Double Lane Change

Double lane change 3D environment

Description

The Double Lane Change scene is a 3D environment of a straight road containing cones, traffic signs, and barrels. The cones are set up for a vehicle to perform a double lane change maneuver. The scene is rendered using RoadRunner.

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Setup

To simulate a driving maneuver 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 Double lane change.

Layout

The scene uses the world coordinate system to locate objects. The active area of the scene contains the road.

Overall	Active Area

Scene Dimensions

This table provides the scene area corner locations in the world coordinate system. Dimensions are in m.

Locations	X	Y	Z
Scene — Top left	-1008	-1008	0
Scene — Bottom right	1008	1008	0
Active area — Bottom left	-800	8.35	0

Recommended Starting Location

This table provides the recommended starting location for the vehicle in the world coordinate system. Dimensions are in m and deg.

Recommended Starting Location
X (m)	Y (m)	Z (m)	Roll (deg)	Pitch (deg)	Yaw (deg)
0	5.7	0	0	0	0

Lane Dimensions

This figure and table provides the lane dimensions, in m.

Variable	Dimension (m)
lw1	0.625
lw2	3.85
lw3	3.85
lw4	0.34
lw5	3.85
lw6	3.85
lw7	0.625
ml	1.5
s	4.5
mww	0.125
mwy	0.125
W	16.70

World Coordinate System

The 3D visualization environment uses a world coordinate system with axes that are fixed in the inertial reference frame.

Axis	Description
X	Forward direction of the vehicle Roll — Right-handed rotation about X-axis
Y	Extends to the right of the vehicle, parallel to the ground plane Pitch — Right-handed rotation about Y-axis
Z	Extends upwards Yaw — Left-handed rotation about Z-axis

Objects

Traffic Signs

Locations

This table provides the object names and locations in the world coordinate system. Dimensions are in m.

Object	Unreal® Editor Name	Location
		X (m)	Y (m)	Z (m)	Roll (deg)	Pitch (deg)	Yaw (deg)
Traffic sign	Sign_R1-1_0Node	248.80	-10.00	0	0	0	0
	Sign_R1-1_0Node75	248.80	10.00	0

Traffic Signal Light

In the Unreal Editor, the Double Lane Change scene has a Sim3DGetInteger actor with signal name TrafficLight1. You can use it with the Simulation 3D Message Set block to control the traffic signal light color.

Locations

This table provides the object names and locations in the world coordinate system. Dimensions are in m.

Object	Unreal Editor Name	Location
		X (m)	Y (m)	Z (m)	Roll (deg)	Pitch (deg)	Yaw (deg)
Traffic signal light	SM_TrafficLightsSideOnly	5.43	9.00	0	0	0	180.00°

Barrels

Locations

This table provides the object names and locations in the world coordinate system. Dimensions are in m.

Object	Unreal Editor Name	Location
		X (m)	Y (m)	Z (m)	Roll (deg)	Pitch (deg)	Yaw (deg)
Barrels	Drum01Node	252.70	7.50	0	0	0	180.00°
	Drum01Node67	252.70	5.35	0	0	0	0
	Drum01Node68	252.70	3.20	0	0	0	0
	Drum01Node69	252.70	-1.05	0	0	0	0
	Drum01Node70	252.70	-1.1	0	0	0	0
	Drum01Node71	252.70	-3.25	0	0	0	0
	Drum01Node72	252.70	-5.40	0	0	0	0
	Drum01Node73	252.70	-7.55	0	0	0	0

Tips

• If you have the Vehicle Dynamics Blockset™ 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 DblLnChng.

  For more details on customizing scenes, see Customize 3D Scenes for Vehicle Dynamics Simulations.

Version History

Introduced in R2018b

R2022b: Scene rendered using RoadRunner

Starting from R2022b, the Double Lane Change 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.