AutomotiveRadarClusteredPoints

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

Since R2024b

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

ReferenceFrame — Reference coordinate frame

"ego" (default) | "global"

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

MaxNumMeasurements — Maximum number of measurements per scan

64 (default) | 1 | positive integer

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

MountingLocation — Sensor location on ego vehicle

[0 0 0] (default) | 1-by-3 real-valued vector

Sensor location on the ego vehicle, specified as a 1-by-3 real-valued vector of form [x_m y_m z_m]. 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

MountingAngles — Orientation of sensor

[0 0 0] (default) | 1-by-3 real-valued vector

Orientation of the sensor with respect to the ego vehicle, specified as a 1-by-3 real-valued vector of form [z_yaw y_pitch x_roll]. 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

HasElevation — Option to enable sensor to report target elevation

true (default) | false

Option to enable the sensor to report target elevation, specified as true or false.

Example: true

Data Types: logical

FieldOfView — Field of view of sensor beam

[60 20] (default) | 1-by-2 real-valued vector

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

MaxRange — Maximum detection range of sensor

120 (default) | positive scalar

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

MaxRangeRate — Maximum detection range rate of sensor

30 (default) | positive scalar

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

DetectionProbability — Probability of detecting target inside the coverage limits

0.9 (default) | scalar in the range (0,1]

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

NumFalsePositivesPerScan — Average number of false positives per scan

1 (default) | positive scalar

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

Example: 3.5

Data Types: single | double

NumNewTargetsPerScan — Expected number of new targets entering the sensor's field of view per scan

1 (default) | positive scalar

Expected number of new targets entering the sensor's field of view per scan, specified as a positive scalar.

Example: 3.5

Data Types: single | double

Object Functions

dataFormat

Structure for data format required by task-oriented tracker

More About

Data Format Required By Task-Oriented Tracker

After you initialize a tracker using this object, you need sensor data to update the tracker. For a full list of required sensor data and their descriptions, see the table below. See the dataFormat function for details on updating the tracker with sensor data.

Field Name	Description	Comment
Time	Timestamps at which sensor observation is made, specified as a scalar.	None
Azimuth	Azimuth angles of observed targets, specified as an N-element row vector. Units are in degrees.	None
Elevation	Elevation angles of observed targets, specified as an N-element row vector. Units are in degrees.	Applies only when the HasElevation property is set to "true".
Range	Range to the observed targets, specified as an N-element row vector. Units are in meters.	none
RangeRate	Range rate of the observed targets, specified as an N-element row vector. Units are in meters per second.	none
AzimuthAccuracy	Standard deviation of azimuth angle measurements, specified as an N-element row vector. Units are in degrees.	none
ElevationAccuracy	Standard deviation of elevation angle measurements, specified as an N-element row vector. Units are in degrees.	Applies only when the HasElevation property is set to "true".
RangeAccuracy	Standard deviation of range measurements, specified as an N-element row vector. Units are in meters.	none
RangeRateAccuracy	Standard deviation of range rate measurements, specified as an N-element row vector. Units are in meters per second.	none
EgoAngularVelocity	[VRoll VPitch VYaw] angularVelocity of the ego vehicle, specified as an 1-by-3 vector. Units are in degrees per second.	none
EgoPosition	[X Y Z] position of the ego vehicle, specified as an 1-by-3 vector. Units are in meters.	Applies only when the ReferenceFrame property is set to "global".
EgoOrientation	[Roll Pitch Yaw] orientation of the ego vehicle, specified as an 1-by-3 vector. Units are in degrees.	Applies only when the ReferenceFrame property is set to "global".
EgoVelocity	[VX VY VZ] velocity of the ego vehicle, specified as an 1-by-3 vector. Units are in meters per second.	Applies only when the ReferenceFrame property is set to "global".
EgoSpeed	Speed of the ego vehicle, specified as a scalar. Units are in meters per second.	Applies only when the ReferenceFrame property is set to "ego".

Tip

To update the tracker at a timestamp when the sensor scan is not complete, specify "Time" as empty using zeros(0,1,dataType).

Version History

Introduced in R2024b