Parking Lot

Parking lot 3D environment

Description

The Parking Lot scene is a 3D environment of a parking lot. The scene is rendered using the Unreal Engine® from Epic Games®.

To simulate a driving algorithm within this scene:

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

  2. In this block, set the Scene description parameter to Parking lot.

Explore Parking Lot Scene

Explore the 3D Parking Lot 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 3D 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.ParkingLot
spatialRef = 
  imref2d with properties:

           XWorldLimits: [-195.5000 8.9000]
           YWorldLimits: [-27.1000 177.3000]
              ImageSize: [4845 4845]
    PixelExtentInWorldX: 0.0422
    PixelExtentInWorldY: 0.0422
    ImageExtentInWorldX: 204.4000
    ImageExtentInWorldY: 204.4000
       XIntrinsicLimits: [0.5000 4.8455e+03]
       YIntrinsicLimits: [0.5000 4.8455e+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.

The image displays only the area of the scene containing the parking lot. The full scene has a length and width of 705.6 meters.

figure
fileName = 'sim3d_ParkingLot.jpg';
I = imshow(fileName,spatialRef);
set(gca,'YDir','normal')
xlabel('X (m)')
ylabel('Y (m)')

Zoom in on the origin of the scene. Place a marker at the origin.

xlim([-40 10])
ylim([-30 20])

hold on
plot(0,0,'o','MarkerFaceColor','r','MarkerEdgeColor','k','MarkerSize',8)
offset = 1; % px
text(offset,offset,'(0,0)','Color','w','FontWeight','bold','FontSize',12)
hold off