RoadRunner Scenario Writer
Libraries:
Automated Driving Toolbox /
RoadRunner Scenario
Description
The RoadRunner Scenario Writer block writes actor, event, or diagnostic
information to a RoadRunner scenario. The block receives this topic information,
computed internally by a Simulink® actor behavior model, as input in the form of
Simulink® messages. You can set the Topic
Category parameter to Actor
,
Event
, or Diagnostics
. For example,
when you select the Actor
topic, the block writes dynamic data
associated with the actor, such as actor ID, velocity and angular velocity, to the
scenario.
The RoadRunner Scenario Writer block writes information to a scenario in the form of certain bus types. A bus type defines the fixed structure of a bus object, including the names, data types, and dimensions of the bus elements. To enable writing to a scenario, load the required bus types into the MATLAB® base workspace by clicking load function in the Block Parameters dialog box. This action enables the block to receive a bus of the expected type to write to a scenario. For example, while building a Simulink actor behavior model, you can set the Output data type parameter of a Bus Creator (Simulink) block to a loaded bus type and then fill in values of the corresponding bus elements. You can then forward this bus as an input to the RoadRunner Scenario Writer block.
If you are using an actor group in RoadRunner Scenario, you can use the RoadRunner Scenario Writer block to control the behavior of individual child actors in the following ways.
Use one RoadRunner Scenario Writer block to send messages to different actors. For example, you can queue messages carrying results of different logic implementations within the model to the RoadRunner Scenario Writer block by using the Message Merge block. Each of these messages can carry a different value of
ActorID
.Use multiple RoadRunner Scenario Writer blocks. You can point the
ActorID
value of theActor Pose
,Actor Pose (Driving Scenario compatible)
, orVehicle Pose
bus of each RoadRunner Scenario Writer block to a different child actor.
Ports
Input
Parameters
More About
Version History
Introduced in R2022a