getCollisionData

Get collision information of colliding actors

Since R2023a

Syntax

collisionInfo = getCollisionData(descriptor)

collisionInfo = getCollisionData(descriptor,Name=Value)

Description

collisionInfo = getCollisionData(descriptor) returns collision information for all possible pairs of colliding actors in the specified scenario descriptor.

collisionInfo = getCollisionData(descriptor,Name=Value) specifies options using one or more name-value arguments. For example, Actor1ID=2 checks for collision between the actor with the ID 2, and all other actors in the scenario.

Note

This function requires the Automated Driving Toolbox™ Test Suite for Euro NCAP^® Protocols support package. You can install Automated Driving Toolbox Test Suite for Euro NCAP Protocols from the Add-On Explorer. For more information about installing add-ons, see Get and Manage Add-Ons.

Examples

Extract Collision Information From Scenario

Load a driving scenario containing actor collision into the workspace.

load("scenarioWithSingleCollision.mat")

Create a scenarioDescriptor object using the loaded driving scenario scenario.

scenarioDescriptor = getScenarioDescriptor(scenario,Simulator="DrivingScenario");

Extract collision information from the scenarioDescriptor object.

collisionsInScenario = getCollisionData(scenarioDescriptor);

Display the extracted collision information.

disp(collisionsInScenario.Collision)

  Collision with properties:

          Time: 0.4981
         Point: [28.4345 4.0853]
    Actor1Info: [1×1 struct]
    Actor2Info: [1×1 struct]

Extract Collision Information From Scenario with Multiple Collisions

Load a driving scenario containing multiple actor collisions into the workspace.

load("scenarioWithMultipleCollisions.mat")

Create a scenarioDescriptor object using the loaded driving scenario scenario.

scenarioDescriptor = getScenarioDescriptor(scenario,Simulator="DrivingScenario");

Extract collision information from the scenarioDescriptor object.

collisionsInScenario = getCollisionData(scenarioDescriptor);

Display the extracted information of first collision.

disp(collisionsInScenario(1).Collision)

  Collision with properties:

          Time: 3.0102
         Point: [30.5809 -1.0907]
    Actor1Info: [1×1 struct]
    Actor2Info: [1×1 struct]

Display the extracted information of second collision.

disp(collisionsInScenario(2).Collision)

  Collision with properties:

          Time: 1.6756
         Point: [1.1088 -1.1493]
    Actor1Info: [1×1 struct]
    Actor2Info: [1×1 struct]

Input Arguments

descriptor — Scenario descriptor

ScenarioDescriptor object

Scenario descriptor, specified as a ScenarioDescriptor object. The ScenarioDescriptor object stores scene, actor, and vehicle information extracted from a seed scenario, and uses this information to generate the scenario variants. You can use these scenario variants to perform safety assessments for various automated driving applications.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: getCollisionData(D,Actor1ID=[2 3],Actor2ID=[5 6]) checks for collisions of all possible pairs of the actors with IDs 2 and 3 and those with IDs 5 and 6.

Actor1ID — First actor ID

positive integer | row vector of positive integer

First actor ID, specified as a positive integer or a row vector of positive integers.

If you do not specify Actor2ID, the function checks for collision between each actor specified by Actor1ID and all other actors in the scenario.

If you specify Actor2ID, the function checks collision for all possible pairs between the actors specified by Actor1ID and those specified by Actor2ID.

Data Types: single | double | uint8

Actor2ID — Second actor ID

positive integer | row vector of positive integer

Second actor ID, specified as a positive integer or a row vector of positive integers.

If you do not specify Actor1ID, the function checks for collision between each actor specified by Actor2ID and all other actors in the scenario.

If you specify Actor1ID, the function checks collision for all possible pairs between the actors specified by Actor2ID and those specified by Actor1ID.

Data Types: single | double | uint8

Output Arguments

collisionInfo — Collision information between pairs of colliding actors

array of structures | []

Collision information between pairs of colliding actors, returned as an array of structures. Each structure in the array contains these fields:

• Actor1ID — ID of the first colliding actor in the pair, returned as a positive integer.

• Actor2ID — ID of the second colliding actor in the pair, returned as a positive integer.

• Collision — Collision information, returned as a collision object. The collision object has these properties:

  Property	Description
  Time	Simulation time at which collision occurs. Units are in seconds.
  Point	Coordinates of the collision point in the world frame. Units are in meters
  Actor1Info	Information about the first actor in the collision pair, returned as a structure.
  Actor2Info	Information about the second actor in the collision pair, returned as a structure.

  Each Actor1Info and Actor2Info structure contains these fields:

  Field	Description
  ID	ID of the corresponding actor, returned as a positive integer.
  Position	Position of the actor at the time of collision, returned as a three-element numeric row vector of the form [latitude longitude altitude]. Units are in meters.
  Speed	Speed of the actor at the time of collision, returned as a scalar. Units are in meters per second.
  Yaw (since R2024a)	Yaw angle of the actor at the time of collision, returned as a scalar. Units are in radians.
  CollisionFraction	Point of collision relative to the collision side of the actor, returned as a fraction in the range [0, 1]. For more information, see Collision Fraction.
  CollisionSide	Side of the actor at which collision occurs, returned as Front, Left, Back, or Right.

Note

If the input scenario contains no collisions, or no collisions between the specified pairs of actors Actor1ID and Actor2ID, the function returns collisionInfo as an empty array, [].

More About

Collision Fraction

The collision fraction specifies the relative position on the collision side of a vehicle at which the collision occurs. For example, if the center of the front edge of the ego vehicle Actor-1 collides with the left corner on the front edge of the target vehicle Actor-2, then the collision fraction of Actor-1 is 0.5.

Collision fraction is defined by the equation

$$CF=\frac{|E_{xl}-T_{xl}|+|E_{yl}-T_{yl}|}{W_E},$$

where E_xl and E_yl are the x- and y-coordinates of the left corner of the ego vehicle collision side, T_xl and T_yl are the x- and y-coordinates of the collision point on the target vehicle, and W_E is the width of the collision side of the ego vehicle.

Version History

Introduced in R2023a

R2024a: Output collisionInfo structure contains additional actor yaw information

The output Actor1Info and Actor2Info structure now includes an additional Yaw field, specifying the yaw angles of the actor at the time of collision.