US City Block
US city block 3D environment
Description
The US City Block scene is a 3D environment of a US city block that contains 15 intersections and 30 traffic lights. The scene is rendered using the Unreal Engine® from Epic Games®.
To simulate a driving maneuver in this scene:
Add a Simulation 3D Scene Configuration block to your Simulink® model.
In this block, set the Scene source parameter to
Default Scenes.Set the enabled Scene name parameter to
US city block.
Scene Layout
The scene uses the world coordinate system to locate objects.
This table provides the scene area corner locations in the world coordinate system. Dimensions are in m.
Locations | X (m) | Y (m) | Z (m) |
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Scene — Top left |
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Scene — Bottom right |
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Active area — Bottom left | -240.77 |
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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 | |||||
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X (m) | Y (m) | Z (m) | Roll (deg) | Pitch (deg) | Yaw (deg) |
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Intersections
The US city block scene has 15 intersections, as indicated in this diagram.
This table provides the intersection locations in the world coordinate system. Dimensions are in m.
| Intersection | Center Location | ||
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X (m) | Y (m) | Z (m) | |
1 |
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2 |
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3 |
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4 |
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5 |
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6 |
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7 |
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8 |
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9 |
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10 |
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11 |
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12 |
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13 |
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14 |
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15 |
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Barrier
This table provides the object names and locations in the world coordinate system. Dimensions are in m.
| Object | Unreal Engine Editor Name | Location | |||||
|---|---|---|---|---|---|---|---|
X | Y | Z | Roll | Pitch | Yaw | ||
Barrier |
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Traffic Lights
The US City Scene contains 30 traffic lights, two at each of the 15 intersections. Each intersection has a traffic light group. If you have the Customize 3D Scenes for Vehicle Dynamics Simulations for customizing scenes, you can control the timing of the traffic lights.
This table provides the traffic light names and locations in the world coordinate
system. Dimensions are in m. Only one of the traffic lights in the group can be
green at a time. The traffic lights are green for 10 s and yellow for 3 s. At the
start of the simulation, the first traffic lights in the group are green (for
example, SM_TrafficLights1_3 and
SM_TrafficLights2_3). The second lights in the group are red
(for example, SM_TrafficLights1_4 and
SM_TrafficLights2_4).
| Intersection | Unreal Engine Editor Name | Location | ||||||
|---|---|---|---|---|---|---|---|---|
| Traffic Light Group | Traffic Light | X | Y | Z | Roll | Pitch | Yaw | |
1 |
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| -196.55 | -100.65 | 0 |
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| -210.20 | -113.40 | 0 |
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| 2 |
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| -106.35 | 98.35 | 0 |
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| -120.40 | -113.50 | 0 |
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| 3 |
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| -13.10 | -116.20 | 0.2 |
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| -30.60 | -113.80 | 0 |
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| 4 |
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| 71.40 | -100.30 | 0 |
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| 64.80 | -113.0 | 0 |
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| 5 |
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| 171.50 | -115.70 | 0 |
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| 157.40 | -113.50 | 0 |
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| 6 |
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| -177.30 | 5.70 | 0 |
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| -189.60 | 7.40 | 0 |
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| 7 |
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| -105.20 | 5.50 | 0 |
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| -117.80 | 7.70 | 0.2 |
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| 8 |
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| -13.10 | -7.60 | 0.1 |
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| -10.90 | 5.60 | 0 |
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| 9 |
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| 85.90 | 7.60 | 0.2 |
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| 70.90 | 9.20 | 0 |
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| 10 |
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| 172.10 | -7.70 | 0 |
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| 173.70 | 7.50 | 0 |
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| 11 |
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| -189.80 | 118.45 | 0 |
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| -191.05 | 104.55 | 0 |
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| 12 |
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| -117.60 | 117.60 | 0 |
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| -120.50 | 105.40 | 0 |
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| 13 |
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| -12.80 | 102.50 | 0 |
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| -30.50 | 105.30 | 0 |
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| 14 |
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| 70.90 | 118.70 | 0 |
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| 69.30 | 105.30 | 0 |
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| 15 |
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| 171.40 | 105.20 | 0 |
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| 158.40 | 107.20 | 0 |
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Lane Dimensions
The scene contains three types of roads.
This figure and table provides the road type 1 lane dimensions, in m.
Variable | Dimension (m) |
|---|---|
lw1 | 0.65 |
lw2 | 3.85 |
lw3 | 3.85 |
lw4 | 0.65 |
ml | 1.5 |
s | 3.0 |
mw | 0.13 |
W | 9 |
This figure and table provides the road type 2 lane dimensions, in m.
Variable | Dimension (m) |
|---|---|
lw1 | 0.73 |
lw2 | 3.77 |
lw3 | 3.77 |
lw4 | 4.5 |
lw5 | 0.73 |
ml | 1.5 |
s | 3.0 |
mw | 0.13 |
W | 13.5 |
This figure and table provides the road type 3 lane dimensions, in m.
Variable | Dimension (m) |
|---|---|
lw1 | 0.65 |
lw2 | 3.85 |
lw3 | 3.85 |
lw4 | 3.15 |
ml | 1.5 |
s | 3.0 |
mw | 0.13 |
W | 11.5 |
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 |
Tips
If you have the Vehicle Dynamics Blockset™ Interface for Unreal Engine 4 Projects support package, then you can modify this scene. In the Unreal Engine project file that comes with the support package, this scene is named
USCityBlock.For more details on customizing scenes, see Customize 3D Scenes for Vehicle Dynamics Simulations.