computeBoundaryModel

Compute lane boundary points from clothoid lane boundary model

Syntax

yworld = computeBoundaryModel(boundary,xworld)

Description

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

Examples

Create Clothoid Lane Boundaries

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
hold on

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')
hold off

Input Arguments

boundary — Lane boundary model

clothoidLaneBoundary object

Lane boundary model, specified as a clothoidLaneBoundary object.

xworld — x-world coordinates

real-valued vector of length N

x-world coordinates, specified as a real-valued vector of length N, where N is the number of coordinates.

Example: 2:2.5:100

Data Types: single | double

Output Arguments

yworld — y-world coordinates

real-valued vector of length N

y-world coordinates, returned as a real-valued vector of length N, where N is the number of coordinates. The length and data type of yWorld are the same as for xWorld.

Data Types: single | double

Version History

Introduced in R2018a