Simulation 3D Probabilistic Radar Configuration

Configure probabilistic radar signatures in 3D simulation environment

  • Library:
  • Automated Driving Toolbox / Simulation 3D

  • Simulation 3D Probabilistic Radar Configuration block

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 and corresponding object types that radars can detect in the default scenes that you can select from the Simulation 3D Scene Configuration block. For example, to specify a nondefault RCS for a building and a road, set Radar targets to [1,7]. If you are using a custom scene, in the Unreal® Editor, you can assign new object types to unused IDs. If a scene contains an object that does not have an assigned ID, that object is assigned an ID of 0. The detection of lane markings is not supported.

IDType
0

None/default

1

Building

2

Not used

3

Other

4

Not used

5

Pole

6

Not used

7

Road

8

Sidewalk

9

Vegetation

10

Vehicle

11

Not used

12

Generic traffic sign

13

Stop sign

14

Yield sign

15

Speed limit sign

16

Weight limit sign

17-18

Not used

19

Left and right arrow warning sign

20

Left chevron warning sign

21

Right chevron warning sign

22

Not used

23

Right one-way sign

24

Not used

25

School bus only sign

26-38

Not used

39

Crosswalk sign

40

Not used

41

Traffic signal

42

Curve right warning sign

43

Curve left warning sign

44

Up right arrow warning sign

45-47

Not used

48

Railroad crossing sign

49

Street sign

50

Roundabout warning sign

51

Fire hydrant

52

Exit sign

53

Bike lane sign

54-56

Not used

57

Sky

58

Curb

59

Flyover ramp

60

Road guard rail

61-66

Not used

67

Deer

68-70

Not used

71

Barricade

72

Motorcycle

73-255

Not used

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