Driving Radar Data Generator

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™.

Open Live Script

Track-to-Track Fusion for Automotive Safety Applications in Simulink

Fuse tracks from multiple vehicles in the Simulink environment.

Open Model

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.

Open Live Script

Add Sensors to RoadRunner Scenario Using Simulink

Simulate a RoadRunner Scenario with sensor models defined in Simulink and visualize object and lane detections.

Open Live Script

Ports

Input

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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: `FrontAxlePosition`	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 `ActorPoses` structure does not contain this field.
`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 [v_x v_y v_z]. 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 [ω_x ω_y ω_z]. Units are in degrees per second.

Output

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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 and MeasurementNoise are reported in the rectangular coordinate system specified by the Coordinate system parameter.
For spherical coordinates, Measurement and MeasurementNoise 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.

Enable range rate measurements	Coordinates
`on`	`[x;y;z;vx;vy;vz]`
`off`	`[x;y;z]`

Sensor rectangular

Sensor spherical

This table shows how coordinates are affected by the Enable elevation angle measurements and Enable range rate measurements parameters.

Enable range rate measurements	Enable elevation angle measurements	Coordinates
`on`	`on`	`[az;el;rng;rr]`
`on`	`off`	`[az;rng;rr]`
`off`	`on`	`[az;el;rng]`
`off`	`off`	`[az;rng]`

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, `1` denotes a hit and `0` denotes a miss.
`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 `true` by default.
`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 and MeasurementNoise are reported in the rectangular coordinate system specified by the Coordinate system parameter.
For spherical coordinates, Measurement and MeasurementNoise 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.

Enable range rate measurements	Coordinates
`on`	`[x;y;z;vx;vy;vz]`
`off`	`[x;y;z]`

Sensor rectangular

Sensor spherical

This table shows how coordinates are affected by the Enable elevation angle measurements and Enable range rate measurements parameters.

Enable range rate measurements	Enable elevation angle measurements	Coordinates
`on`	`on`	`[az;el;rng;rr]`
`on`	`off`	`[az;rng;rr]`
`off`	`on`	`[az;el;rng]`
`off`	`off`	`[az;rng]`

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

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Parameters

Sensor Identification

Unique 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.

Sensor Mounting

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 [z_yaw y_pitch x_roll]

Specify the mounting rotation angles of the radar in degrees as a 1-by-3 real-valued vector of form [z_yaw y_pitch x_roll]. 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:

z_yaw, or yaw angle, rotates the sensor around the z-axis of the ego vehicle.
y_pitch, 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 z_yaw rotation.
x_roll, 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 z_yaw and y_pitch 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.

Detection Reporting

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.

Port Settings

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 Settings

Azimuth 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.

Bias Settings

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.

Detector Settings

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.

Tracker Settings

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)

The input to this function is a detection report like those created by an 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 reduce M when tracks fail to be confirmed or increase M 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, set N = 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 Generator Settings

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: `clear all`.
`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]