Driving scenario designer path reference

Hi all,

Can anyone guide me through exporting and using the waypoints (X,Y) and yaw angle information to simulink (using simin) ) for my vehicle to follow the prescribed reference trajectory. I already have my X, Y and yaw angle informations but i need to give it to my simulink controller as a timeseries reference trrajectory. How can I do that?

I appreaciate your cooperation

Answer 1

[Anjaneyulu Bairi]

Hi,

To export the data from created scenario ,you can follow below steps:

1) Export the scenario to MATLAB function:

• Click on "Export" button on the top-right and click "MATLAB Function"
• It will open the MATLAB script related to created scenario.

2) Save the Data:

• At the end of the script , write the below code

save("data.mat")

• This will save the all variables in the script to MAT file.

3) Access the variables from MAT file:

• Load the MAT file.
• Access the "roadCenters" variable first column which gives 'x' and second column which gives 'y'

x = roadCenters(:, 1);
y = roadCenters(:, 2);

Now, you can pass these variables to "simin" function.

Hope this helps!