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rangeDetectionPlotter

Range detection plotter for bird's-eye-plot

    Description

    rangeDetPlotter = rangeDetectionPlotter(bep) creates a rangeDetectionPlotter object that configures the display of object detections from an ultrasonic sensor on a bird's-eye plot. The rangeDetectionPlotter object is stored in the Plotters property of the input birdsEyePlot object, bep. To plot the object detections, use the plotRangeDetection function.

    example

    rangeDetPlotter = rangeDetectionPlotter(bep,Name=Value) sets properties using one or more Name=Value arguments. For example, rangeDetectionPlotter(bep,DisplayName="Range Detections") sets the display name that appears in the bird's-eye-plot legend.

    Examples

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    Use a simulated ultrasonic sensor to generate detections for multiple vehicles in a driving scenario.

    Create Driving Scenario

    Create a driving scenario containing a three-lane road using lane specifications.

    scenario = drivingScenario;
    roadCenters = [-120 30 0;-60 0 0;0 0 0; 60 0 0; 120 30 0];
    lspc = lanespec(3);
    road(scenario,roadCenters,Lanes=lspc);

    Create an ego vehicle that travels in the center lane at a velocity of 30 m/s.

    egovehicle = vehicle(scenario,ClassID=1);
    egopath = [1.5 0 0; 60 0 0; 111 25 0];
    egospeed = 30;
    smoothTrajectory(egovehicle,egopath,egospeed);

    Add a target vehicle that travels ahead of the ego vehicle at 30.5 m/s in the right lane, and changes lanes close to the ego vehicle.

    ftargetcar = vehicle(scenario,ClassID=1);
    ftargetpath = [8 2; 60 -3.2; 120 33];
    ftargetspeed = 30.5;
    smoothTrajectory(ftargetcar,ftargetpath,ftargetspeed);

    Add a second target vehicle that travels in the left lane at 32m/s.

    ltargetcar = vehicle(scenario,ClassID=1);
    ltargetpath = [-5.0 3.5 0; 60 3.5 0; 111 28.5 0];
    ltargetspeed = 32;
    smoothTrajectory(ltargetcar,ltargetpath,ltargetspeed);

    Display a chase plot from behind the ego vehicle for a 3D view of the scenario..

    chasePlot(egovehicle)

    Create Ultrasonic Sensors

    Create an ultrasonic sensor mounted at the front of the ego vehicle.

    frontUltrasonic = ultrasonicDetectionGenerator(1,FieldOfView=[70 35]);
    frontUltrasonic.Profiles = actorProfiles(scenario);

    Create a second ultrasonic sensor mounted on the left side of the ego vehicle.

    leftUltrasonic = ultrasonicDetectionGenerator(2,MountingLocation=[0.5 1 0.2],MountingAngles=[90 0 0],FieldOfView=[70 35]);
    leftUltrasonic.Profiles = actorProfiles(scenario);

    Create Bird's-Eye-Plot

    Create a bird's-eye-plot for visualizing the sensor data. Add plotters for visualizing the ultrasonic coverage areas, detections, and points on targets. Use a rangeDetectionPlotter object to visualize ultrasonic detections as arcs and a detectionPlotter object to visualize the closest points on the target as markers. Add plotters to display the lane markings and vehicle outlines.

    % Create bird's eye plot
    bep = birdsEyePlot(XLim=[-20 20],YLim=[-12 12]);
    
    % Plotters for Coverage areas of two ultrasonic sensors
    fcaPlotter = coverageAreaPlotter(bep,DisplayName="Front Ultrasonic field of view");
    plotCoverageArea(fcaPlotter,frontUltrasonic.MountingLocation(1:2), ...
      frontUltrasonic.DetectionRange(3),frontUltrasonic.MountingAngles(1),frontUltrasonic.FieldOfView(1));
    
    lcaPlotter = coverageAreaPlotter(bep,DisplayName="Left Ultrasonic field of view",FaceColor="y");
    plotCoverageArea(lcaPlotter,leftUltrasonic.MountingLocation(1:2), ...
      leftUltrasonic.DetectionRange(3),leftUltrasonic.MountingAngles(1),leftUltrasonic.FieldOfView(1));
    
    % Range Detection Plotters for Ultrasonic Detections
    frdPlotter = rangeDetectionPlotter(bep,DisplayName="Front Ultrasonic Ranges");
    lrdPlotter = rangeDetectionPlotter(bep,DisplayName="Left Ultrasonic Ranges",LineStyle=":");
    
    % Detection plotters for closest points on targets
    fdetPlotter = detectionPlotter(bep,DisplayName="Point-On-Target (Front Ultrasonic)",MarkerFaceColor="r");
    ldetPlotter = detectionPlotter(bep,DisplayName="Point-On-Target (Rear Ultrasonic)",MarkerFaceColor="k");
    
    % Plotters for vehicle and target outlines, lane markings
    olPlotter = outlinePlotter(bep);
    lmPlotter = laneMarkingPlotter(bep,DisplayName="Lane markings");

    Figure contains an axes object. The axes object contains 8 objects of type patch, line. These objects represent Front Ultrasonic field of view, Left Ultrasonic field of view, Front Ultrasonic Ranges, Left Ultrasonic Ranges, Point-On-Target (Front Ultrasonic), Point-On-Target (Rear Ultrasonic), Lane markings.

    Run the Simulation and Generate Detections

    Run the scenario simulation. At each timestep:

    1. Obtain the ground truth target poses, and generate detections for the two ultrasonic sensors.

    2. Obtain and display the target outlines and lane markings.

    3. When there are valid detections, display the detections and the corresponding points-on-targets generated by the ultrasonic sensor.

    while advance(scenario)
    
        tgtpose = targetPoses(egovehicle);
    
        [fobdets,fisValid] = frontUltrasonic(tgtpose,scenario.SimulationTime);
        [lobdets,lisValid] = leftUltrasonic(tgtpose,scenario.SimulationTime);
    
        [objposition,objyaw,objlength,objwidth,objoriginOffset,color] = targetOutlines(egovehicle);
        plotOutline(olPlotter,objposition,objyaw,objlength,objwidth, ...
            OriginOffset=objoriginOffset,Color=color)
    
        [lmv,lmf] = laneMarkingVertices(egovehicle);
        plotLaneMarking(lmPlotter,lmv,lmf)
    
        if ~isempty(fobdets) && fisValid
            franges = fobdets{1}.Measurement;
            plotRangeDetection(frdPlotter,franges,frontUltrasonic.FieldOfView(1),frontUltrasonic.MountingLocation,frontUltrasonic.MountingAngles)
            plotDetection(fdetPlotter,fobdets{1}.ObjectAttributes{1}.PointOnTarget(1:2)')
        end
    
        if ~isempty(lobdets) && lisValid
            lranges = lobdets{1}.Measurement;
            plotRangeDetection(lrdPlotter,lranges,leftUltrasonic.FieldOfView(1),leftUltrasonic.MountingLocation,leftUltrasonic.MountingAngles)
            plotDetection(ldetPlotter,lobdets{1}.ObjectAttributes{1}.PointOnTarget(1:2)')
        end
    end

    Figure contains an axes object. The axes object contains 8 objects of type patch, line. These objects represent Front Ultrasonic field of view, Left Ultrasonic field of view, Front Ultrasonic Ranges, Left Ultrasonic Ranges, Point-On-Target (Front Ultrasonic), Point-On-Target (Rear Ultrasonic), Lane markings.

    Input Arguments

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    Bird’s-eye plot, specified as a birdsEyePlot object.

    Name-Value Arguments

    Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

    Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

    Example: LineWidth=1

    Plotter name to display in the legend, specified as a character vector or string scalar. If you do not specify a name, the bird's-eye plot does not display a legend entry for the plotter.

    Range line style, specified as one of the options listed in this table.

    Line StyleDescriptionResulting Line
    "-"Solid line

    Sample of solid line

    "--"Dashed line

    Sample of dashed line

    ":"Dotted line

    Sample of dotted line

    "-."Dash-dotted line

    Sample of dash-dotted line, with alternating dashes and dots

    "none"No lineNo line

    Width of range line, specified as a positive scalar.

    Font size for range labels, specified as a positive integer in font points.

    Gap between label and positional point, specified as a real-valued vector of the form [x y]. Units are in meters.

    Tag associated with the plotter object, specified a character vector or string scalar. The default value is 'PlotterN', where N is an integer that corresponds to the Nth plotter associated with the input birdsEyePlot object.

    Output Arguments

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    Range detection plotter, returned as a rangeDetectionPlotter object. You can modify this object by changing its property values. The property names correspond to the name-value arguments of the rangeDetectionPlotter function.

    rangeDetPlotter is stored in the Plotters property of the input birdsEyePlot object, bep. To plot the detections, use the plotRangeDetection function.

    Version History

    Introduced in R2022a