How to create a drivingScenario based on openstreetmap with building information?

In matlab example “

Simulate GNSS Multipath Effects in Urban Canyon Environment

”, a drivingScenario containing 3D buildings is imported (according to the description, this drivingScenario is generated based on openstreetmap), which is used for subsequent GNSS NLOS detection. I want to know how I can generate my own drivingScenario with 3D building and road information based on openstreetmap?

Answer 1

[Altaïr]

Hey @quanzhou yu,

For creating roads using OpenStreetMap data, please refer to this example: https://www.mathworks.com/help/releases/R2023b/driving/ug/import-openstreetmap-data-into-driving-scenario.html

The remainder of the explanation focuses on adding building meshes to the scenario. The downtownBostonDrivingScenario.mat file includes a drivingScenario object named scenario. Within this file, the last actor represents the buildings, with its velocity set to [0,0,0].

To add buildings programmatically once the mesh is available, consider the following approach:

% Create a driving scenario
scenario = drivingScenario;

% Define a straight road with two lanes
roadCenters = [-100 400; 100 400]; % 200 meters long road
laneSpecification = lanespec(2); % Two lanes
road(scenario, roadCenters, 'Lanes', laneSpecification);

% Add a moving vehicle actor
movingVehicle = vehicle(scenario, 'ClassID', 1); % ClassID 1 for cars
movingVehicle.Position = [-95 400 0]; % Start position on the road
movingVehicle.Yaw = -45; %Set a yaw angle of -45 degrees

% Create a building actor with a custom mesh
building = actor(scenario, 'ClassID', 10,'Mesh',buildingActor.Mesh,...
    'Position',buildingActor.Position,'PlotColor',buildingActor.PlotColor,...
    'Length',buildingActor.Length, 'Width',buildingActor.Width,'Height',buildingActor.Height);

% Visualize the scenario
plot(scenario, 'RoadCenters', 'on','Meshes','on');

In the above snippet, the 17th actor from the original example, corresponding to the buildings, is stored in a variable named buildingActor. The ClassID for the building object is set to a unique value outside the default range. More details can be found here:

https://www.mathworks.com/help/releases/R2023b/driving/ref/drivingscenario.actor.html

Open Driving Scenario Designer using the drivingScenarioDesigner command. To view the scenario in Driving Scenario Designer, create an additional class with the same ClassID (10) using the "Add Actor > New Actor Class" option.

The following command opens the drivingScenario object:

drivingScenarioDesigner(scenario)

Select "Default Layout" from the DESIGNER tab and ensure "Show Actor Meshes" is enabled by right clicking in the Ego-Centric View pane to view the building meshes.

For further information, the following documentation pages may be useful:

• Creating driving scenarios programmatically: https://www.mathworks.com/help/releases/R2023b/driving/ug/create-driving-scenario-programmatically.html
• extendedObjectMesh: https://www.mathworks.com/help/releases/R2023b/driving/ref/extendedobjectmesh.html

[quanzhou yu]

Thank you very much! It's very useful!