VehiclecostMap from Driving Scenario App

Hello,

Is there any way to obtain vehicleCostmap object from drivingScenario App. I have prepared a driving scenario and would like to obtain a vehicleCostmap. Without vehicleCostMap, plan, pathplannerRRT will not work, according to the document. I plan to use pathplannerRRT to plan the path on a straight line scenario.

I request you to please help and guide me. Thanks in advance.

Answer 1

[Sachin Lodhi]

Hi Shubham,

Based on the information provided, it appears that you are facing challenge in obtaining the ‘vehicleCostMap’ object when using ‘drivingScenario’ App. Although, there is no direct ability to do this, however, there are two ways to accomplish it:

1. Create a 2D matrix with the values in your map and create a ‘vehicleCostmap’ object.
2. Generate a 'blank vehicleCostmap' object and utilize the 'setCosts' function to populate it with the necessary data.

To gain a deeper understanding of the 'vehicleCostmap' and its associated functions, I recommend referring to the documentation provided, which offers comprehensive information on this topic:

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

I hope you find this information useful.

[Shubham Dattatraya Gorde]

Hi,

Thanks a lot for the answer and taking your time out to answer my question.

I have already been following this Vehiclecostmap documentation. My main question was , in the driving scenario , my scenario consists of 600 m straight track and random vehicle on the track. Here i want to use RRT* path planner to help my vehicle reach from start till end without collision. The requiremnet of this path planner is having a vehiclecost map as input.

Now , for the entire scenario as the scenario runs i would like to prepare a velocity map and feed the same as input to the planner.

Can you please guide on how can i prepare this 2D matrix for the entire driving senario? or the 2. implementation in detail.

Thanks in Advance.