Driving Radar Data Generator

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.

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.

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 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.

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:

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.

Select this parameter to model a radar sensor that can estimate target elevation.

Select this parameter to enable the radar to measure range rates from target detections.

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.

Select this parameter to enable creating false alarm radar measurements. If you clear this parameter, the radar reports only actual detections.

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.

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.

Specify the format of generated target reports as one of these options:

Coordinate system of reported detections, specified as one of these options:

Source of output bus name, specified as one of these options:

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.

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.

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.

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.

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.

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.

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.

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.

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.

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].

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.

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.

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.

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.

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.

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.

Specify the center frequency of the radar band in hertz as a positive scalar.

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.

You can also write your own initialization function. The function must have the following syntax:

filter = filterInitializationFcn(detection)

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.

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.

Dependencies

To enable this parameter, on the Parameters tab, set the Target reporting format parameter to Tracks.

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.

Specify the method to set the random number generator seed as one of the options in the table.

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.

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:

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.