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World To Vehicle

Convert actors from world coordinates to ego vehicle coordinates

  • Library:
  • Automated Driving Toolbox / Driving Scenario and Sensor Modeling

  • World To Vehicle block

Description

The World To Vehicle block converts actor poses from world coordinates to the vehicle coordinates of the input ego vehicle.

Ports

Input

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Actor poses in world coordinates, specified as a Simulink bus containing a MATLAB structure.

The structure must contain these fields.

FieldDescriptionType
NumActorsNumber of actorsNonnegative integer
TimeCurrent simulation timeReal-valued scalar
ActorsActor posesNumActors-length array of actor pose structures

Each actor pose structure in Actors must contain these fields.

FieldDescription
ActorID

Scenario-defined actor identifier, specified as a positive integer.

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-direction, 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-direction, specified as a real-valued vector of the form [ωx, ωy, ωz]. Units are in degrees per second.

Ego vehicle pose, specified as a Simulink bus containing a MATLAB structure.

The structure must contain these fields.

FieldDescription
ActorID

Scenario-defined actor identifier, specified as a positive integer.

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-direction, 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-direction, specified as a real-valued vector of the form [ωx, ωy, ωz]. Units are in degrees per second.

Output

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Actor poses in vehicle coordinates, returned as a Simulink bus containing a MATLAB structure.

The structure has these fields.

FieldDescriptionType
NumActorsNumber of actorsNonnegative integer
TimeCurrent simulation timeReal-valued scalar
ActorsActor posesNumActors-length array of actor pose structures

Each actor pose structure in Actors has these fields.

FieldDescription
ActorID

Scenario-defined actor identifier, specified as a positive integer.

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-direction, 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-direction, specified as a real-valued vector of the form [ωx, ωy, ωz]. Units are in degrees per second.

Parameters

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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.

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.

  • Interpreted execution — Simulate the model using the MATLAB interpreter. This option shortens startup time. In Interpreted 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™.

Introduced in R2020a