SteeraTool is a customizable data generation tool that allows for the adjustment of roads, sensors, and car static characteristics.

• MATLAB (R2023a or later)
• SIMULINK
• Toolboxes: Automated Driving Toolbox, Embedded Coder, Model Predictive Control Toolbox, Simulink Control Design

This repository contains three main folders

• The Data Generator: this is the MATLAB/Simulink simulator file.
• The Datasets: this folder contains examples of the datasets that can be generated using the tool. All datasets are in .xlsx format.
• The Roads, actors, sensors: This folder contains files that were created using the Driving Scenario Designer App in MATLAB. It has different shaped raods: S-shaped, L-shaped, Zigzag, and Oval-shaped. Plus, the folder contains the files for the sensors customized to match the actor and sensors described by nuSences: A multimodal dataset for autonomous driving All the files in this folder can be accessed using Scenario Designer App on MATLAB and can be added to Simulink models.

• MATLAB and Simulink Installation: Ensure MATLAB and Simulink are installed on your computer. If not, visit the official MATLAB website for installation instructions.
• Save the Data Generator folder to your MATLAB/Simulink path.
• Open the .slx file either from the MATLAB navigation sidebar or by running this MATLAB syntax:

  open_system("LaneFollowingTestBenchExample")

• The model contains three main subsystems: 1) a subsystem to estimate the lane center based on vision data, 2) a sensor fusion subsystem to process signals coming from the vehicle radar and camera, and finally, 3) a model predictive control (MPC) controller.
• The default road is the S-shaped road. You can choose from the following road name:
  • 'Zigzag_edited'
  • 'L_shaped'
  • 'S_shaped'
  • 'Oval_edited_clock'
  • 'Oval_edited_counter'
• To change the selected road, run this MATLAB syntax:

  helperLFSetUp('L_shaped');

  Then run the .slx file.

We extend our gratitude to the creators and contributors of MATLAB for providing comprehensive examples and resources. This work is an adaptation of an existing example offered by MATLAB, which served as a foundational element in the development of our project. Their invaluable tools and examples have greatly facilitated our research efforts and enabled the advancements presented in this study.

Should you require additional assistance with either the installation process or generating data, please don't hesitate to get in touch with us via email at: [email protected]