Problem in my script on MATLAB, theme: kinematic bicycle model, road extraction, Simulink

i have exported a function script from a drivingsenariodesigner toolbox and i have added a code to extract the x,y path from the data and waypoints provided.

is my code right?

how can i get the x,y plot

how can i use this function in Simulink?

is there any other way to extract a road to MATLAB function ?

knowing that my aim is to extract x,y path from a road to integrate it in my kinematic bicycle model on simulink.

function [xPath, yPath] = extractCoordinates()
    % createDrivingScenario Returns the drivingScenario defined in the Designer
 
function scenario = road()
% createDrivingScenario Returns the drivingScenario defined in the Designer
 
% Generated by MATLAB(R) 9.9 (R2020b) and Automated Driving Toolbox 3.2 (R2020b).
% Generated on: 03-Sep-2023 12:35:41
 
% Construct a drivingScenario object.
scenario = drivingScenario('GeographicReference', [36.7324 3.05285 0], ...
    'VerticalAxis', 'Y');
 
% Add all road segments
roadCenters = [216.001 -55.9053 -0.00389893;
    283.244 -60.5975 -0.00657046;
    292.855 -61.6625 -0.00701424;
    331.229 -65.9335 -0.00893222;
    378.642 -75.0646 -0.0116688];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
roadCenters = [93.9858 -50.1258 0.815777;
    216.001 -55.9053 -0.00389893];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
roadCenters = [735.311 -295.977 -0.0492237;
    720.428 -274.993 -0.0465851;
    704.446 -253.299 -0.0439008;
    687.008 -232.693 -0.0412134;
    659.413 -204.497 -0.0373349;
    623.092 -172.673 -0.0327437];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
roadCenters = [623.092 -172.673 -0.0327437;
    558.454 -130.741 -0.019014;
    491.628 -92.415 0.00740094;
    450.958 -75.7824 0.0443691;
    382.857 -55.9771 0.0962656;
    337.865 -47.8336 0.159615;
    306.744 -44.2282 0.235454;
    261.556 -40.8672 0.325228;
    211.267 -39.2484 0.42834;
    126.982 -35.932 0.54533;
    -32.6833 -26.6556 0.674792;
    -115.548 -19.4638 0.815591];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
roadCenters = [581.243 -166.639 -0.0286364;
    604.915 -185.392 -0.0313541;
    627.104 -202.103 -0.0340038;
    652.153 -222.209 -0.0371836;
    680.113 -250.416 -0.0411487;
    710.621 -286.568 -0.0459974;
    729.141 -315.131 -0.0494366;
    760.74 -365.754 -0.0558334;
    850.545 -510.443 -0.0771328;
    910.753 -604.386 -0.0936717];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
roadCenters = [-1193.087 159.3178 -0.113451;
    -1118.459 162.648 -0.1000283;
    -1068.251 163.7957 -0.09146141;
    -1026.619 163.0249 -0.0846128;
    -989.1135 160.2906 -0.0786238;
    -951.9746 152.9844 -0.07279926;
    -916.7653 143.6588 -0.06742988];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
roadCenters = [-916.765 143.659 -0.0674299;
    -872.008 130.848 0.143282;
    -785.771 98.8905 0.767553];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
roadCenters = [-1204.705 175.122 -0.116048;
    -1291.312 169.9522 -0.1328336;
    -1364.511 166.6233 -0.1479671;
    -1445.007 165.8042 -0.1656534];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
roadCenters = [-1573.03 165.7491 -0.1959051;
    -1606.597 166.4211 -0.2042794;
    -1634.626 168.7014 -0.2114527;
    -1672.247 172.404 -0.2212931;
    -1731.893 182.3147 -0.2374677;
    -1764.476 189.0019 -0.2465829;
    -1817.057 200.3987 -0.2616771;
    -1838.984 206.5513 -0.2681508;
    -1885.453 223.7954 -0.2822858];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
roadCenters = [-1885.453 223.7954 -0.2822858;
    -1927.314 239.3076 -0.2953477;
    -1949.115 249.1558 -0.302343;
    -1977.56 262.7565 -0.3116361;
    -1994.993 271.7605 -0.3174371];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
roadCenters = [-1994.993 271.7605 -0.3174371;
    -2018.821 284.1173 -0.3254657;
    -2030.44 290.9116 -0.3294567;
    -2073.521 317.6108 -0.3445779;
    -2129.506 357.2418 -0.3651051;
    -2229.361 439.4204 -0.4043333];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
roadCenters = [-1445.007 165.8042 -0.1656534;
    -1514.838 163.9075 -0.1817878;
    -1557.132 164.2702 -0.1919701;
    -1573.03 165.7491 -0.1959051];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
roadCenters = [-254.284 -23.811 1.83239;
    -249.345 -24.3549 1.99138;
    -118.603 -36.9198 1.65481;
    93.9858 -50.1258 0.815777];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
roadCenters = [-115.548 -19.4638 0.815591;
    -247.871 -7.00988 1.88373;
    -255.865 -5.9776 1.83237];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
roadCenters = [-292.782 -1.21569 1.83079;
    -306.698 0.582554 1.97192;
    -445.639 22.2727 1.98071;
    -493.828 27.5244 1.86939;
    -543.062 34.7073 1.63283;
    -590.169 45.5857 1.27129;
    -615.483 52.5011 0.786789];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
roadCenters = [-767.1283 113.4373 -0.04708969;
    -800.9799 126.3466 -0.05148945;
    -865.1908 148.736 -0.06035068;
    -920.1749 166.1644 -0.06846861;
    -968.3267 175.7467 -0.07584634;
    -1024 181.4128 -0.08469029;
    -1041.578 181.3927 -0.08753271];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
roadCenters = [-683.026 77.9079 -0.0370057;
    -767.128 113.437 -0.0470897];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
roadCenters = [-785.771 98.8905 0.767553;
    -688.226 61.0515 1.20012;
    -640.878 44.8681 1.53435;
    -598.093 31.9144 1.77608;
    -561.847 23.0453 1.92524;
    -496.66 10.8342 1.98484;
    -308.7 -17.8499 1.95918;
    -299.133 -18.8934 1.83047];
laneSpecification = lanespec(1);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Première Rocade Sud');
 
    % Initialize arrays to store X and Y coordinates
    xPath = 0;
    yPath = 0;
 
    % Loop through the road segments in the scenario
    for i = 1:numel(scenario.RoadNetwork)
        roadSegment = scenario.RoadNetwork(i);
        for j = 1:numel(roadSegment.Waypoints)
            waypoints = roadSegment.Waypoints{j};
            
            % Extract X and Y coordinates and append to arrays
            xPath = [xPath; waypoints(:, 1)];
            yPath = [yPath; waypoints(:, 2)];
            
Call the function to extract coordinates
[xPath, yPath] = extractCoordinates();

            % Plot the path
plot(xPath,yPath,'b')
axis equal
xlabel('X')
ylabel('Y')
title('Road Path in Local Coordinates')
        end
    end
end
end

Answer 1

[Altaïr]

Hey @Asmaa,

I think the function of interest is the trajectory function which is available in the Automated Driving Toolbox. It is designed for creating actor or vehicle trajectories within a driving scenario. It allows specification of waypoints, speeds at those waypoints, wait times, and yaw angles as inputs. The function generates a path for the actor to follow, using the provided waypoints and interpolating the motion smoothly between them. Speed can be provided as either a constant value or as a vector for varying speeds along the trajectory. Setting the speed to zero at consecutive waypoints results in a stationary actor at those points.

The documentation provides detailed examples for various scenarios, including vehicles traveling along curves, trajectories with varying speeds, and pedestrian movement. For more information, the documentation can be accessed with:

web(fullfile(docroot, 'driving/ref/drivingscenario.trajectory.html'))