Run a Vehicle Dynamics Maneuver in 3D Environment

This example shows how to run a vehicle dynamics maneuver in a 3D environment. By integrating vehicle dynamics models with a 3D environment, you can test advanced driver assistance systems (ADAS) and automated driving (AD) perception, planning, and control software. For the 3D visualization engine platform requirements and hardware recommendations, seeUnreal Engine Simulation Environment Requirements and Limitations.

Create and open a working copy of a maneuver reference application. For example, open the double-lane change reference application.
```
vdynblksDblLaneChangeStart
```

Run the maneuver simulation. By default, the 3D environment is disabled.

When you run the simulation, the Visualization subsystem provides driver, vehicle, and response information. The reference application logs vehicle signals during the maneuver, including steering, vehicle and engine speed, and lateral acceleration. You can use the Simulation Data Inspector to import the logged signals and examine the data.

Image of Visualization subsystem

Element	Description
Driver Commands	Driver commands: Handwheel angle Acceleration command Brake command
Vehicle Response	Vehicle response: Engine speed Vehicle speed Acceleration command
Lane ChangeScopeblock	Lateral vehicle displacement versus time: Red line — Cones marking right lane boundary Orange line — Cones marking left lane boundary Blue line — Reference trajectory Green line — Actual trajectory
Steer, Velocity, Lat AccelScopeblock	`SteerAngle`— Steering angle versus time — Longitudinal vehicle velocity versus time — Lateral acceleration versus time
Vehicle XY Plotter	车辆纵向和横向距离
ISO 15037-1:2006block	Display ISO standard measurement signals in the Simulation Data Inspector, including steering wheel angle and torque, longitudinal and lateral velocity, and sideslip angle

Enable the 3D visualization environment. In the Visualization subsystem, open the3D Engineblock. Set these parameters.
- 3D EnginetoEnabled.
- Scene descriptionto one of the scenes, for exampleDouble lane change.
- To position the vehicle in the scene:
  1. Select the position initialization method:
    
    Recommended for scene— Set the initial vehicle position to values recommended for the scene
    
    User-specified— Set your own initial vehicle position
  2. ClickUpdate the model workspaces with the initial valuesto overwrite the initial vehicle position in the model workspaces with the applied values.

Rerun the reference application. As the simulation runs, in theAutoVrtlEnvwindow, view the vehicle response.

To smoothly change the camera views, use these key commands.

Key	Camera View
1	Back left	View Animated GIF
2	Back
3	Back right
4	左
5	Internal
6	Right
7	Front left
8	Front
9	Front right
0	Overhead

For additional camera controls, use these key commands.

Key	Camera Control
Tab	Cycle the view between all vehicles in the scene. View Animated GIF
Mouse scroll wheel	Control the camera distance from the vehicle. View Animated GIF
L	Toggle a camera lag effect on or off. When you enable the lag effect, the camera view includes: Position lag, based on the vehicle translational acceleration Rotation lag, based on the vehicle rotational velocity This lag enables improved visualization of overall vehicle acceleration and rotation. View Animated GIF
F	Toggle the free camera mode on or off. When you enable the free camera mode, you can use the mouse to change the pitch and yaw of the camera. This mode enables you to orbit the camera around the vehicle. View Animated GIF

For example, when you run the double-lane change maneuver, use the cameras to visualize the vehicle as it changes lanes.

Back
Front left
Internal

Note

To open and close theAutoVrtlEnvwindow, use the Simulink^®Run and Stop buttons. If you manually close theAutoVrtlEnvwindow, Simulink stops the simulation with an error.
当你使3 d可视化中的发言ent, you cannot step the simulation back.

Run a Vehicle Dynamics Maneuver in 3D Environment

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