[Arsiv]

hey Thankyou for your valuable input, I will work on it and return back if i encounter any problems