Changing map and vehicle type in AutomatedParkingValet

Hello!

I'm new at Simulink and I need help.

I'm studying AutomatedParkingValet example and trying to convert it from car usage to boat usage.

The goal is to change courrent map with harbour one and car to boat. Boat in example can have same dinamics as original dinamics of car in example i just need to change map and car image.

I tryed stupid solutions like locating layers for map and changing them with layers of new harbour map but program does not seem to like it.

If you have time for solution and explanation I would be most generous!

Thanks in advance!

Bruno

Answer 1

[Ayush]

Hello Bruno,

Your initial approach of locating and changing the layers of the map to replace it with the harbour map was in the right direction. You referred to the following example:

https://www.mathworks.com/help/driving/ug/automated-parking-valet-in-simulink.html

1. Changing Map Type

Based on the above reference, you would need to modify the “helperSLCreateCostmap.m” function in MATLAB for your particular use case. Use the following command to open the function in MATLAB:

openExample('driving/AutomatedParkingValetSimulinkExample','supportingFile','helperSLCreateCostmap.m')

The function creates a “vehicleCostmap” object that is to be created for the planning search space around a vehicle.For more information on the “vehicleCostmap” object, you can refer to the following documentation:

https://www.mathworks.com/help/driving/ref/vehiclecostmap.html

After getting the understanding of the function you can create or obtain a map that represents a harbour with its various layers for example, stationary obstacles, waterways instead of road markings and docked boats instead of parked cars. You would also need to ensure that these images are in the bitmap format (.bmp) similar to what the original examples uses.

2. Changing Vehicle Type

For changing the boat image, find the block or subsystem controlling the vehicle in the Simulink Model to modify the “vehicleDimensions” object catered to a boat. For more information on the “vehicleDimensions” object, you can refer to the following documentation:

https://www.mathworks.com/help/driving/ref/vehicledimensions.html

Hope it helps!