AutomotiveRadarClusteredPoints

Sensor specification for vehicle-mounted radar that has low to medium resolution

Since R2024b

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    Description

    An AutomotiveRadarClusteredPoints object contains a sensor specification for a vehicle-mounted radar that has low to medium resolution. The specification assumes that the radar data is clustered into object-level clusters before processing with the tracker. You can use the AutomotiveRadarClusteredPoints object as the input to multiSensorTargetTracker.

    Creation

    To create an AutomotiveRadarClusteredPoints object, use the trackerSensorSpec function with the "automotive", "radar", and "clustered-points" input arguments. For example:

    spec = trackerSensorSpec("automotive","radar","clustered-points")

    Properties

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    Reference coordinate frame, specified as "ego" or "global".

    When you specify this property as

    "ego" — The origin of the coordinate system is fixed to an ego vehicle, and the position and orientation of the target are modeled with respect to this ego vehicle. To account for a moving ego vehicle, ego motion compensation is used. This ego motion information must be provided as the last input to the tracker. See the More About section and dataFormat function for more information.

    "global" — The origin of the coordinate system is fixed to a stationary global reference frame, and the position and orientation of the target is modeled with respect to this stationary frame. See the More About section and dataFormat function for more information on how to provide ego pose.

    Tip

    Choose "global" reference frame if either of the following is true.

    • All sensors are mounted on the same ego vehicle, and you know the position and orientation of that ego vehicle in some global reference frame. Additionally, you want the tracks described in that same global reference frame.

    • Sensors are mounted on different ego vehicles, which can be either stationary or moving.

    You may need to change the YawLimits property of your target specification to account for the yaw of the vehicle in global reference frame. For example,

    targetSpec.YawLimits = egoYaw + [-10 10];

    Note

    You must use the same ReferenceFrame on each target specification and sensor specification to initialize a tracker.

    Example: "global"

    Data Types: char | string

    Maximum number of the measurements the sensor can detect in one scan, specified as a positive integer.

    Example: 20

    Data Types: single | double | int8 | int16 | int32 | int64 | uint8 | uint16 | uint32 | uint64

    Sensor location on the ego vehicle, specified as a 1-by-3 real-valued vector of form [xm ym zm]. This property defines the coordinates of the sensor with respect to the ego vehicle origin. The default value specifies that the sensor origin is at the origin of its ego vehicle. Units are in meters.

    Example: [1.25 -0.1 0.8]

    Data Types: single | double

    Orientation of the sensor with respect to the ego vehicle, specified as a 1-by-3 real-valued vector of form [zyaw ypitch xroll]. Each element of the vector corresponds to an intrinsic Euler angle rotation that carries the body axes of the ego vehicle to the sensor axes. The three elements describe the rotations around the z-, y-, and x-axis sequentially. Units are in degrees.

    Data Types: single | double

    Enable sensor to report target elevation, specified as true or false.

    Example: true

    Data Types: logical

    Field of view of the sensor beam at each look angle, specified as a 1-by-2 real-valued vector of the form [azimuth elevation]. Units are in degrees.

    Example: [80 10]

    Data Types: single | double

    Maximum detection range of the sensor, specified as a positive scalar. The sensor does not detect targets that are outside this range. Units are in meters.

    Example: 110

    Data Types: single | double

    Maximum detection range rate of the sensor, specified as a positive scalar. The target's relative speed along the range direction must be within the MaxRangeRate for the sensor to report reliable detections. Units are in meters per second.

    Example: 100

    Data Types: single | double

    Probability of detecting a target inside the coverage limits, specified as a scalar in the range (0, 1].

    Example: 0.75

    Data Types: single | double

    Average number of false positives per scan, specified as a positive scalar.

    Example: 3.5

    Data Types: single | double

    Expected number of new targets entering the sensor's field of view per scan, specified as a positive scalar. This property defines the probability that a detection originates from a new target. If the tracker does not initialize tracks from unassigned observations, consider either decreasing the tracker's deletion threshold or increasing the value of this property.

    Tip

    A reasonable estimate for this value is to match it with the value of the NumFalsePositivesPerScan property.

    Example: 3.5

    Data Types: single | double

    Object Functions

    dataFormatStructure for data format required by task-oriented tracker

    More About

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    Version History

    Introduced in R2024b

    See Also

    Functions

    Objects