Virtual Mcity 3D environment
The Virtual Mcity scene is a 3D environment containing a virtual representation of Mcity®, which is a testing ground belonging to the University of Michigan. For more details, see Mcity Test Facility.
The scene is rendered using the Unreal Engine® from Epic Games®.
To simulate a driving algorithm within this scene:
Add a Simulation 3D Scene Configuration block to your Simulink® model.
In this block, set the Scene description parameter to
Explore the 3D Virtual Mcity 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.VirtualMCity
spatialRef = imref2d with properties: XWorldLimits: [-159.3500 253.3500] YWorldLimits: [-94.4500 318.2500] ImageSize: [4845 4845] PixelExtentInWorldX: 0.0852 PixelExtentInWorldY: 0.0852 ImageExtentInWorldX: 412.7000 ImageExtentInWorldY: 412.7000 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 city. The full scene has a length of 541.44 meters and a width of 342.98 meters.
figure fileName = 'sim3d_VirtualMCity.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([-20 50]) ylim([-40 30]) hold on plot(0,0,'o','MarkerFaceColor','r','MarkerEdgeColor','k','MarkerSize',8) offset = 1; % px text(offset,offset,'(0,0)','Color','k','FontWeight','bold','FontSize',12) hold off