localizeEgoUsingLanes
Syntax
Description
localizes the ego vehicle trajectory localizedTrajectory
= localizeEgoUsingLanes(trajectory
,rrMap
,lanedata
,startLaneIndex
)trajectory
on a RoadRunner HD Map, rrMap
, using the recorded lane boundary data
lanedata
, and returns the localized trajectory
localizedTrajectory
. The input startLaneIndex
specifies the lane in which the ego is positioned at the start of the simulation.
localizes the ego vehicle trajectory localizedTrajectory
= localizeEgoUsingLanes(trajectory
,rrApp
,lanedata
,startLaneIndex
)trajectory
on a scene associated
with the input RoadRunner application rrApp
, and returns the localized trajectory
localizedTrajectory
.
specifies the approximate width of a lane as a scalar, in meters, in addition to any
combination of input arguments from previous syntaxes. The function uses the specified
localizedTrajectory
= localizeEgoUsingLanes(___,ApproxLaneWidth=laneWidth
)laneWidth
to detect lane change events from the lane boundary
detections.
[
additionally returns the debugging information as a structure, localizedTrajectory
,info
] = localizeEgoUsingLanes(___)info
,
which contains information related to the lane and the ego vehicle.
Note
This function requires the Scenario Builder for Automated Driving Toolbox™ support package. You can install the Scenario Builder for Automated Driving Toolbox support package from the Add-On Explorer. For more information about installing add-ons, see Get and Manage Add-Ons.
Examples
Input Arguments
Output Arguments
Version History
Introduced in R2025a