Virtual Mcity

Virtual Mcity 3D environment

Description

The Virtual Mcity scene is a 3D environment containing a virtual representation of Mcity^®, which is a testing ground belonging to the University of Michigan. For more details, see Mcity Test Facility.

The scene is rendered using the Unreal Engine^® from Epic Games^®.

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Setup

To simulate a driving maneuver in this scene:

1. Add a Simulation 3D Scene Configuration block to your Simulink^® model.

2. In this block, set the Scene source parameter to Default Scenes.

3. Set the enabled Scene name parameter to Virtual Mcity.

Layout

The scene uses the world coordinate system to locate objects. The active area of the scene contains the road.

Overall	Active Area

Scene Dimensions

This table provides the scene area corner locations in the world coordinate system. Dimensions are in m.

Locations	X (m)	Y (m)	Z (m)
Scene — Top left	-116.85	-369.18	-.02
Scene — Bottom right	226.13	172.26	-.02
Active area — Bottom left	-60.61	106.75	-.02

Recommended Starting Location

This table provides the recommended starting location for the vehicle in the world coordinate system. Dimensions are in m and deg.

Recommended Starting Location
X (m)	Y (m)	Z (m)	Roll (deg)	Pitch (deg)	Yaw (deg)
-26.00	76.0	0	0	0	-40

World Coordinate System

The 3D visualization environment uses a world coordinate system with axes that are fixed in the inertial reference frame.

Axis	Description
X	Forward direction of the vehicle Roll — Right-handed rotation about X-axis
Y	Extends to the right of the vehicle, parallel to the ground plane Pitch — Right-handed rotation about Y-axis
Z	Extends upwards Yaw — Left-handed rotation about Z-axis

Vehicles

Trucks, Bicycles, and Sedans

This table provides the vehicle tag names and initial locations for other vehicles in the scene, in the world coordinate system. Dimensions are in m and deg.

Object	Unreal Engine Editor Name	Locations
		X (m)	Y (m)	Z (m)	Roll (deg)	Pitch (deg)	Yaw (deg)
Vehicle	SK_BoxTruck	20.96	-136.90	0	0	0	-90
	SM_Motorcycle	42.50	-157.60	0	0	0	-20
	SK_SedanCar	5.83	-117.91	0	0	0	0
	SM_Bicycle	10.88	-84.42	0	0	0	90

Objects

Cones

Locations

This table provides the object names and locations in the world coordinate system. Dimensions are in m and deg.

Object	Unreal Engine Editor Name	Location
		X (m)	Y (m)	Z (m)	Roll (deg)	Pitch (deg)	Yaw (deg)
Cone	SM_Cone	22.33	-131.51	0	0	0	0
	SM_Cone2	21.23	-131.51	0	0	0	0
	SM_Cone3	20.03	-131.51	0	0	0	0
	SM_Cone4	18.93	-131.51	0	0	0	0

Barrier

Locations

This table provides the object names and locations in the world coordinate system. Dimensions are in m and deg.

Object	Unreal Engine Editor Name	Location
		X (m)	Y (m)	Z (m)	Roll (deg)	Pitch (deg)	Yaw (deg)
Barrier	SM_Barrier13	79.65	-173.39	0	0	0	-35
	SM_Barrier14	77.31	-175.94	0	0	0	-55
	SM_Barrier15	74.42	-177.49	0	0	0	-80
	SM_Barrier16	71.18	-177.64	0	0	0	-95

Animals

Locations

This table provides the object names and locations in the world coordinate system. Dimensions are in m and deg.

Object	Unreal Engine Editor Name	Location
		X (m)	Y (m)	Z (m)	Roll (deg)	Pitch (deg)	Yaw (deg)
Animals	Deer	36.84	-122.15	0	0	0	0

Traffic Signs

Locations

This table provides the object names and locations in the world coordinate system. Dimensions are in m and deg.

Object	Unreal Engine Editor Name	Location
		X (m)	Y (m)	Z (m)	Roll (deg)	Pitch (deg)	Yaw (deg)
Traffic signs	SM_StopSign	-35.21	44.19	0	0	0	95
	SM_YellowRoadSign	-38.75	18.14	-.02	0	0	-170
	LargeDoubleArrowSign4	-35.19	-4.39	0	0	0	-90
	LargeDoubleArrowSign	-31.01	-60.55	0	0	0	-80
	RailroadSign2	-27.06	-88.67	0	0	0	5
	RailroadSign	-17.79	-89.77	0	0	0	-170
	SM_YieldSign	26.80	-165.14	0	0	0	0
	SM_StopSign7	54.84	-200.43	0	0	0	-90
	LargeDoubleArrowSign3	47.54	-218.00	0	0	0	-15
	SM_StopSign9	70.32	-195.66	0	0	0	0
	SM_YellowRoadSign3	82.66	-285.75	-.02	0	0	15
	SM_SpeedLimitSign2	80.89	-226.85	-.06	0	0	0
	LargeDoubleArrowSign5	104.10	-212.80	0	0	0	80
	ChevronAlignmentSign	98.45	-191.22	0	0	0	101
	ChevronAlignmentSign2	102.05	-197.62	0	0	0	76.5
	ChevronAlignmentSign3	103.98	-206.06	0	0	0	85
	SM_Large_Exit_Sign	122.45	-212.50	0	0	0	0
	SM_Large_Exit_Sign2	101.79	-151.66	0	0	0	180
	SM_StopSign3	32.01	-163.68	0	0	0	160
	SM_StopSign2	54.98	-177.12	0	0	0	90
	SM_StopSign5	126.63	-58.50	0	0	0	155
	SM_StopSign6	125.28	-130.73	0	0	0	-180
	SM_StopSign8	82.01	-192.74	0	0	0	-180
	SM_StopSign4	59.90	-161.03	0	0	0	-25
	LargeSingleArrowSign	121.01	-148.56	0	0	0	0
	SM_YieldSign2	162.22	-109.64	0	0	0	25
	SM_WindingRoadSign	127.11	-50.21	.01	0	0	50
	SchoolBusOnlySign	44.03	-51.11	0	0	0	90
	SM_YellowRoadSign5	68.05	-47.03	.01	0	0	-175
	SM_CrossSignal8	74.37	-14.11	0	0	0	-165
	SM_CrossSignal7	64.69	-22.69	0	0	0	-150
	SM_CrossSignal6	62.51	-20.34	0	0	0	40
	SM_CrossSignal5	72.42	-12.06	0	0	0	40
	SM_YellowRoadSign2	60.01	-2.69	-.01	0	0	50
	SM_CrossSignal2	28.53	-20.58	0	0	0	-20
	SM_CrossSignal	21.19	-17.95	0	0	0	-20
	SM_CrossSignal3	17.55	-21.53	0	0	0	-170
	SM_CrossSignal4	6.59	-27.66	0	0	0	-145
	SM_YieldSign4	4.89	-23.42	0	0	0	-140
	SM_YellowRoadSign4	9.23	-45.63	0	0	0	-175
	SM_BikeLaneSign	24.13	-92.03	.15	0	0	0

Traffic Lights

Locations

This table provides the object names and locations in the world coordinate system. Dimensions are in m and deg.

Object	Unreal Engine Editor Name	Location
		X (m)	Y (m)	Z (m)	Roll (deg)	Pitch (deg)	Yaw (deg)
Traffic lights	SM_TrafficLights	27.40	-138.55	.16	0	0	90
	SM_TrafficLights2	9.38	-106.90	.16	0	0	-90
	SM_TrafficLightsSideOnly3	8.44	-47.95	-.03	0	0	-92.2
	SM_TrafficLightsSideOnly4	1.64	-55.10	.16	0	0	-5
	SM_TrafficLightsSideOnly5	9.24	-67.70	.16	0	0	85
	SM_TrafficLightsSideOnly6	24.50	-67.82	.16	0	0	85
	SM_TrafficLights3	27.89	-109.86	.16	0	0	180
	SM_HangingTrafficLightSingle	74.43	-69.25	7.37	0	0	0
	SM_HangingTrafficLightSingle2	76.13	-69.10	7.34	0	0	0
	SM_HangingTrafficLightSingle3	82.58	-60.10	7.57	0	0	-90
	SM_HangingTrafficLightSingle4	82.65	-61.48	7.54	0	0	-90
	SM_HangingTrafficLightSingle6	73.67	-51.25	7.97	0	0	-180
	SM_HangingTrafficLightSingle7	75.07	-51.25	7.95	0	0	-180
	SM_HangingTrafficLight	-24.78	-61.49	6.71	0	0	100
	SM_RailroadCrossing4	-18.21	-86.63	.01	0	0	8
	SM_RailroadCrossing5	-26.73	-90.78	.01	0	0	-172

Limitations

• In the Vehicle Dynamics Blockset™ Interface for Unreal Engine 4 Projects support package, this scene is not available for customization.

  For details on which scenes you can customize, see Customize 3D Scenes for Vehicle Dynamics Simulations.

Version History

Introduced in R2018b