This example shows how to programmatically create variations of a driving scenario that was built using the Driving Scenario Designer app. Programmatically creating variations of a scenario enables you to rapidly test your driving algorithms under multiple conditions.
To create programmatic variations of a driving scenario, follow these steps:
Interactively build a driving scenario by using the Driving Scenario Designer app.
Export a MATLAB® function that generates the MATLAB code that is equivalent to this scenario.
In the MATLAB Editor, modify the exported function to create variations of the original scenario.
Call the function to generate a
drivingScenario object that represents the scenario.
Import the scenario object into the app to simulate the modified scenario or generate additional scenarios. Alternatively, to simulate the modified scenario in Simulink®, import the object into a Simulink model by using a Scenario Reader block.
The diagram shows a visual representation of this workflow.
Before beginning this example, add the example file folder to the MATLAB search path.
Use the Driving Scenario Designer to interactively build a driving scenario on which to test your algorithms. For more details on building scenarios, see Build a Driving Scenario and Generate Synthetic Detections.
This example uses a driving scenario that is based on one of the prebuilt scenarios that you can load from the Driving Scenario Designer app.
Open the scenario file in the app.
Click Run to simulate the scenario. In this scenario, the ego vehicle travels north and goes straight through an intersection. Meanwhile, a vehicle coming from the left side of the intersection turns left and ends up in front of the ego vehicle, in the adjacent lane.
This scenario does not include sensors mounted on the ego vehicle. If you have a scenario that includes sensors, you can save them to a scenario file by selecting Save > Sensors. Then, in the Driving Scenario Designer app, you can import the sensor file into a programmatic scenario file that you previously generated. The app does not support the direct import of programmatic sensor files.
After you view and simulate the scenario, you can export the scenario to the MATLAB command line. From the Driving Scenario Designer app toolstrip, select Export > Export MATLAB Function. The exported function contains the MATLAB code used to produce the scenario created in the app. Open the exported function.
Calling this function returns these aspects of the driving scenario.
If your scenario contains sensors, then the returned function includes additional code for generating the sensors. If you simulated the scenario containing those sensors, then the function can also generate the detections produced by those sensors.
By modifying the code in the exported MATLAB function, you can generate multiple variations of a single scenario. One common variation is to test the ego vehicle at different speeds. In the exported MATLAB function, the speed of the ego vehicle is set to a constant value of 10 meters per second (
speed = 10). To generate varying ego vehicle speeds, you can convert the speed variable into an input argument to the function. Open the script containing a modified version of the exported function.
In this modified function:
egoSpeed is included as an input argument.
speed, the constant variable, is deleted.
To compute the ego vehicle trajectory,
egoSpeed is used instead of
This figure shows these script modifications.
To produce additional variations, consider:
Modifying the road and lane parameters to view the effect on lane detections
Modifying the trajectory or starting positions of the vehicles
Modifying the dimensions of the vehicles
Using the modified function, generate a variation of the scenario in which the ego vehicle travels at a constant speed of 20 meters per second.
scenario = LeftTurnScenarioNoSensorsModified(20) % m/s
scenario = drivingScenario with properties: SampleTime: 0.0400 StopTime: Inf SimulationTime: 0 IsRunning: 1 Actors: [1x2 driving.scenario.Vehicle]
To import the modified scenario with the modified vehicle into the app, use the
drivingScenarioDesigner function. Specify the
drivingScenario object as an input argument.
Previously, the other vehicle passed through the intersection first. Now, with the speed of the ego vehicle increased from 10 to 20 meters per second, the ego vehicle passes through the intersection first.
When working with
drivingScenario objects in the app, keep these points in mind.
To try out different ego vehicle speeds, call the exported function again, and then import the new
drivingScenario object using the
drivingScenarioDesigner function. The app does not include a menu option for importing these objects.
To add sensors previously saved to a scenario file into this scenario, from the app toolstrip, select Open > Sensors.
If you make significant changes to the dimensions of an actor, be sure that the
ClassID property of the actor corresponds to a Class ID value specified in the app. For example, in the app, cars have a Class ID of
1 and trucks have a Class ID of
2. If you programmatically change a car to have the dimensions of a truck, update the
ClassID property of that vehicle from
1 (car) to
To import the modified scenario into a Simulink model, use a Scenario Reader block. This block reads the roads and actors from either a scenario file saved from the app or a
drivingScenario variable saved to the MATLAB workspace or the model workspace. Add a Scenario Reader block to your model and set these parameters.
Set Source of driving scenario to
Set MATLAB or model workspace variable name to the name of the
drivingScenario variable in your workspace.
When working with
drivingScenario objects in Simulink, keep these points in mind.
When Source of ego vehicle is set to
Scenario, the model uses the ego vehicle defined in your
drivingScenario object. The block determines which actor is the ego vehicle based on the specified
ActorID property of the actor. This actor must be a
Vehicle object (see
vehicle). To change the designated ego vehicle, update the Ego vehicle ActorID parameter.
When connecting the output actor poses to Radar Detection Generator or Vision Detection Generator blocks, update these sensor blocks to obtain the actor profiles directly from the
drivingScenario object. By default, these blocks use the same set of actor profiles for all actors, where the profiles are defined on the Actor Profiles tab of the blocks. To obtain the profiles from the object, on the Actor Profiles tab of each sensor block, set the Select method to specify actor profiles parameter to
MATLAB expression. Then, set the MATLAB expression for actor profiles parameter to call the
actorProfiles function on the object. For example:
When you are done with this example, remove the example file folder from the MATLAB search path.