Open Surface

Open surface 3D environment

Description

The Open Surface scene contains a 3D environment of an open, black road surface. The scene is rendered using RoadRunner.

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Setup

To simulate a driving algorithm in this scene:

1. Add a Simulation 3D Scene Configuration block to your Simulink^® model.

2. In this block, set the Scene source parameter to Default Scenes.

3. Set the enabled Scene name parameter to Open surface.

Examples

Explore Open Surface Scene

Explore the 3D Open Surface scene and inspect its dimensions by using a corresponding 2D top-view image of the scene.

You can use this image to inspect the scene before simulation and choose starting coordinates for vehicles. For details on using these images to select waypoints for path-following applications, see the Select Waypoints for Unreal Engine Simulation example.

Load the 2D spatial referencing object that corresponds to the scene. This imref2d object describes the relationship between the pixels in the image and the world coordinates of the scene.

data = load('sim3d_SpatialReferences.mat');
spatialRef = data.spatialReference.OpenSurface

spatialRef = 
  imref2d with properties:

           XWorldLimits: [-1010 1010]
           YWorldLimits: [-1010 1010]
              ImageSize: [4956 4956]
    PixelExtentInWorldX: 0.4076
    PixelExtentInWorldY: 0.4076
    ImageExtentInWorldX: 2020
    ImageExtentInWorldY: 2020
       XIntrinsicLimits: [0.5000 4.9565e+03]
       YIntrinsicLimits: [0.5000 4.9565e+03]

Display the image corresponding to the scene. Use the spatial referencing object to display the axes in the world coordinates of the scene. Units are in meters.

By default, the imshow function displays Y-axis values that increase from top to bottom. To align with the Automated Driving Toolbox™ world coordinate system, set the Y-direction to 'normal' so that Y-axis values increase from bottom to top.

Place a marker at the origin of the scene.

figure
fileName = 'sim3d_OpenSurface.jpg';
I = imshow(fileName,spatialRef);
set(gca,'YDir','normal')
xlabel('X (m)')
ylabel('Y (m)')

hold on
plot(0,0,'o','MarkerFaceColor','r','MarkerEdgeColor','k','MarkerSize',8)
offset = 10; % px
text(offset,offset,'(0,0)','Color','w','FontWeight','bold','FontSize',12)
hold off

Tips

• If you have the Automated Driving Toolbox™ Interface for Unreal Engine^® Projects support package, then you can modify this scene. In the Unreal Engine project file that comes with the support package, this scene is named BlackLake.

  For more details on customizing scenes, see Customize Unreal Engine Scenes for Automated Driving.

Version History

Introduced in R2019b

R2022b: Scene rendered using RoadRunner

Starting from R2022b, the Open Surface scene in the Unreal Engine 3D environment is rendered using RoadRunner. As a result, the locations of scene objects, including cones and parked vehicles, are moved from their pre-R2022b locations.