Probabilistic radar sensor model in 3D simulation environment
Automated Driving Toolbox / Simulation 3D
The Simulation 3D Probabilistic Radar block provides an interface to the probabilistic radar sensor in a 3D simulation environment. This environment is rendered using the Unreal Engine® from Epic Games®. You can specify the radar model and accuracy, bias, and detection parameters. The block uses the sample time to capture the radar detections and outputs a list of object detection reports. To configure the probabilistic radar signatures of actors in the 3D environment across all radars in your model, use a Simulation 3D Probabilistic Radar Configuration block.
If you set Sample time to -1
, the block uses the
sample time specified in the Simulation 3D Scene Configuration block. To use
this sensor, you must include a Simulation 3D Scene Configuration block is in
your model.
The Simulation 3D Scene Configuration block must execute before the Simulation 3D Probabilistic Radar block. That way, the Unreal Engine 3D visualization environment prepares the data before the Simulation 3D Probabilistic Radar block receives it. To check the block execution order, right-click the blocks and select Properties. On the General tab, confirm these Priority settings:
Simulation 3D Scene Configuration — 0
Simulation 3D Probabilistic Radar — 1
For more information about execution order, see How 3D Simulation for Automated Driving Works.
In the Bird's-Eye Scope, the visualization of sensor coverage areas from Simulation 3D Probabilistic Radar blocks is not supported.
Detections
— Object detectionsObject detections, returned as a Simulink bus containing a MATLAB structure. See Getting Started with Buses (Simulink). The structure has this form.
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 reported 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 Cartesian coordinates, Measurement
and
MeasurementNoise
are reported in the coordinate system
specified by the Coordinate system parameter.
For spherical coordinates, Measurement
and
MeasurementNoise
are reported in the spherical coordinate
system based on the sensor Cartesian coordinate system.
MeasurementParameters
is reported in sensor Cartesian
coordinates.
Measurement and MeasurementNoise
Coordinate System Used to Report Detections | Measurement and MeasurementNoise Coordinates | |||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
'Ego Cartesian' | This table shows the coordinate dependence when you enable or disable range rate measurements using the Enable range rate measurements parameter.
| |||||||||||||||
'Sensor Cartesian' | ||||||||||||||||
'Sensor spherical' | This table shows the coordinate dependence when you enable or disable the range rate and elevation angle measurements, by using the Enable range rate measurements and Enable elevation angle measurements parameters, respectively.
|
Measurement Parameters
Parameter | Definition |
---|---|
Frame | Enumerated type that indicates 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 ego vehicle origin. The vector is derived from the location and height of the sensor, as specified by the Mounting location parameter and the Z value of the Relative translation [X, Y, Z] (m) parameter, respectively. |
Orientation | Orientation of the radar sensor coordinate system with respect to the ego vehicle coordinate system. The orientation is derived from the roll, pitch, and yaw values specified in the Relative rotation [Roll, Pitch, Yaw] (deg) parameter. |
HasVelocity | Indicates whether measurements contain velocity or range rate components. |
HasElevation | Indicates whether measurements contain elevation components. |
The ObjectAttributes
property of each detection is a
structure with these fields.
Field | Definition |
---|---|
TargetIndex | Identifier of the actor, ActorID , that generated the
detection. For false alarms, this value is negative. |
SNR | Signal-to-noise ratio of the detection. Units are in decibels. |
The ObjectClassID
property of each detection has a value that
corresponds to these object types.
ID | Type |
---|---|
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 |
Sensor identifier
— Unique sensor identifier1
(default) | positive integerUnique sensor identifier, specified as a positive integer. In a multisensor system, the sensor identifier distinguishes between sensors. When you add a new sensor block to your model, the Sensor identifier of that block is N + 1. N is the highest Sensor identifier value among existing sensor blocks in the model.
Example: 2
Parent name
— Name of parent to which sensor is mountedScene Origin
(default) | vehicle nameName of the parent to which the sensor is mounted, specified as Scene
Origin
or as the name of a vehicle in your model. The vehicle
names that you can select correspond to the Name parameters of
the Simulation 3D
Vehicle with Ground Following blocks in your model. If you select
Scene Origin
, the block places a sensor at the scene
origin.
Example: SimulinkVehicle1
Mounting location
— Sensor mounting locationOrigin
(default) | Front bumper
| Rear bumper
| Right mirror
| Left mirror
| Rearview mirror
| Hood center
| Roof center
Sensor mounting location.
When Parent name is Scene
Origin
, the block mounts the sensor to the origin of
the scene, and Mounting location can be set to
Origin
only. During simulation, the
sensor remains stationary.
When Parent name is the name of a vehicle (for
example, SimulinkVehicle1
) the block mounts
the sensor to one of the predefined mounting locations described in the
table. During simulation, the sensor travels with the vehicle.
Vehicle Mounting Location | Description | Orientation Relative to Vehicle Origin [Roll, Pitch, Yaw] (deg) |
---|---|---|
Origin | Forward-facing sensor mounted to the vehicle origin, which is on the ground, at the geometric center of the vehicle (see Coordinate Systems for 3D Simulation in Automated Driving Toolbox) | [0, 0, 0] |
Front bumper | Forward-facing sensor mounted to the front bumper | [0, 0, 0] |
Rear bumper | Backward-facing sensor mounted to the rear bumper | [0, 0, 180] |
Right mirror | Downward-facing sensor mounted to the right side-view mirror | [0, –90, 0] |
Left mirror | Downward-facing sensor mounted to the left side-view mirror | [0, –90, 0] |
Rearview mirror | Forward-facing sensor mounted to the rearview mirror, inside the vehicle | [0, 0, 0] |
Hood center | Forward-facing sensor mounted to the center of the hood | [0, 0, 0] |
Roof center | Forward-facing sensor mounted to the center of the roof | [0, 0, 0] |
The (X, Y, Z) location of the sensor relative to the vehicle depends on the vehicle type. To specify the vehicle type, use the Type parameter of the Simulation 3D Vehicle with Ground Following block to which you are mounting. The tables show the X, Y, and Z locations of sensors in the vehicle coordinate system. In this coordinate system:
The X-axis points forward from the vehicle.
The Y-axis points to the left of the vehicle, as viewed when facing forward.
The Z-axis points up from the ground.
Roll, pitch, and yaw are clockwise-positive when looking in the positive direction of the X-axis, Y-axis, and Z-axis, respectively. When looking at a vehicle from the top down, then the yaw angle (that is, the orientation angle) is counterclockwise-positive, because you are looking in the negative direction of the axis.
Muscle Car — Sensor Locations Relative to Vehicle Origin
Mounting Location | X (m) | Y (m) | Z (m) |
---|---|---|---|
Front bumper | 2.47 | 0 | 0.45 |
Rear bumper | –2.47 | 0 | 0.45 |
| 0.43 | –1.08 | 1.01 |
| 0.43 | 1.08 | 1.01 |
| 0.32 | 0 | 1.20 |
| 1.28 | 0 | 1.14 |
| –0.25 | 0 | 1.58 |
Sedan — Sensor Locations Relative to Vehicle Origin
Mounting Location | X (m) | Y (m) | Z (m) |
---|---|---|---|
Front bumper | 2.42 | 0 | 0.51 |
Rear bumper | –2.42 | 0 | 0.51 |
| 0.59 | –0.94 | 1.09 |
| 0.59 | 0.94 | 1.09 |
| 0.43 | 0 | 1.31 |
| 1.46 | 0 | 1.11 |
| –0.45 | 0 | 1.69 |
Sport Utility Vehicle — Sensor Locations Relative to Vehicle Origin
Mounting Location | X (m) | Y (m) | Z (m) |
---|---|---|---|
Front bumper | 2.42 | 0 | 0.51 |
Rear bumper | –2.42 | 0 | 0.51 |
| 0.60 | –1 | 1.35 |
| 0.60 | 1 | 1.35 |
| 0.39 | 0 | 1.55 |
| 1.58 | 0 | 1.39 |
| –0.56 | 0 | 2 |
Small Pickup Truck — Sensor Locations Relative to Vehicle Origin
Mounting Location | X (m) | Y (m) | Z (m) |
---|---|---|---|
Front bumper | 3.07 | 0 | 0.51 |
Rear bumper | –3.07 | 0 | 0.51 |
| 1.10 | –1.13 | 1.52 |
| 1.10 | 1.13 | 1.52 |
| 0.85 | 0 | 1.77 |
| 2.22 | 0 | 1.59 |
| 0 | 0 | 2.27 |
Hatchback — Sensor Locations Relative to Vehicle Origin
Mounting Location | X (m) | Y (m) | Z (m) |
---|---|---|---|
Front bumper | 1.93 | 0 | 0.51 |
Rear bumper | –1.93 | 0 | 0.51 |
| 0.43 | –0.84 | 1.01 |
| 0.43 | 0.84 | 1.01 |
| 0.32 | 0 | 1.27 |
| 1.44 | 0 | 1.01 |
| 0 | 0 | 1.57 |
To determine the location of the sensor in world coordinates, open the sensor block. Then, on the Ground Truth tab, select Output location (m) and orientation (rad) and inspect the data from the Location output port.
Specify offset
— Specify offset from mounting locationSelect this parameter to specify an offset from the mounting location by using the Relative translation [X, Y, Z] (m) and Relative rotation [Roll, Pitch, Yaw] (deg) parameters.
Relative translation [X, Y, Z] (m)
— Translation offset relative to mounting location[0, 0, 0]
(default) | real-valued 1-by-3 vectorTranslation offset relative to the mounting location of the sensor, specified as a real-valued 1-by-3 vector of the form [X, Y, Z]. Units are in meters.
If you mount the sensor to a vehicle by setting Parent name to the name of that vehicle, then X, Y, and Z are in the vehicle coordinate system, where:
The X-axis points forward from the vehicle.
The Y-axis points to the left of the vehicle, as viewed when facing forward .
The Z-axis points up.
The origin is the mounting location specified in the Mounting location parameter. This origin is different from the vehicle origin, which is the geometric center of the vehicle.
If you mount the sensor to the scene origin by setting Parent
name to Scene Origin
, then
X, Y, and Z are
in the world coordinates of the scene.
For more details about the vehicle and world coordinate systems, see Coordinate Systems for 3D Simulation in Automated Driving Toolbox.
Example: [0,0,0.01]
To enable this parameter, select Specify offset.
Relative rotation [Roll, Pitch, Yaw] (deg)
— Rotational offset relative to mounting location[0, 0, 0]
(default) | real-valued 1-by-3 vectorRotational offset relative to the mounting location of the sensor, specified as a real-valued 1-by-3 vector of the form [Roll, Pitch, Yaw] . Roll, pitch, and yaw are the angles of rotation about the X-, Y-, and Z-axes, respectively. Units are in degrees.
If you mount the sensor to a vehicle by setting Parent name to the name of that vehicle, then X, Y, and Z are in the vehicle coordinate system, where:
The X-axis points forward from the vehicle.
The Y-axis points to the left of the vehicle, as viewed when facing forward .
The Z-axis points up.
Roll, pitch, and yaw are clockwise-positive when looking in the forward direction of the X-axis, Y-axis, and Z-axis, respectively. If you view a scene from a 2D top-down perspective, then the yaw angle (also called the orientation angle) is counterclockwise-positive, because you are viewing the scene in the negative direction of the Z-axis.
The origin is the mounting location specified in the Mounting location parameter. This origin is different from the vehicle origin, which is the geometric center of the vehicle.
If you mount the sensor to the scene origin by setting Parent
name to Scene Origin
, then
X, Y, and Z are
in the world coordinates of the scene.
For more details about the vehicle and world coordinate systems, see Coordinate Systems for 3D Simulation in Automated Driving Toolbox.
Example: [0,0,10]
To enable this parameter, select Specify offset.
Sample time
— Sample time-1
(default) | positive scalarSample time of the block in seconds, specified as a positive scalar. The 3D simulation environment frame rate is the inverse of the sample time.
If you set the sample time to -1
, the block inherits its sample
time from the Simulation 3D
Scene Configuration block.
Azimuthal resolution of radar (deg)
— Azimuth resolution of radar4
(default) | positive real scalarAzimuth resolution of the radar, specified as a positive real 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 3dB-downpoint in azimuth angle beamwidth of the radar. Units are in degrees.
Example: 6.5
Elevation resolution of radar (deg)
— Elevation resolution of radar10
(default) | positive real scalarElevation resolution of the radar, specified 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 3dB-downpoint in elevation angle beamwidth of the radar. Units are in degrees.
Example: 3.5
To enable this parameter, on the Parameters tab, in the Radar model section, select Enable elevation angle measurements.
Range resolution of radar (m)
— Range resolution of radar2.5
(default) | positive real scalarRange resolution of the radar, specified as a positive real scalar. The range resolution defines the minimum separation in range at which the radar can distinguish between two targets. Units are in meters.
Example: 5.0
Range rate resolution of radar (m/s)
— Range rate resolution of the radar0.5
(default) | positive real scalarRange rate resolution of the radar, specified 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. Units are in meters per second.
Example: 0.75
To enable this parameter, on the Parameters tab, in the Radar model section, select Enable range rate measurements.
Fractional azimuthal bias component
— Azimuth bias fraction0.1
(default) | nonnegative real scalarAzimuth bias fraction of the radar, specified as a nonnegative real scalar. The azimuth bias is expressed as a fraction of the azimuth resolution specified in the Azimuthal resolution of radar (deg) parameter. Units are dimensionless.
Example: 0.3
Fractional elevation bias component
— Elevation bias fraction0.1
(default) | nonnegative real scalarElevation bias fraction of the radar, specified as a nonnegative real scalar. The elevation bias is expressed as a fraction of the elevation resolution specified in the Elevation resolution of radar (deg) parameter. Units are dimensionless.
Example: 0.2
To enable this parameter, on the Parameters tab, in the Radar model section, select Enable elevation angle measurements.
Fractional range bias component
— Range bias fraction0.05
(default) | nonnegative real scalarRange bias fraction of the radar, specified as a nonnegative real scalar. Range bias is expressed as a fraction of the range resolution specified in the Range resolution of radar (m) parameter. Units are dimensionless.
Example: 0.15
Fractional range rate bias component
— Range rate bias fraction0.05
(default) | nonnegative real scalarRange rate bias fraction of the radar, specified as a nonnegative real scalar. Range rate bias is expressed as a fraction of the range rate resolution specified in the Range rate resolution of radar (m/s) parameter. Units are dimensionless.
Example: 0.2
To enable this parameter, on the Parameters tab, in the Radar model section, select Enable range rate measurements.
Field of view (deg)
— Field of view[20, 5]
(default) | positive real-valued 1-by-2 vectorField of view of the radar, specified as a positive real-valued 1-by-2 vector of
the form [azfov, elfov]
. azfov
is the azimuth
angle field of view. elfov
is the elevation
angle field of view. The field of view defines the angular extent spanned by the
sensor. Each component must lie in the interval (0,180]. Targets outside of the field
of view of the radar are not detected. Units are in degrees.
Example: [14 7]
Detection ranges (m)
— Detection range[1, 150]
(default) | positive real-valued 1-by-2 vectorDetection range, in meters, at which the radar can detect a target.
To set only a maximum detection range, specify this parameter as a positive real scalar. By default, the minimum detection range is 0.
To set both a minimum and maximum detection range, specify this parameter as a
positive real-valued 1-by-2 vector of the form [min,
max]
.
Example: 250
Range rates (m/s)
— Minimum and maximum detection range rates[-100, 100]
(default) | real-valued 1-by-2 vectorMinimum and maximum detection range rates, specified as a real-valued 1-by-2 vector. The radar can detect targets only within this range rate interval. Units are in meters per second.
Example: [-200 200]
To enable this parameter, on the Parameters tab, in the Radar model section, select Enable range rate measurements.
Detection probability
— Probability that radar detects a target0.9
(default) | real scalar in the range (0, 1]Probability that the radar detects a target, specified as a real scalar in the range (0, 1]. This quantity defines the probability of detecting a target that has a radar cross section specified by the Reference radar cross section (dBsm) parameter, at the reference detection range specified by the Detection ranges (m) parameter.
Example: 0.95
False alarm rate
— False alarm rate1e-6
(default) | positive real scalar in range [10–7,
10–3]False alarm rate within a radar resolution cell, specified as a positive real scalar in the range [10–7, 10–3]. Units are dimensionless.
Example: 1e-5
Detection probability range (m):
— Reference range for given probability of detection100
(default) | positive real scalarReference range for a given probability of detection, specified as a positive real scalar. The reference range is the range at which the radar detects targets that have a radar cross section specified by Reference radar cross section (dBsm), given a detection probability specified by Detection probability. Units are in meters.
Example: 150
Reference radar cross section (dBsm)
— Reference radar cross section for given probability of detection0
(default) | nonnegative real scalarReference radar cross section (RCS) for a given probability of detection, specified as a nonnegative real scalar. A radar with the detection probability specified by Detection probability detects targets at this reference RCS value. Units are in decibels per square meter.
Example: 2.0
Enable elevation angle measurements
— Enable radar to measure elevationSelect this parameter to model a radar that can measure target elevation angles. This parameter enables the Elevation resolution of radar (deg) and Fractional elevation bias component parameters.
Enable range rate measurements
— Enable radar to measure range rateSelect this parameter to model a radar that can measure target range rates. This parameter enables the Range rate resolution of radar (m/s), Fractional range bias component, and Range rates (m/s) parameters.
Enable measurement noise
— Enable adding noise to radar sensor measurementsSelect this parameter to add noise to radar sensor measurements. Otherwise, the
measurements are noise-free. The MeasurementNoise
property of
each detection is always computed and is not affected by the value you specify for the
Measurement noise parameter. By not selecting this parameter,
you can pass the sensor ground truth measurements into a Multi-Object
Tracker block.
Enable false detections
— Enable reporting false alarm radar detectionsSelect this parameter to enable reporting false alarm radar measurements. Otherwise, only actual detections are reported.
Random number generator method
— Method to set random number generator seedRepeatable
(default) | Specify seed
| Not repeatable
Method to set the random number generator seed. This parameter controls whether results are repeatable after each simulation. You can select one of these options:
Repeatable
— The block generates a random initial
seed for the first simulation and reuses that seed for all subsequent
simulations. To generate a new random seed, at the MATLAB command prompt, enter clear all
.
Specify seed
— The block generates a random
initial seed based on the value specified in the Initial
seed parameter.
Not repeatable
— At each new simulation, the
block generates a new initial seed.
Initial seed
— Random number generator seed0
(default) | scalar in range [0, 232)Random number generator seed, specified as a scalar in the range [0, 232)
Example: 2001
To enable this parameter, set the Random number generator
method parameter to Specify seed
.
Maximum reported
— Maximum number of reported detections50
(default) | positive integerMaximum number of reported detections, specified as a positive integer. Units are dimensionless.
Example: 35
Coordinate system
— Coordinate system of reported detectionsEgo Cartesian
(default) | Sensor Cartesian
| Sensor spherical
Coordinate system of reported detections, specified as one of these values:
Ego Cartesian
— The radar reports detections in
the ego vehicle Cartesian coordinate system.
Sensor Cartesian
— The radar reports detections in the
sensor Cartesian coordinate system.
Sensor spherical
— The radar reports detections
in the spherical coordinate system. This coordinate system is centered at the
radar and aligned with the orientation of the radar on the ego vehicle.
Specify output bus name
— Specify name of output busSelect this parameter to specify the name of the bus that the block outputs to the base workspace. Specify this name in the Output bus name parameter.
Output bus name
— Name of output busBusSimulation3DRadarTruthSensor
(default) | valid bus nameName of the bus that the block outputs to the base workspace.
To enable this parameter, select the Specify output bus name parameter.
To visualize detections, use the Bird's-Eye Scope. In the scope, when you first click Find Signals, detection signals from Simulation 3D Probabilistic Radar blocks appear under Other Applicable Signals. To display the detections, move these signals to the Detections group.
Because the Unreal Engine can take a long time to start between simulations, consider logging the signals that the sensors output. For more details, see Configure a Signal for Logging (Simulink).
[1] Blacksmith, P., R. E. Hiatt, and R. B. Mack. "Introduction to radar cross-section measurements." Proceedings of the IEEE. Volume 53, No. 8, August 1965, pp. 901–920. doi: 10.1109/PROC.1965.4069.
Bird's-Eye Scope | Detection Concatenation | Multi-Object Tracker | Simulation 3D Probabilistic Radar Configuration | Simulation 3D Scene Configuration | Simulation 3D Vehicle with Ground Following
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