clothoidLaneBoundary
Clothoidshaped lane boundary model
Description
A clothoidLaneBoundary
object contains
information about a clothoidshaped lane boundary model. A
clothoid is a type of curve whose rate of change of curvature
varies linearly with distance.
Creation
Description
creates
a clothoid lane boundary model, bdry
= clothoidLaneBoundarybdry
with default property
values.
sets properties using one or more namevalue pairs. For example,
bdry
= clothoidLaneBoundary(Name,Value)clothoidLaneBoundary('BoundaryType','Solid')
creates a
clothoid lane boundary model with solid lane boundaries. Enclose each property
name in quotes.
Properties
Curvature
— Lane boundary curvature
0
(default)  real scalar
Lane boundary curvature, specified as a real scalar. This property represents the rate of change of lane boundary direction with respect to distance. Units are in degrees per meter.
Example: 1.0
Data Types: single
 double
CurvatureDerivative
— Derivative of lane boundary curvature
0
(default)  real scalar
Derivative of lane boundary curvature, specified as a real scalar. This property represents the rate of change of lane curvature with respect to distance. Units are in degrees per meter squared.
Example: 0.01
Data Types: single
 double
CurveLength
— Length of lane boundary along road
0
(default)  nonnegative real scalar
Length of the lane boundary along the road, specified as a nonnegative real scalar. Units are in meters.
Example: 25
Data Types: single
 double
HeadingAngle
— Initial lane boundary heading
0
(default)  real scalar
Initial lane boundary heading, specified as a real scalar. The heading angle of the lane boundary is relative to the heading of the ego vehicle. Units are in degrees.
Example: 10
Data Types: single
 double
LateralOffset
— Lateral offset of ego vehicle position from lane boundary
0
(default)  real scalar
Lateral offset of the ego vehicle position from the lane boundary, specified as a real scalar. An offset to a lane boundary to the left of the ego vehicle is positive. An offset to the right of the ego vehicle is negative. Units are in meters. In this image, the ego vehicle is offset 1.5 meters from the left lane and 2.1 meters from the right lane.
Example: 1.2
Data Types: single
 double
BoundaryType
— Type of lane boundary marking
'Unmarked'
(default)  'Solid'
 'Dashed'
 'DoubleSolid'
 'DoubleDashed'
 'SolidDashed'
 'DashedSolid'
Type of lane boundary marking, specified as one of these values.
'Unmarked'  'Solid'  'Dashed'  'DoubleSolid'  'DoubleDashed'  'SolidDashed'  'DashedSolid' 

No lane marking  Solid line  Dashed line  Two solid lines  Two dashed lines  Solid line on left, dashed line on right  Dashed line on left, solid line on right 







Strength
— Visibility of lane boundary marking
1
(default)  real scalar in the range [0, 1]
Visibility of lane marking, specified as a real scalar in the range [0,
1]. A value of 0
corresponds to a marking that is not
visible. A value of 1
corresponds to a marking that is
completely visible. For a double lane marking, the same strength is used for
both lines.
Example: 0.9
Data Types: single
 double
XExtent
— Extent of lane boundary marking along Xaxis
[0 Inf]
(default)  realvalued vector of the form
[X_{min}
X_{max}]
Extent of the lane boundary marking along the Xaxis, specified as a realvalued vector of the form [X_{min} X_{max}]. Units are in meters. The Xaxis runs vertically and is positive in the forward direction of the ego vehicle.
Example: [0 100]
Data Types: single
 double
Width
— Width of lane boundary marking
0
(default)  nonnegative real scalar
Width of lane boundary marking, specified as a nonnegative real scalar. For a double lane marking, this value applies to the width of each lane marking and to the distance between those markings. Units are in meters.
Example: 0.15
Data Types: single
 double
Object Functions
computeBoundaryModel  Compute lane boundary points from clothoid lane boundary model 
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'seye plot. Then, create the lane boundary plotters and plot the boundaries.
bep = birdsEyePlot('XLimits',[0 50],'YLimits',[10 10]); lbPlotter = laneBoundaryPlotter(bep,'DisplayName','Leftlane boundary','Color','r'); rbPlotter = laneBoundaryPlotter(bep,'DisplayName','Rightlane 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
Version History
Introduced in R2018a
See Also
Objects
Functions
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