Simulation 3D Probabilistic Radar Configuration

Configure probabilistic radar signatures in 3D simulation environment

  • Library:
  • Automated Driving Toolbox / Simulation 3D

Description

The Simulation 3D Probabilistic Radar Configuration block configures the probabilistic radar signatures for actors in a 3D simulation environment. This environment is rendered using the Unreal Engine® from Epic Games®. To model the probabilistic radars, use Simulation 3D Probabilistic Radar blocks. The configured radar signatures apply to all Simulation 3D Probabilistic Radar blocks in your model.

Parameters

expand all

Identifiers that correspond to radar targets, specified as a positive integer or L-length vector of unique positive integers. L equals the number of radar targets for which you want to specify a nondefault radar cross section (RCS).

This table provides the identifiers that radars can detect in a scene and the corresponding object type. For example, to specify a nondefault RCS for a building and a pedestrian, set Radar targets to [1,4].

IDType
0

None/default

1

Building

2

Fence

3

Other

4

Pedestrian

5

Pole

6

Road line

7

Road

8

Sidewalk

9

Vegetation

10

Vehicle

11

Wall

12

Generic traffic sign

13

Stop sign

14

Yield sign

15

Speed limit sign

16

Weight limit sign

17

Right arrow warning sign

18

Left arrow warning sign

19

Left and right arrow warning sign

20

Left chevron warning sign

21

Right chevron warning sign

22

Left one-way sign

23

Right one-way sign

24

Wheelchair warning sign

25

School bus only sign

26

Right turn only arrow sign

27

Left turn only arrow sign

28

Straight only arrow sign

29

Right turn only sign

30

Left turn only sign

31

Straight only sign

32

No left turn sign

33

No right turn sign

34

No thru traffic sign

35

No U-turn symbol sign

36

No right turn symbol sign

37

No left turn symbol sign

38

No right turn on red sign

39

Crosswalk sign

40

Crosswalk signal

41

Traffic signal

42

Curve right warning sign

43

Curve left warning sign

44

Up right arrow warning sign

45

Up left arrow warning sign

46

Down right arrow warning sign

47

Down left arrow warning sign

48

Railroad crossing sign

49

Street sign

50

Roundabout warning sign

51

Fire hydrant

52

Exit sign

53

Bike lane sign

54

Keep right sign

55

Keep left sign

56

Disability sign

57

Sky

58

Curb

59

Flyover ramp

60

Road guard rail

61-63

Not used

64

Adult pedestrian

65

Young pedestrian

66

Generic animal

67

Deer

68

Kangaroo

69

Dog

70

Cat

71

Barricade

72

Motorcycle

73

Commercial vehicle

Radar cross sections of target actors, in decibels per square meter, specified as a matrix or cell array of matrices. Each matrix defines the RCS for the corresponding target actor specified by Radar targets.

If Radar targets is a scalar (that is, a single target actor), then specify Radar cross sections (dBsm) as a real-valued Q-by-P matrix, where:

  • Q is the number of elevation angle samples for the actor.

  • P is the number of azimuth angle samples for the actor.

If Radar targets is a vector (that is, multiple target actors), then specify Radar cross sections (dBsm) as a L-length cell array of real-valued Q1-by-P1, …, QL-by-PL matrices, where:

  • L is the number of actors.

  • Q1, …, QL are the number of elevation angle samples per actor.

  • P1, …, PL are the number of azimuth angle samples per actor.

Q and P can vary for each actor. For each RCS matrix:

  • The rows correspond to uniformly sampled elevation angles over the interval [0, 180].

  • The columns correspond to uniformly sampled azimuth angles over the interval [0, 360].

For example, the number of elevation and azimuth samples for RCS matrix RCS are as follows:

el = linspace(0,180,size(RCS,1));
az = linspace(0,360,size(RCS,2));

Default radar cross section, in decibels per square meter, specified as a real scalar. The block uses this RCS value for actors whose RCS is not specified by Radar cross sections (dBsm).

Example: -10

Introduced in R2019b