selectActorRoads

R2026b

Extract properties of roads in path of actor

Since R2022b

Syntax

actorRoadProperties = selectActorRoads(roadProperties,waypoints)

actorRoadProperties = selectActorRoads(___,Name=Value)

Description

Add-On Required: This feature requires the Scenario Builder for Automated Driving Toolbox add-on.

actorRoadProperties = selectActorRoads(roadProperties,waypoints) extracts properties of roads in the path of an actor, actorRoadProperties, from the input road properties roadProperties, which contains road information for a road network. waypoints specifies the position of the actor at each waypoint.

actorRoadProperties = selectActorRoads(___,Name=Value) specifies options using name-value arguments in addition to the input arguments from the previous syntax. For example, MaxDistance=2 specifies the maximum distance from a waypoint to a road boundary as 2 meters.

Examples

Extract Actor Road Segments Using Waypoints

Specify geographic coordinates to create waypoints for an actor.

lat = linspace(42.300742,42.301988,50);
lon = linspace(-71.352551,-71.345491,50);
alt = zeros(1,50);

Use latitude and longitude to fetch the map parameters for the corresponding region.

mapParameters = getMapROI(lat,lon);

Use the osmUrl parameter in the mapParameters output structure to import and save the OpenStreetMap file.

filename = websave("drive_map.osm",mapParameters.osmUrl, ...
    weboptions(ContentType="xml"));

Get the road network properties from the map.

[roadProperties,geoReference] = roadprops("OpenStreetMap",filename);

Convert the geographic coordinates to local Cartesian coordinates, and create waypoints.

[xEast,yNorth,zUp] = latlon2local(lat,lon,alt,geoReference);
waypoints = [xEast; yNorth; zUp]';

Extract and display the actor road properties.

actorRoadProperties = selectActorRoads(roadProperties,waypoints)

actorRoadProperties = 18×10 table
     3    0        "Wheeler Lane"                                                                           14×3 double    7.3500              14×1 double                                  14×1 double    1×1 lanespec    132×3 double    132×3 double
    11    0    "Worcester Street"                                                                           44×3 double    3.7500              41×1 double                                  41×1 double    1×1 lanespec    860×3 double    860×3 double
    24    0           "567740618"                                                                           18×3 double    7.3500              18×1 double                                  18×1 double    1×1 lanespec    181×3 double    181×3 double
    25    0           "567740619"                                                                            5×3 double    3.7500              [0;0;0;0;0]                        [NaN;NaN;NaN;NaN;NaN]    1×1 lanespec     20×3 double     20×3 double
    26    0           "567740619"                                                                            5×3 double    3.7500              [0;0;0;0;0]                        [NaN;NaN;NaN;NaN;NaN]    1×1 lanespec     20×3 double     20×3 double
    28    0           "567741165"                                  [249.1556,43.7474,-0.0050;242.1030,113.6270,-0.0056]    7.3500                    [0;0]                                    [NaN;NaN]    1×1 lanespec     37×3 double     37×3 double
    29    0           "567741168"                                                                           51×3 double    7.3500    [0;0;0;0;0;0;0;0;0;0]    [NaN;NaN;NaN;NaN;NaN;NaN;NaN;NaN;NaN;NaN]    1×1 lanespec     66×3 double     66×3 double
    30    0           "567741168"                                                                           13×3 double    7.3500              13×1 double                                  13×1 double    1×1 lanespec     78×3 double     78×3 double
    34    0           "567741798"                                                                           19×3 double    7.3500              19×1 double                                  19×1 double    1×1 lanespec     74×3 double     74×3 double
    35    0           "567741799"                                                                            4×3 double    7.3500                [0;0;0;0]                            [NaN;NaN;NaN;NaN]    1×1 lanespec     11×3 double     11×3 double
    36    0           "567741799"                                                                            7×3 double    7.3500          [0;0;0;0;0;0;0]                [NaN;NaN;NaN;NaN;NaN;NaN;NaN]    1×1 lanespec     24×3 double     24×3 double
    37    0           "567741799"        [-65.0187,-0.7773,-0.0003;-63.7737,-20.6271,-0.0004;-63.3450,-27.5362,-0.0004]    7.3500                  [0;0;0]                                [NaN;NaN;NaN]    1×1 lanespec     15×3 double     15×3 double
    39    0           "567741801"        [-82.5250,-30.3574,-0.0006;-84.2236,-23.6260,-0.0006;-88.7916,-5.5090,-0.0006]    7.3500                  [0;0;0]                                [NaN;NaN;NaN]    1×1 lanespec     14×3 double     14×3 double
    41    0           "567741801"    [-126.0630,-10.3626,-0.0013;-124.3647,-29.5348,-0.0013;-123.7546,-36.4218,-0.0013]    7.3500                  [0;0;0]                                [NaN;NaN;NaN]    1×1 lanespec     15×3 double     15×3 double
      ⋮

Extract Road-Name-Specific Actor Road Properties

Specify geographic coordinates to create waypoints for an actor.

lat = linspace(42.300742,42.301688,50);
lon = linspace(-71.352551,-71.345491,50);
alt = zeros(1,50);

Use latitude and longitude to fetch the map parameters for the corresponding region.

mapParameters = getMapROI(lat,lon);

Use the osmUrl parameter in the mapParameters output structure to import and save the OpenStreetMap file.

filename = websave("drive_map.osm",mapParameters.osmUrl, ...
    weboptions(ContentType="xml"));

Get the road network properties from the map.

[roadProperties,geoReference] = roadprops("OpenStreetMap",filename);

Convert the geographic coordinates to local Cartesian coordinates, and create waypoints.

[xEast,yNorth,zUp] = latlon2local(lat,lon,alt,geoReference);
waypoints = [xEast; yNorth; zUp]';

Extract and display the actor road properties.

actorRoadProperties = selectActorRoads(roadProperties,waypoints, ...
    RoadNames="Worcester Street")

actorRoadProperties = 4×10 table
     7    0    "Worcester Street"                                            44×3 double    3.7500    41×1 double    41×1 double    1×1 lanespec    860×3 double    860×3 double
     8    0    "Worcester Street"    [-230.5812,-33.1755,-0.0042;14.8261,4.6542,-0.0000]    3.7500          [0;0]      [NaN;NaN]    1×1 lanespec    126×3 double    126×3 double
     9    0    "Worcester Street"      [14.8261,4.6542,-0.0000;256.8089,39.8044,-0.0053]    3.7500          [0;0]      [NaN;NaN]    1×1 lanespec    124×3 double    124×3 double
    10    0    "Worcester Street"                                            30×3 double    3.7500    34×1 double    34×1 double    1×1 lanespec    522×3 double    522×3 double

Input Arguments

roadProperties — Road properties

table

Road properties of a road network, specified as a table. The table must contain these columns.

Column	Description
RoadID	Identifier of road, specified as a positive integer.
JunctionID	Identifier of junction, specified as a positive integer.
RoadName	Name of road, specified as a character vector.
RoadCenters	Road centers used to define a road, specified as a real-valued N-by-3 matrix, where N is the number of road centers.
RoadWidth	Width of road in meters, specified as a positive real scalar.
LeftBoundary	Left boundaries of the road segment, specified as an M-by-3 matrix. M is the number of road boundary points.
RightBoundary	Right boundaries of the road segment, specified as an M-by-3 matrix. M is the number of road boundary points.

waypoints — Actor positions in navigation coordinate system

P-by-3 matrix

Actor positions in the navigation coordinate system, in meters, specified as a P-by-3 matrix. P is the number of waypoints. Each waypoint represents the position of the actor in the form [x y z].

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: selectActorRoads(roadProperties,waypoints,MaxDistance=2) specifies the maximum distance from a waypoint to a road boundary as 2 meters.

MaxDistance — Maximum Euclidean distance from waypoint to road boundary

5 (default) | nonnegative scalar

Maximum Euclidean distance from a waypoint to a road boundary, in meters, specified as a nonnegative scalar. Roads with boundaries at a distance greater than MaxDistance from each waypoint are excluded in the returned actorRoadProperties table.

Data Types: single | double

RoadNames — Name of roads in path of actor

character vector | string scalar | string array | cell array of character vectors

Name of the roads in the path of an actor, specified as a character vector, string scalar, string array, or cell array of character vectors.

By default, the function returns the properties of all the roads in the path of the actor. If you specify this argument, the function extracts only the roads in the path of the actor that are specified in RoadNames.

To use this name-value argument, you must know the names of the roads beforehand.

Note

Road names are generally present only for road networks extracted using an OpenStreetMap^® road network file.

Data Types: string | char | cell

Output Arguments

actorRoadProperties — Actor road properties

table

Actor road properties, returned as a table. The table contains the properties of the roads near the specified actor waypoints. This table has the same columns as the roadProperties table.

Version History

Introduced in R2022b