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computeBoundaryModel

Compute lane boundary points from clothoid lane boundary model

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Syntax

yworld = computeBoundaryModel(boundary,xworld)

Description

yworld= computeBoundaryModel (boundary,xworld)returns they-coordinates of lane boundary points,yworld, derived from a lane boundary,boundary, at points specified by thex-coordinates,xworld. All points are in world coordinates.

Examples

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Open Live Script

Create clothoid curves to represent left and right lane boundaries. Then, plot the curves.

Create the left boundary.

lb = clothoidLaneBoundary('BoundaryType','Solid',...'Strength',1,'Width',0.2,'CurveLength',40,...'Curvature',-0.8,'LateralOffset',2,'HeadingAngle',10);

Create the right boundary with almost identical properties.

rb = lb; rb.LateralOffset = -2;

Create a bird's-eye plot. Then, create the lane boundary plotters and plot the boundaries.

bep = birdsEyePlot('XLimits',[0 50],'YLimits',[-10 10]); lbPlotter = laneBoundaryPlotter(bep,'DisplayName','Left-lane boundary','Color','r'); rbPlotter = laneBoundaryPlotter(bep,'DisplayName','Right-lane boundary','Color','g'); plotLaneBoundary(lbPlotter,lb) plotLaneBoundary(rbPlotter,rb); grid holdon

Figure contains an axes object. The axes object contains 2 objects of type line. These objects represent Left-lane boundary, Right-lane boundary.

Plot the coordinates of selected points along the boundaries.

x = 0:5:50; yl = computeBoundaryModel(lb,x); yr = computeBoundaryModel(rb,x); plot(x,yl,'ro') plot(x,yr,'go') holdoff

Figure contains an axes object. The axes object contains 4 objects of type line. These objects represent Left-lane boundary, Right-lane boundary.

Input Arguments

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Lane boundary model, specified as aclothoidLaneBoundaryobject.

x-world coordinates, specified as a real-valued vector of lengthN, whereNis the number of coordinates.

Example:2:2.5:100

Data Types:single|double

Output Arguments

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y-world coordinates, returned as a real-valued vector of lengthN, whereNis the number of coordinates. The length and data type ofyWorldare the same as forxWorld.

Data Types:single|double

Version History

Introduced in R2018a

See Also

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