Does Scenario Reader convert from vehicle coordinate to global?

Hi,

I have a question about the Driving Scenario Designer from the ADT toolbox. I created a scenario with a few waypoints for the ego vehicle (the only vehicle) to follow, on a straight road. It's input side is connected to the 2 DOF bicycle model through a Matlab PackEgoActor script that basically a bus/struct file. If we choose vehicle coordinates as our coordinate system of outputs and source of ego vehicle is the input port, does that mean that when we run the simulation the Scenario Reader block converts the vehicle coordinates to global coordinates? or is that not done and we have to add additional functionality to convert from vehicle coordinates to global?

Answer 1

[Liang Liu]

You could try the block vehicletoworld convert from vehicle coordinates to world:

https://www.mathworks.com/help/driving/ref/vehicletoworld.html