Create a driving scenario containing a curved road, two straight roads, and two actors: a car and a bicycle. Both actors move along the road for 60 seconds.

Create the driving scenario object.

scenario = drivingScenario('SampleTime',0.1','StopTime',60);

Create the curved road using road center points following the arc of a circle with an 800-meter radius. The arc starts at 0°, ends at 90°, and is sampled at 5° increments.

angs = [0:5:90]'; R = 800; roadcenters = R*[cosd(angs) sind(angs) zeros(size(angs))]; roadwidth = 10; road(scenario,roadcenters,roadwidth);

使用两端的道路中心点添加两条默认宽度的直线道路。

Roadcenters = [700 0 0;100 0 0];路（场景，公路中心）

ans = Road with properties: Name: "" RoadID: 2 RoadCenters: [2x3 double] RoadWidth: 6 BankAngle: [2x1 double]

Roadcenters = [400 400 0;0 0 0];路（场景，公路中心）

ANS =带有财产的道路：名称：“” ROADID：3 Roadcenters：[2x3 double] Roadwidth：6 Bankangle：[2x1 double]

获得道路界限。

rbdry = Roadbouldaries（方案）;

Add a car and a bicycle to the scenario. Position the car at the beginning of the first straight road.

car = vehicle(scenario,'ClassID',1,'位置',[700 0 0],...'长度',3,'Width',2,'高度',1.6);

Position the bicycle farther down the road.

bicycle = actor(scenario,'ClassID',3,'位置',[706 376 0]',...'长度',2,'Width'，0.45，'高度'，1.5）;

Plot the scenario.

plot(scenario,'Centerline','on',“公路中心”,'on'）；标题（'设想'）；

Display the actor poses and profiles.

姿势= actorposes（场景）

poses=2×1 struct array with fields:ActorID Position Velocity Roll Pitch Yaw AngularVelocity

profiles = actorProfiles(scenario)

profiles=2×1 struct array with fields:ActorID ClassID Length Width Height OriginOffset MeshVertices MeshFaces RCSPattern RCSAzimuthAngles RCSElevationAngles