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 MultiObject 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
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  Realvalued scalar 
Actors  Actor poses  NumActors length array of actor pose structures 
Each actor pose structure in Actors
must contain these
fields.
Field  Description 

ActorID  Scenariodefined actor identifier, specified as a positive integer. 
Position  Position of actor, specified as a realvalued vector of the form [x y z]. Units are in meters. 
Velocity  Velocity (v) of actor in the x y, and zdirections, specified as a realvalued vector of the form [v_{x} v_{y} v_{z}]. Units are in meters per second. 
Roll  Roll angle of actor, specified as a realvalued scalar. Units are in degrees. 
Pitch  Pitch angle of actor, specified as a realvalued scalar. Units are in degrees. 
Yaw  Yaw angle of actor, specified as a realvalued scalar. Units are in degrees. 
AngularVelocity  Angular velocity (ω) of actor in the x, y, and zdirections, specified as a realvalued vector of the form [ω_{x} ω_{y} ω_{z}]. 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 MultiObject 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  Signaltonoise 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  3D 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
historybased logic. 
TrackLogicState  Current state of the track logic type, returned as a 1byK 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 MoutofN 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 MultiObject 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  Signaltonoise 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  3D 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)  1by3 realvalued vector of form [x
y
z]
Specify the sensor location on the ego vehicle body frame in meters as a 1by3 realvalued vector of the form [x y z]. This parameter defines the coordinates of the sensor along the xaxis, yaxis, and zaxis relative to the ego vehicle origin, where:
The xaxis points forward from the vehicle.
The yaxis points to the left of the vehicle.
The zaxis 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)  1by3 realvalued vector of form
[z_{yaw}
y_{pitch}
x_{roll}]
Specify the mounting rotation angles of the radar in degrees as a 1by3 realvalued vector of form [z_{yaw} y_{pitch} x_{roll}]. This parameter defines the intrinsic Euler angle rotation of the sensor around the zaxis, yaxis, and xaxis with respect to the ego vehicle body frame, where:
z_{yaw}, or yaw angle, rotates the sensor around the zaxis of the ego vehicle.
y_{pitch}, or pitch angle, rotates the sensor around the yaxis 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 xaxis 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 clockwisepositive when looking in the forward direction of the zaxis, yaxis, and xaxis, respectively. If you visualize sensor data from a bird'seye view perspective, then the yaw angle is counterclockwisepositive because you are viewing the data in the negative direction of the zaxis, 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 lineofsight occlusion
on
(default) 
off
Select this parameter to enable lineofsight 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)  1by2 positive realvalued vector of form [azfov,
elfov]
Specify the angular field of view of the radar in degrees as a 1by2
positive realvalued 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)  1by2 nonnegative realvalued vector of form [min
max]
Specify the minimum and maximum range of the radar in meters as a 1by2
nonnegative realvalued 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)  1by2 realvalued vector of form [min max]
Specify the minimum and maximum range rate of radar in meters per second as
a 1by2 realvalued 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 crosssection, with the radar crosssection 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
1e06
(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 crosssection (RCS) in meters as a positive real scalar. The reference range is the range at which a target having a radar crosssection 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 crosssection for given probability of detection
0
(default)  real scalar
Specify the reference radar crosssection (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 constantacceleration alphabeta Kalman filter 
initcvabf  Initialize constantvelocity alphabeta Kalman filter 
initcakf  Initialize constantacceleration linear Kalman filter. 
initcvkf  Initialize constantvelocity linear Kalman filter. 
initcaekf  Initialize constantacceleration extended Kalman filter. 
initctekf  Initialize constantturnrate extended Kalman filter. 
initcvekf  Initialize constantvelocity extended Kalman filter. 
initcaukf  Initialize constantacceleration unscented Kalman filter. 
initctukf  Initialize constantturnrate unscented Kalman filter. 
initcvukf  Initialize constantvelocity 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 MoutofN confirmation — Threshold for track confirmation
[2 3]
(default)  1by2 vector of positive integers
Specify the threshold for track confirmation as a 1by2 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 PoutofR deletion — Threshold for track deletion
[5 5]
(default)  1by2 vector of positive integers
Specify the threshold for track deletion as a twoelement vector of 1by2
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 2^{32}
Specify the random number generator seed as a nonnegative integer less than 2^{32}.
Dependencies
To enable this parameter, set the Random number
generation parameter to Specify
seed
.
Target Profiles
Target profiles definition — Method to specify target profiles
Parameters
(default)  MATLAB expression
 From Scenario Reader block
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 — Scenariodefined actor identifier
[]
(default)  positive integer  lengthL vector of unique positive integers
Specify the scenariodefined actor identifier as a positive integer or
lengthL 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
.
Userdefined integer to classify actors — Userdefined classification identifier
0
(default)  integer  lengthL vector of integers
Specify the userdefined classification identifier as an integer or
lengthL vector of integers. When Unique
identifier for actors is a vector, this parameter is a vector of
the same length with elements in onetoone 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  lengthL vector of positive values
Specify the length of actor cuboids as a positive real scalar or
lengthL vector of positive values. When Unique
identifier for actors is a vector, this parameter is a vector of
the same length with elements in onetoone 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  lengthL vector of positive values
Specify the width of actor cuboids as a positive real scalar or
lengthL vector of positive values. When Unique
identifier for actors is a vector, this parameter is a vector of
the same length with elements in onetoone 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  lengthL vector of positive values
Specify the height of actor cuboids as a positive real scalar or
lengthL vector of positive values. When Unique
identifier for actors is a vector, this parameter is a vector of
the same length with elements in onetoone 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)  lengthL cell array of realvalued 1by3
vectors
Specify the rotational center of actors as a lengthL
cell array of realvalued 1by3 vectors. Each vector represents the offset of
the rotational center of an actor from the bottomcenter 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 onetoone
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.
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 crosssection
{[10, 10; 10, 10]}
(default)  realvalued QbyP matrix  lengthL cell array of realvalued
QbyP matrices
Specify the radar crosssection (RCS) of actors as a realvalued
QbyP matrix or
lengthL cell array of realvalued
QbyP 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 onetoone 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 crosssection pattern
{[180 180]}
(default)  lengthL cell array of realvalued
Plength vectors
Specify the azimuth angles of radar crosssection patterns as a
lengthL cell array of realvalued
Plength vectors. Each vector represents the azimuth angles
of the P columns of the radar crosssection 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 onetoone 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 crosssections 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 crosssection pattern
{[90 90]}
(default)  lengthL cell array of realvalued
Qlength vectors
Specify the elevation angles of radar crosssection patterns as a
lengthL cell array of realvalued
Qlength vectors. Each vector represent the elevation angles
of the Q columns of the radar crosssection 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 onetoone 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 crosssections 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
.
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  MultiObject Tracker  Scenario Reader  Vision Detection Generator  Lidar Point Cloud Generator
Objects
MATLAB 명령
다음 MATLAB 명령에 해당하는 링크를 클릭했습니다.
명령을 실행하려면 MATLAB 명령 창에 입력하십시오. 웹 브라우저는 MATLAB 명령을 지원하지 않습니다.
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