Driving Radar Data Generator
Generate radar sensor detections or track reports from driving scenario or RoadRunner Scenario
Since R2021a
Libraries:
Automated Driving Toolbox /
Driving Scenario and Sensor Modeling
Description
The Driving Radar Data Generator block generates detection or track reports of targets from an automotive radar sensor model. Use this block to generate sensor data from a driving scenario containing actors and trajectories, which you can read from a Scenario Reader block.
The Driving Radar Data Generator block can simulate clustered or unclustered detections with added random noise and also generate false alarm detections. You can fuse the generated detections with other sensor data and track objects by using a Multi-Object Tracker block. You can also output tracks directly from the Driving Radar Data Generator block. To configure whether targets are output as clustered detections, unclustered detections, or tracks, use the Target reporting format parameter.
You can use the block with vehicle actors in Driving Scenario and RoadRunner Scenario simulations. For more information, see Add Sensors to RoadRunner Scenario Using Simulink example.
Examples
Sensor Fusion Using Synthetic Radar and Vision Data in Simulink
Implement a synthetic data simulation for tracking and sensor fusion in Simulink® with Automated Driving Toolbox™.
Track-to-Track Fusion for Automotive Safety Applications in Simulink
Fuse tracks from multiple vehicles in the Simulink environment.
Test Open-Loop ADAS Algorithm Using Driving Scenario
Test open-loop ADAS algorithms in Simulink by using driving scenarios saved from the Driving Scenario Designer app.
Add Sensors to RoadRunner Scenario Using Simulink
Simulate a RoadRunner Scenario with sensor models defined in Simulink and visualize object and lane detections.
Ports
Input
Actors — Scenario actor poses
Simulink bus containing MATLAB® structure
Scenario actor poses in ego vehicle coordinates, specified as a Simulink bus containing a MATLAB structure.
The structure must contain these fields.
Field | Description | Type |
---|---|---|
NumActors | Number of actors | Nonnegative integer |
Time | Current simulation time | Real-valued scalar |
Actors | Actor poses | NumActors -length array of actor pose structures |
Each actor pose structure in Actors
must contain these
fields.
Field | Description |
---|---|
ActorID | Scenario-defined actor identifier, specified as a positive integer. |
In R2024b:
| Front-axle position of the vehicle, specified as a three-element row vector in the form [x y z]. Units are in meters. Note If the driving scenario does not contain a
front-axle trajectory for at least one vehicle,
then the
|
Position | Position of actor, specified as a real-valued vector of the form [x y z]. Units are in meters. |
Velocity | Velocity (v) of actor in the x- y-, and z-directions, specified as a real-valued vector of the form [vx vy vz]. Units are in meters per second. |
Roll | Roll angle of actor, specified as a real-valued scalar. Units are in degrees. |
Pitch | Pitch angle of actor, specified as a real-valued scalar. Units are in degrees. |
Yaw | Yaw angle of actor, specified as a real-valued scalar. Units are in degrees. |
AngularVelocity | Angular velocity (ω) of actor in the x-, y-, and z-directions, specified as a real-valued vector of the form [ωx ωy ωz]. Units are in degrees per second. |
Output
Clustered detections — Clustered object detections
Simulink bus containing MATLAB structure
Clustered object detections, returned as a Simulink bus containing a MATLAB structure. For more details about buses, see Create Nonvirtual Buses (Simulink).
With clustered detections, the block outputs a single detection per target, where each detection is the centroid of the unclustered detections for that target.
You can pass object detections from these sensors and other sensors to a tracker, such as a Multi-Object Tracker block, and generate tracks.
The structure contains these fields.
Field | Description | Type |
---|---|---|
NumDetections | Number of detections | Nonnegative integer |
IsValidTime | False when updates are requested at times that are between block invocation intervals | Boolean |
Detections | Object detections | Array of object detection structures of length set by the
Maximum number of reported detections
parameter. Only NumDetections of these are
actual detections. |
Each object detection structure contains these properties.
Property | Definition |
---|---|
Time | Measurement time |
Measurement | Object measurements |
MeasurementNoise | Measurement noise covariance matrix |
SensorIndex | Unique ID of the sensor |
ObjectClassID | Object classification |
MeasurementParameters | Parameters used by initialization functions of nonlinear Kalman tracking filters |
ObjectAttributes | Additional information passed to tracker |
For rectangular coordinates,
Measurement
andMeasurementNoise
are reported in the rectangular coordinate system specified by the Coordinate system parameter.For spherical coordinates,
Measurement
andMeasurementNoise
are reported in the spherical coordinate system, which is based on the sensor rectangular coordinate system.
Measurement
and MeasurementNoise
Coordinate System | Measurement and
MeasurementNoise Coordinates | |||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Body | This table shows how coordinates are affected by the Enable range rate measurements parameter.
| |||||||||||||||
Sensor rectangular | ||||||||||||||||
Sensor spherical | This table shows how coordinates are affected by the Enable elevation angle measurements and Enable range rate measurements parameters.
|
For ObjectAttributes
, this table describes the additional information
used for tracking.
ObjectAttributes
Attribute | Definition |
---|---|
TargetIndex | Identifier of the actor, ActorID , that generated the
detection. For false alarms, this value is negative. |
SNR | Signal-to-noise ratio of the detection. Units are in dB. |
For MeasurementParameters
, the measurements are relative to the
parent frame. When you set the Coordinate system parameter to
Body
, the parent frame is the ego vehicle body. When you set
Coordinate system to Sensor rectangular
or
Sensor spherical
, the parent frame is the sensor.
MeasurementParameters
Parameter | Definition |
---|---|
Frame | Enumerated type indicating the frame used to report measurements. When
Frame is set to 'rectangular' ,
detections are reported in Cartesian coordinates. When
Frame is set to 'spherical' ,
detections are reported in spherical coordinates. |
OriginPosition | 3-D vector offset of the sensor origin from the parent frame origin. |
Orientation | Orientation of the radar sensor coordinate system with respect to the parent frame. |
HasVelocity | Indicates whether measurements contain velocity or range rate components. |
HasElevation | Indicates whether measurements contain elevation components. |
Dependencies
To enable this port, on the Parameters tab, set the
Target reporting format parameter to
Clustered detections
.
Tracks — Object tracks
Simulink bus containing MATLAB structure
Object tracks, returned as a Simulink bus containing a MATLAB structure. See Create Nonvirtual Buses (Simulink).
This table shows the structure fields.
Field | Description |
---|---|
NumTracks | Number of tracks |
Tracks | Array of track structures of a length set by the Maximum number
of tracks parameter. Only the first
NumTracks of these are actual tracks. |
This table shows the fields of each track structure.
Field | Definition |
---|---|
TrackID | Unique track identifier used to distinguish multiple tracks. |
BranchID | Unique track branch identifier used to distinguish multiple track branches. |
SourceIndex | Unique source index used to distinguish tracking sources in a multiple tracker environment. |
UpdateTime | Time at which the track is updated. Units are in seconds. |
Age | Number of times the track was updated. |
State | Value of state vector at the update time. |
StateCovariance | Uncertainty covariance matrix. |
ObjectClassID | Integer value representing the object classification. The value
0 represents an unknown classification. Nonzero
classifications apply only to confirmed tracks. |
TrackLogic | Confirmation and deletion logic type. This value is always
'History' for radar sensors, to indicate
history-based logic. |
TrackLogicState | Current state of the track logic type, returned as a 1-by-K logical array. K is the number of latest track logical states recorded.
In the array, |
IsConfirmed | Confirmation status. This field is true if the track
is confirmed to be a real target. |
IsCoasted | Coasting status. This field is true if the track is
updated without a new detection. |
IsSelfReported | Indicate if the track is reported by the tracker. This field is
used in a track fusion environment. It is returned as
|
ObjectAttributes | Additional information about the track. |
For more details about these fields, see objectTrack
.
The block outputs only confirmed tracks, which are tracks to which the block assigns at least M detections during the first N updates after track initialization. To specify the values M and N, use the M and N for the M-out-of-N confirmation parameter.
Dependencies
To enable this port, on the Parameters tab, set the
Target reporting format parameter to
Tracks
.
Detections — Unclustered object detections
Simulink bus containing MATLAB structure
Unclustered object detections, returned as a Simulink bus containing a MATLAB structure. For more details about buses, see Create Nonvirtual Buses (Simulink).
With unclustered detections, the block outputs all detections, and a target can have multiple detections.
You can pass object detections from these sensors and other sensors to a tracker, such as a Multi-Object Tracker block, and generate tracks.
The structure must contain these fields.
Field | Description | Type |
---|---|---|
NumDetections | Number of detections | integer |
IsValidTime | False when updates are requested at times that are between block invocation intervals | Boolean |
Detections | Object detections | Array of object detection structures of length set by the
Maximum number of reported detections
parameter. Only NumDetections of these are
actual detections. |
Each object detection structure contains these properties.
Property | Definition |
---|---|
Time | Measurement time |
Measurement | Object measurements |
MeasurementNoise | Measurement noise covariance matrix |
SensorIndex | Unique ID of the sensor |
ObjectClassID | Object classification |
MeasurementParameters | Parameters used by initialization functions of nonlinear Kalman tracking filters |
ObjectAttributes | Additional information passed to tracker |
For rectangular coordinates,
Measurement
andMeasurementNoise
are reported in the rectangular coordinate system specified by the Coordinate system parameter.For spherical coordinates,
Measurement
andMeasurementNoise
are reported in the spherical coordinate system, which is based on the sensor rectangular coordinate system.
Measurement
and MeasurementNoise
Coordinate System | Measurement and
MeasurementNoise Coordinates | |||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Body | This table shows how coordinates are affected by the Enable range rate measurements parameter.
| |||||||||||||||
Sensor rectangular | ||||||||||||||||
Sensor spherical | This table shows how coordinates are affected by the Enable elevation angle measurements and Enable range rate measurements parameters.
|
For ObjectAttributes
, this table describes the additional information
used for tracking.
ObjectAttributes
Attribute | Definition |
---|---|
TargetIndex | Identifier of the actor, ActorID , that generated the
detection. For false alarms, this value is negative. |
SNR | Signal-to-noise ratio of the detection. Units are in dB. |
For MeasurementParameters
, the measurements are relative to the
parent frame. When you set the Coordinate system parameter to
Body
, the parent frame is the ego vehicle body. When you set
Coordinate system to Sensor rectangular
or
Sensor spherical
, the parent frame is the sensor.
MeasurementParameters
Parameter | Definition |
---|---|
Frame | Enumerated type indicating the frame used to report measurements. When
Frame is set to 'rectangular' ,
detections are reported in Cartesian coordinates. When
Frame is set to 'spherical' ,
detections are reported in spherical coordinates. |
OriginPosition | 3-D vector offset of the sensor origin from the parent frame origin. |
Orientation | Orientation of the radar sensor coordinate system with respect to the parent frame. |
HasVelocity | Indicates whether measurements contain velocity or range rate components. |
HasElevation | Indicates whether measurements contain elevation components. |
Dependencies
To enable this port, on the Parameters tab, set the
Target reporting format parameter to
Detections
.
Parameters
Parameters
Sensor IdentificationUnique identifier of sensor — Unique sensor identifier
0
(default) | positive integer
Specify the unique sensor identifier as a positive integer. Use this
parameter to distinguish between detections or tracks that come from different
sensors in a multisensor system. Specify a unique value for each sensor. If you
do not update Unique identifier of sensor from the default
value of 0
, then the radar returns an error at the start of
simulation.
Update rate (Hz) — Sensor update rate
10
(default) | positive real scalar
Specify the sensor update rate in hertz as a positive real scalar. The reciprocal of the update rate must be an integer multiple of the simulation time interval. The radar generates new reports at intervals defined by this reciprocal value. Any sensor update requested between update intervals contains no detections or tracks.
Translation [ X, Y, Z ] relative to ego origin (m) — Sensor location on ego vehicle (m)
[3.4, 0, 0.2]
(default) | 1-by-3 real-valued vector of form [x
y
z]
Specify the sensor location on the ego vehicle body frame in meters as a 1-by-3 real-valued vector of the form [x y z]. This parameter defines the coordinates of the sensor along the x-axis, y-axis, and z-axis relative to the ego vehicle origin, where:
The x-axis points forward from the vehicle.
The y-axis points to the left of the vehicle.
The z-axis points up from the ground.
The default value corresponds to a radar that is mounted at the center of the front grill of a sedan.
For more details on the ego vehicle coordinate system, see Coordinate Systems in Automated Driving Toolbox.
Rotation [Yaw, Pitch, Roll] relative to ego's frame (deg) — Mounting rotation angles of radar
[0 0 0]
(default) | 1-by-3 real-valued vector of form
[zyaw
ypitch
xroll]
Specify the mounting rotation angles of the radar in degrees as a 1-by-3 real-valued vector of form [zyaw ypitch xroll]. This parameter defines the intrinsic Euler angle rotation of the sensor around the z-axis, y-axis, and x-axis with respect to the ego vehicle body frame, where:
zyaw, or yaw angle, rotates the sensor around the z-axis of the ego vehicle.
ypitch, or pitch angle, rotates the sensor around the y-axis of the ego vehicle. This rotation is relative to the sensor position that results from the zyaw rotation.
xroll, or roll angle, rotates the sensor about the x-axis of the ego vehicle. This rotation is relative to the sensor position that results from the zyaw and ypitch rotations.
These angles are clockwise-positive when looking in the forward direction of the z-axis, y-axis, and x-axis, respectively. If you visualize sensor data from a bird's-eye view perspective, then the yaw angle is counterclockwise-positive because you are viewing the data in the negative direction of the z-axis, which points up from the ground.
For more details on this coordinate system, see Coordinate Systems in Automated Driving Toolbox.
Enable elevation angle measurements — Enable radar to measure target elevation angles
off
(default) |
on
Select this parameter to model a radar sensor that can estimate target elevation.
Enable range rate measurements — Enable radar to measure target range rates
on
(default) |
off
Select this parameter to enable the radar to measure range rates from target detections.
Add noise to measurements — Enable addition of noise to radar sensor measurements
on
(default) |
off
Select this parameter to add noise to the radar measurements. Otherwise, the
measurements have no noise. Even if you clear this parameter, the measurement
noise covariance matrix, which is reported in the
MeasurementNoise
field of the generated detections
output, represents the measurement noise that is added when Add noise
to measurements is selected.
Enable false reports — Enable creating false alarm radar detections
on
(default) |
off
Select this parameter to enable creating false alarm radar measurements. If you clear this parameter, the radar reports only actual detections.
Enable occlusion — Enable line-of-sight occlusion
on
(default) |
off
Select this parameter to enable line-of-sight occlusion, where the radar generates detection only from objects for which the radar has a direct line of sight. For example, with this parameter enabled, the radar does not generate a detection for a vehicle that is behind another vehicle and blocked from view.
Maximum number of target reports — Maximum number of detections or tracks
50
(default) | positive integer
Specify the maximum number of detections or tracks that the sensor reports as a positive integer. The sensor reports detections in the order of increasing distance from the sensor until reaching this maximum number.
Target reporting format — Format of generated target reports
Clustered detections
(default) |
Tracks
|
Detections
Specify the format of generated target reports as one of these options:
Clustered detections
— The block generates target reports as clustered detections, where each target is reported as a single detection that is the centroid of the unclustered target detections. The block returns clustered detections at the Clustered detections output port.Tracks
— The block generates target reports as tracks, which are clustered detections that have been processed by a tracking filter. The block returns clustered detections at the Tracks output port.Detections
— The block generates target reports as unclustered detections, where each target can have multiple detections. The block returns clustered detections at the Detections output port.
Coordinate system — Coordinate system of reported detections
Body
(default) |
Sensor rectangular
|
Sensor spherical
Coordinate system of reported detections, specified as one of these options:
Body
— Detections are reported in the rectangular body system of the ego vehicle.Sensor rectangular
— Detections are reported in the rectangular body system of the radar sensor.Sensor spherical
— Detections are reported in a spherical coordinate system that is centered at the radar sensor and aligned with the orientation of the radar on the ego vehicle.
Source of output bus name — Source of output bus name
Auto
(default) |
Property
Source of output bus name, specified as one of these options:
Auto
— The block automatically creates a bus name.Property
— Specify the bus name by using the Specify an output bus name parameter.
Specify an output bus name — Name of output bus
BusDrivingRadarDataGenerator
(default) | valid bus name
Specify the name of the actor poses bus returned in the Actors output port.
To enable this parameter, set the Source of output bus
name parameter to Property
.
Measurements
Resolution SettingsAzimuth resolution (deg) — Azimuth resolution of radar
4
(default) | positive real scalar
Specify the azimuth resolution of the radar in degrees as a positive scalar. The azimuth resolution defines the minimum separation in azimuth angle at which the radar can distinguish between two targets. The azimuth resolution is typically the 3 dB downpoint of the azimuth angle beamwidth of the radar.
Elevation resolution (deg) — Elevation resolution of radar
5
(default) | positive real scalar
Specify the elevation resolution of the radar in degrees as a positive real scalar. The elevation resolution defines the minimum separation in elevation angle at which the radar can distinguish between two targets. The elevation resolution is typically the 3 dB downpoint in elevation angle beamwidth of the radar.
Dependencies
To enable this parameter, on the Parameters tab, select the Enable elevation angle measurements parameter.
Range resolution (m) — Range resolution of radar
2.5
(default) | positive real scalar
Specify the range resolution of the radar in meters as a positive real scalar. The range resolution defines the minimum separation in range at which the radar can distinguish between two targets.
Range rate resolution (m/s) — Range rate resolution of radar
0.5
(default) | positive real scalar
Specify the range rate resolution of the radar in meters per second as a positive real scalar. The range rate resolution defines the minimum separation in range rate at which the radar can distinguish between two targets.
Dependencies
To enable this parameter, on the Parameters tab, select the Enable range rate resolution parameter.
Azimuth bias fraction — Azimuth bias fraction of radar
0.1
(default) | nonnegative scalar
Specify the azimuth bias fraction of the radar as a nonnegative scalar. Azimuth bias is expressed as a fraction of the azimuth resolution specified in the Azimuth resolution (deg) parameter. This value sets a lower bound on the azimuthal accuracy of the radar and is dimensionless.
Elevation bias fraction — Elevation bias fraction of radar
0.1
(default) | nonnegative scalar
Specify the elevation bias fraction of the radar as a nonnegative scalar. Elevation bias is expressed as a fraction of the elevation resolution specified by the Elevation resolution (deg) parameter. This value sets a lower bound on the elevation accuracy of the radar and is dimensionless.
Dependencies
To enable this parameter, on the Parameters tab, select the Enable elevation angle measurements parameter.
Range bias fraction — Range bias fraction
0.05
(default) | nonnegative scalar
Specify the range bias fraction of the radar as a nonnegative scalar. Range bias is expressed as a fraction of the range resolution specified by the Range resolution (m) property. This property sets a lower bound on the range accuracy of the radar and is dimensionless.
Range rate bias fraction — Range rate bias fraction
0.05
(default) | nonnegative scalar
Specify the range rate bias fraction of the radar as a nonnegative scalar. Range rate bias is expressed as a fraction of the range rate resolution specified by the Range rate resolution (m/s) parameter. This property sets a lower bound on the range rate accuracy of the radar and is dimensionless.
Dependencies
To enable this parameter, on the Parameters tab, select the Enable range rate measurements parameter.
Total angular field of view [AZ, EL] (deg) — Angular field of view of radar
[20 5]
(default) | 1-by-2 positive real-valued vector of form [azfov,
elfov]
Specify the angular field of view of the radar in degrees as a 1-by-2
positive real-valued vector of the form [azfov elfov]
. The
field of view defines the total angular extent spanned by the sensor. The
azimuth field of view, azfov
, must lie in the interval (0,
360]. The elevation field of view, elfov
, must lie in the
interval (0, 180].
Range limits [MIN, MAX] (m) — Minimum and maximum range of radar
[0 150]
(default) | 1-by-2 nonnegative real-valued vector of form [min
max]
Specify the minimum and maximum range of the radar in meters as a 1-by-2
nonnegative real-valued vector of the form [min max]
. The
radar does not detect targets that are outside this range. The maximum range,
max
, must be greater than the minimum range,
min
.
Range rate limits [MIN, MAX] (m/s) — Minimum and maximum range rate of radar (m/s)
[-100 100]
(default) | 1-by-2 real-valued vector of form [min max]
Specify the minimum and maximum range rate of radar in meters per second as
a 1-by-2 real-valued vector of the form [min max]
. The radar
does not detect targets that are outside this range rate. The maximum range
rate, max
, must be greater than the minimum range rate,
min
.
Dependencies
To enable this parameter, on the Parameters tab, select the Enable range rate measurements parameter.
Detection probability — Probability of detecting a target
0.9
(default) | scalar in range (0, 1]
Specify the probability of detecting a target as a scalar in the range (0, 1]. This quantity defines the probability of detecting a target with a radar cross-section, with the radar cross-section specified by the Reference target RCS (dBsm) parameter at the reference detection range specified by the Reference target range (m) parameter.
False alarm rate — False alarm report rate
1e-06
(default) | positive real scalar in range [10–7,
10–3]
Specify the false alarm report rate within each radar resolution cell as a positive real scalar in the range [10–7, 10–3]. Units are dimensionless. The block determines resolution cells from the Azimuth resolution (deg) and Range resolution (m) parameters and, when enabled, from the Elevation resolution (deg) and Range rate resolution (m/s) parameters.
Reference target range (m) — Reference range for given probability of detection
100
(default) | positive real scalar
Specify the reference range for the given probability of detection and the given reference radar cross-section (RCS) in meters as a positive real scalar. The reference range is the range at which a target having a radar cross-section specified by the Reference target RCS (dBsm) parameter is detected with a probability of detection specified by the Detection probability parameter.
Reference target RCS (dBsm) — Reference radar cross-section for given probability of detection
0
(default) | real scalar
Specify the reference radar cross-section (RCS) for a given probability of detection and reference range in decibel square meters as a real scalar. The reference RCS is the RCS value at which a target is detected with a probability specified by the Detection probability parameter at the specified Reference target range (m) parameter value.
Center frequency (Hz) — Center frequency of radar band
77e9
(default) | positive real scalar
Specify the center frequency of the radar band in hertz as a positive scalar.
Filter initialization function name — Kalman filter initialization function
initcvekf
(default) | function name
Specify the Kalman filter initialization function as a function handle or as a character vector or string scalar of the name of a valid Kalman filter initialization function.
The table shows the initialization functions that you can use to specify Filter initialization function name.
Initialization Function | Function Definition |
---|---|
initcaabf | Initialize constant-acceleration alpha-beta Kalman filter |
initcvabf | Initialize constant-velocity alpha-beta Kalman filter |
initcakf | Initialize constant-acceleration linear Kalman filter. |
initcvkf | Initialize constant-velocity linear Kalman filter. |
initcaekf | Initialize constant-acceleration extended Kalman filter. |
initctekf | Initialize constant-turnrate extended Kalman filter. |
initcvekf | Initialize constant-velocity extended Kalman filter. |
initcaukf | Initialize constant-acceleration unscented Kalman filter. |
initctukf | Initialize constant-turnrate unscented Kalman filter. |
initcvukf | Initialize constant-velocity unscented Kalman filter. |
You can also write your own initialization function. The function must have the following syntax:
filter = filterInitializationFcn(detection)
objectDetection
object. The output of this function must be a
tracking filter object, such as trackingKF
, trackingEKF
, trackingUKF
, or trackingABF
.
To guide you in writing this function, you can examine the details of the supplied functions from within MATLAB. For example:
type initcvekf
Dependencies
To enable this parameter, on the Parameters tab, set
the Target reporting format parameter to
Tracks
.
M and N for the M-out-of-N confirmation — Threshold for track confirmation
[2 3]
(default) | 1-by-2 vector of positive integers
Specify the threshold for track confirmation as a 1-by-2 vector of positive
integers of the form [M N]
. A track is confirmed if it
receives at least M
detections in the last
N
updates. M
must be less than or
equal to N
.
When setting
M
, take into account the probability of object detection for the sensors. The probability of detection depends on factors such as occlusion or clutter. You can reduceM
when tracks fail to be confirmed or increaseM
when too many false detections are assigned to tracks.When setting
N
, consider the number of times you want the tracker to update before it makes a confirmation decision. For example, if a tracker updates every 0.05 seconds, and you want to allow 0.5 seconds to make a confirmation decision, setN = 10
.
Dependencies
To enable this parameter, on the Parameters tab, set
the Target reporting format parameter to
Tracks
.
P and R for the P-out-of-R deletion — Threshold for track deletion
[5 5]
(default) | 1-by-2 vector of positive integers
Specify the threshold for track deletion as a two-element vector of 1-by-2
vector of positive integers of the form [P R]
. If a
confirmed track is not assigned to any detection P
times in
the last R
tracker updates, then the track is deleted.
P
must be less than or equal to
R
.
Dependencies
To enable this parameter, on the Parameters tab, set
the Target reporting format parameter to
Tracks
.
Random number generation — Method to specify random number generator seed
Repeatable
(default) |
Specify seed
|
Not repeatable
Specify the method to set the random number generator seed as one of the options in the table.
Option | Description |
---|---|
Repeatable | The block generates a random initial seed for the
first simulation and reuses this seed for all subsequent
simulations. Select this parameter to generate repeatable
results from the statistical sensor model. To change this
initial seed, at the MATLAB command prompt, enter: |
Specify seed | Specify your own random initial seed for reproducible results by using the Initial seed parameter. |
Not repeatable | The block generates a new random initial seed after each simulation run. Select this parameter to generate nonrepeatable results from the statistical sensor model. |
Initial seed — Random number generator seed
0
(default) | nonnegative integer less than 232
Specify the random number generator seed as a nonnegative integer less than 232.
Dependencies
To enable this parameter, set the Random number
generation parameter to Specify
seed
.
Target Profiles
Target profiles definition — Method to specify target profiles
From Scenario Reader
block
(default) | MATLAB expression
| Parameters
Specify the method to specify target profiles, which are the physical and radar characteristics of all targets in the driving scenario, as one of these options:
Parameters
— The block obtains the target profiles from the parameters enabled on the Target Profiles tab when you select this option.MATLAB expression
— The block obtains the actor profiles from the MATLAB expression specified by the MATLAB expression for target profiles parameter.From Scenario Reader block
— The block obtains the actor profiles from the scenario specified by the Scenario Reader block.
MATLAB expression for target profiles — MATLAB expression for target profiles
MATLAB structure | MATLAB structure array | valid MATLAB expression
Specify the MATLAB expression for actor profiles, as a MATLAB structure, a MATLAB structure array, or a valid MATLAB expression that produces such a structure or structure array.
If your Scenario Reader block reads data from a drivingScenario
object, to obtain
the actor profiles directly from this object, set this expression to call the
actorProfiles
function on the
object. For example: actorProfiles(scenario)
.
The default target profile expression produces a MATLAB structure and has this form:
struct('ClassID',0,'Length',4.7,'Width',1.8,'Height',1.4, ... 'OriginOffset',[-1.35 0 0],'RCSPattern',[10 10;10 10], ... 'RCSAzimuthAngles',[-180 180],'RCSElevationAngles',[-90 90])
Dependencies
To enable this parameter, set the Target profiles
definition parameter to MATLAB
expression
.
Unique identifier for actors — Scenario-defined actor identifier
[]
(default) | positive integer | length-L vector of unique positive integers
Specify the scenario-defined actor identifier as a positive integer or
length-L vector of unique positive integers.
L must equal the number of actors input into the
Actors input port. The vector elements must match
ActorID
values of the actors. You can specify
Unique identifier for actors as []
.
In this case, the same actor profile parameters apply to all actors.
Example: [1 2]
Dependencies
To enable this parameter, set the Target profiles
definition parameter to
Parameters
.
User-defined integer to classify actors — User-defined classification identifier
0
(default) | integer | length-L vector of integers
Specify the user-defined classification identifier as an integer or
length-L vector of integers. When Unique
identifier for actors is a vector, this parameter is a vector of
the same length with elements in one-to-one correspondence to the actors in
Unique identifier for actors. When Unique
identifier for actors is empty, []
, you must
specify this parameter as a single integer whose value applies to all
actors.
Example: 2
Dependencies
To enable this parameter, set the Target profiles
definition parameter to
Parameters
.
Length of actors' cuboids (m) — Length of actor cuboids
4.7
(default) | positive real scalar | length-L vector of positive values
Specify the length of actor cuboids as a positive real scalar or
length-L vector of positive values. When Unique
identifier for actors is a vector, this parameter is a vector of
the same length with elements in one-to-one correspondence to the actors in
Unique identifier for actors. When Unique
identifier for actors is empty, []
, you must
specify this parameter as a positive real scalar whose value applies to all
actors. Units are in meters.
Example: 6.3
Dependencies
To enable this parameter, set the Target profiles
definition parameter to
Parameters
.
Width of actors' cuboids (m) — Width of actor cuboids
1.8
(default) | positive real scalar | length-L vector of positive values
Specify the width of actor cuboids as a positive real scalar or
length-L vector of positive values. When Unique
identifier for actors is a vector, this parameter is a vector of
the same length with elements in one-to-one correspondence to the actors in
Unique identifier for actors. When Unique
identifier for actors is empty, []
, you must
specify this parameter as a positive real scalar whose value applies to all
actors. Units are in meters.
Example: 4.7
Dependencies
To enable this parameter, set the Target profiles
definition parameter to
Parameters
.
Height of actors' cuboids (m) — Height of actor cuboids
1.4
(default) | positive real scalar | length-L vector of positive values
Specify the height of actor cuboids as a positive real scalar or
length-L vector of positive values. When Unique
identifier for actors is a vector, this parameter is a vector of
the same length with elements in one-to-one correspondence to the actors in
Unique identifier for actors. When Unique
identifier for actors is empty, []
, you must
specify this parameter as a positive real scalar whose value applies to all
actors. Units are in meters.
Example: 2.0
Dependencies
To enable this parameter, set the Target profiles
definition parameter to
Parameters
.
Rotational center of actors from bottom center (m) — Rotational center of actors
{[-1.35, 0, 0]}
(default) | length-L cell array of real-valued 1-by-3
vectors
Specify the rotational center of actors as a length-L
cell array of real-valued 1-by-3 vectors. Each vector represents the offset of
the rotational center of an actor from the bottom-center of the actor. For
vehicles, the offset corresponds to the point on the ground beneath the center
of the rear axle. When Unique identifier for actors is a
vector, this parameter is a cell array of vectors with cells in one-to-one
correspondence to the actors in Unique identifier for
actors. When Unique identifier for actors is
empty, []
, you must specify this parameter as a cell array
of one element containing an offset vector whose values apply to all actors.
Units are in meters. The center of rotation is defined according to the
convention detailed in Actor and Vehicle Positions and Dimensions.
Example: {[-1.35, 0.2, 0.3]}
Dependencies
To enable this parameter, set the Target profiles
definition parameter to
Parameters
.
Radar cross section pattern (dBsm) — Radar cross-section
{[10, 10; 10, 10]}
(default) | real-valued Q-by-P matrix | length-L cell array of real-valued
Q-by-P matrices
Specify the radar cross-section (RCS) of actors as a real-valued
Q-by-P matrix or
length-L cell array of real-valued
Q-by-P matrices. Q
is the number of elevation angles specified by the corresponding cell in the
Elevation angles defining RCSPattern (deg) parameter.
P is the number of azimuth angles specified by the
corresponding cell in Azimuth angles defining RCSPattern
(deg) parameter. When Unique identifier for
actors is a vector, this parameter is a cell array of matrices
with cells in one-to-one correspondence to the actors in Unique
identifier for actors. The values of Q and
P can differ between cells. When Unique
identifier for actors is empty, []
, you must
specify this parameter as a cell array with one element containing a matrix
whose values apply to all actors. Units are in dBsm.
Example: {[10 14 10; 9 13 9]}
Dependencies
To enable this parameter, set the Target profiles
definition parameter to
Parameters
.
Azimuth angles defining RCSPattern (deg) — Azimuth angles of radar cross-section pattern
{[-180 180]}
(default) | length-L cell array of real-valued
P-length vectors
Specify the azimuth angles of radar cross-section patterns as a
length-L cell array of real-valued
P-length vectors. Each vector represents the azimuth angles
of the P columns of the radar cross-section specified in
Radar cross section pattern (dBsm). When
Unique identifier for actors is a vector, this
parameter is a cell array of vectors with cells in one-to-one correspondence to
the actors in Unique identifier for actors. The value of
P can differ between cells. When Unique
identifier for actors is empty, []
, you must
specify this parameter as a cell array with one element containing a vector
whose values apply to all actors. Units are in degrees. Azimuth angles lie in
the range –180° to 180° and must be in strictly increasing order.
When the radar cross-sections specified in the cells of Radar cross section pattern (dBsm) all have the same dimensions, you need only specify a cell array with one element containing the azimuth angle vector.
Example: {[-90 90]}
Dependencies
To enable this parameter, set the Target profiles
definition parameter to
Parameters
.
Elevation angles defining RCSPattern (deg) — Elevation angles of radar cross-section pattern
{[-90 90]}
(default) | length-L cell array of real-valued
Q-length vectors
Specify the elevation angles of radar cross-section patterns as a
length-L cell array of real-valued
Q-length vectors. Each vector represent the elevation angles
of the Q columns of the radar cross-section specified in
Radar cross section pattern (dBsm). When
Unique identifier for actors is a vector, this
parameter is a cell array of vectors with cells in one-to-one correspondence to
the actors in Unique identifier for actors. The value of
Q can differ between cells. When Unique
identifier for actors is empty, []
, you must
specify this parameter as a cell array with one element containing a vector
whose values apply to all actors. Units are in degrees. Elevation angles lie in
the range –90° to 90° and must be in strictly increasing order.
When the radar cross-sections that are specified in the cells of Radar cross section pattern (dBsm) all have the same dimensions, you need only specify a cell array with one element containing an elevation angle vector.
Example: {[-25 25]}
Dependencies
To enable this parameter, set the Target profiles
definition parameter to
Parameters
.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.
For driving scenario workflows, the Driving Radar Data Generator block supports:
Rapid accelerator mode simulation.
Standalone deployment using Simulink Coder™ and for Simulink Real-Time™ targets.
For RoadRunner Scenario workflows, the Driving Radar Data Generator block supports standalone deployment using ready-to-run packages. For more information about generating ready-to-run packages for your Simulink model, see Publish Ready-to-Run Actor Behaviors for Reuse and Simulation Performance.
Version History
Introduced in R2021aR2024a: Usage with RoadRunner Scenario simulation does not require registering the sensor model using addSensors
function
Starting in R2024a, Simulink automatically instantiates a SensorSimulation
object and adds sensors defined in the model to the RoadRunner scenario. Hence, registering Driving Radar Data Generator block manually using the addSensors
function is not required. For more information on the new workflow, see the Add Sensors to RoadRunner Scenario Using Simulink example.
In releases prior to R2024a, you must manually register the block as a sensor model using the addSensors
function. For more information, see Adding sensors manually using addSensors
function is not required for Simulink models.
See Also
Apps
Blocks
- Detection Concatenation | Multi-Object Tracker | Scenario Reader | Vision Detection Generator | Lidar Point Cloud Generator
Objects
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