Detect objects and lanes from visual measurements - Simulink

Library:
Automated Driving Toolbox / Driving Scenario and Sensor Modeling

Ports

Input

`Actors` — Scenario actor poses
Simulink bus containing MATLAB^® structure

Scenario actor poses in ego vehicle coordinates, specified as a Simulink bus containing a MATLAB structure.

The structure must contain these fields.

Field	Description	Type
`NumActors`	Number of actors	Nonnegative integer
`Time`	Current simulation time	Real-valued scalar
`Actors`	Actor poses	`NumActors`-length array of actor pose structures

Each actor pose structure in Actors must have these fields.

Field	Description
`ActorID`	Scenario-defined actor identifier, specified as a positive integer.
`Position`	Position of actor, specified as a real-valued vector of the form [x, y, z]. Units are in meters.
`Velocity`	Velocity (v) of actor in the x-, y-, and z-direction, specified as a real-valued vector of the form [v_x, v_y, v_z]. Units are in meters per second.
`Roll`	Roll angle of actor, specified as a real-valued scalar. Units are in degrees.
`Pitch`	Pitch angle of actor, specified as a real-valued scalar. Units are in degrees.
`Yaw`	Yaw angle of actor, specified as a real-valued scalar. Units are in degrees.
`AngularVelocity`	Angular velocity (ω) of actor in the x-, y-, and z-direction, specified as a real-valued vector of the form [ω_x, ω_y, ω_z]. Units are in degrees per second.

Dependencies

To enable this input port, set the Types of detections generated by sensor parameter to Objects only, Lanes with occlusion, or Lanes and objects.

`Lane Boundaries` — Lane boundaries
Simulink bus containing MATLAB structure

Lane boundaries in ego vehicle coordinates, specified as a Simulink bus containing a MATLAB structure.

The structure must contain these fields.

Field	Description	Type
`NumLaneBoundaries`	Number of lane boundaries	Nonnegative integer
`Time`	Current simulation time	Real scalar
`LaneBoundaries`	Lane boundaries	`NumLaneBoundaries`-length array of lane boundary structures

Each lane boundary structure in LaneBoundaries must have these fields.

Field	Description
`Coordinates`	Lane boundary coordinates, specified as a real-valued N-by-3 matrix, where N is the number of lane boundary coordinates. Lane boundary coordinates define the position of points on the boundary at specified longitudinal distances away from the ego vehicle, along the center of the road. In MATLAB, specify these distances by using the `'XDistance'` name-value pair argument of the `laneBoundaries` function. In Simulink, specify these distances by using the Distances from ego vehicle for computing boundaries (m) parameter of the Scenario Reader block or the Distance from parent for computing lane boundaries parameter of the Simulation 3D Vision Detection Generator block. This matrix also includes the boundary coordinates at zero distance from the ego vehicle. These coordinates are to the left and right of the ego-vehicle origin, which is located under the center of the rear axle. Units are in meters.
`Curvature`	Lane boundary curvature at each row of the `Coordinates` matrix, specified as a real-valued N-by-1 vector. N is the number of lane boundary coordinates. Units are in radians per meter.
`CurvatureDerivative`	Derivative of lane boundary curvature at each row of the `Coordinates` matrix, specified as a real-valued N-by-1 vector. N is the number of lane boundary coordinates. Units are in radians per square meter.
`HeadingAngle`	Initial lane boundary heading angle, specified as a real scalar. The heading angle of the lane boundary is relative to the ego vehicle heading. Units are in degrees.
`LateralOffset`	Distance of the lane boundary from the ego vehicle position, specified as a real scalar. An offset to a lane boundary to the left of the ego vehicle is positive. An offset to the right of the ego vehicle is negative. Units are in meters.
`BoundaryType`	Type of lane boundary marking, specified as one of these values: `'Unmarked'` — No physical lane marker exists `'Solid'` — Single unbroken line `'Dashed'` — Single line of dashed lane markers `'DoubleSolid'` — Two unbroken lines `'DoubleDashed'` — Two dashed lines `'SolidDashed'` — Solid line on the left and a dashed line on the right `'DashedSolid'` — Dashed line on the left and a solid line on the right
`Strength`	Saturation strength of the lane boundary marking, specified as a real scalar from 0 to 1. A value of `0` corresponds to a marking whose color is fully unsaturated. The marking is gray. A value of `1` corresponds to a marking whose color is fully saturated.
`Width`	Lane boundary width, specified as a positive real scalar. In a double-line lane marker, the same width is used for both lines and for the space between lines. Units are in meters.
`Length`	Length of dash in dashed lines, specified as a positive real scalar. In a double-line lane marker, the same length is used for both lines.
`Space`	Length of space between dashes in dashed lines, specified as a positive real scalar. In a dashed double-line lane marker, the same space is used for both lines.

Dependencies

To enable this input port, set the Types of detections generated by sensor parameter to Lanes only, Lanes only, Lanes with occlusion, or Lanes and objects.

Output

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`Object Detections` — Object detections
Simulink bus containing MATLAB structure

Object detections, returned as a Simulink bus containing a MATLAB structure. For more details about buses, see Create Nonvirtual Buses (Simulink).

You can pass object detections from these sensors and other sensors to a tracker, such as a Multi-Object Tracker block, and generate tracks.

The detections 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 number of reported detections parameter. Only `NumDetections` of these detections are actual detections.

The 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
`ObjectAttributes`	Additional information passed to tracker
`MeasurementParameters`	Parameters used by initialization functions of nonlinear Kalman tracking filters

The Measurement field reports the position and velocity of a measurement in the coordinate system specified by Coordinate system used to report detections. This field is a real-valued column vector of the form [x; y; z; vx; vy; vz]. Units are in meters per second.

The MeasurementNoise field is a 6-by-6 matrix that reports the measurement noise covariance for each coordinate in the Measurement field.

The MeasurementParameters field is a structure with these fields.

Parameter	Definition
`Frame`	Enumerated type indicating the frame used to report measurements. The Vision Detection Generator block reports detections in either ego and sensor Cartesian coordinates, which are both rectangular coordinate frames. Therefore, for this block, `Frame` is always set to `'rectangular'`.
`OriginPosition`	3-D vector offset of the sensor origin from the ego vehicle origin. The vector is derived from the Sensor's (x,y) position (m) and Sensor's height (m) parameters of the block.
`Orientation`	Orientation of the vision sensor coordinate system with respect to the ego vehicle coordinate system. The orientation is derived from the Yaw angle of sensor mounted on ego vehicle (deg), Pitch angle of sensor mounted on ego vehicle (deg), and Roll angle of sensor mounted on ego vehicle (deg) parameters of the block.
`HasVelocity`	Indicates whether measurements contain velocity.

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.

Dependencies

To enable this output port, set the Types of detections generated by sensor parameter to Objects only, Lanes with occlusion, or Lanes and objects.

`Lane Detections` — Lane boundary detections
Simulink bus containing MATLAB structure

Lane boundary detections, returned as a Simulink bus containing a MATLAB structure. The structure had these fields:

Field	Description	Type
`Time`	Lane detection time	Real scalar
`IsValidTime`	False when updates are requested at times that are between block invocation intervals	Boolean
`SensorIndex`	Unique identifier of sensor	Positive integer
`NumLaneBoundaries`	Number of lane boundary detections	Nonnegative integer
`LaneBoundaries`	Lane boundary detections	Array of `clothoidLaneBoundary` objects

Dependencies

To enable this output port, set the Types of detections generated by sensor parameter to Lanes only, Lanes with occlusion, or Lanes and objects.

Parameters

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Parameters

Sensor Identification

`Unique identifier of sensor` — Unique sensor identifier
`1` (default) | positive integer

Unique sensor identifier, specified as a positive integer. The sensor identifier distinguishes detections that come from different sensors in a multisensor system. If a model contains multiple sensor blocks with the same sensor identifier, the Bird's-Eye Scope displays an error.

Example: 5

`Types of detections generated by sensor` — Select the types of detections
`Objects only` (default) | `Lanes only` | `Lanes with occlusion` | `Lanes and objects`

Types of detections generated by the sensor, specified as Objects only, Lanes only, Lanes with occlusion, or Lanes and objects.

When set to Objects only, no road information is used to occlude actors.
When set to Lanes only, no actor information is used to detect lanes.
When set to Lanes with occlusion, actors in the camera field of view can impair the sensor ability to detect lanes.
When set to Lanes and objects, the sensor generates object both object detections and occluded lane detections.

`Required interval between sensor updates (s)` — Required time interval
`0.1` (default) | positive real scalar

Required time interval between sensor updates, specified as a positive real scalar. The value of this parameter must be an integer multiple of the Actors input port data interval. Updates requested from the sensor between update intervals contain no detections. Units are in seconds.

`Required interval between lane detections updates (s)` — Time interval between lane detection updates
0.1 (default) | positive real scalar

Required time interval between lane detection updates, specified as a positive real scalar. The vision detection generator is called at regular time intervals. The vision detector generates new lane detections at intervals defined by this parameter which must be an integer multiple of the simulation time interval. Updates requested from the sensor between update intervals contain no lane detections. Units are in seconds.

Sensor Extrinsics

`Sensor's (x,y) position (m)` — Location of the vision sensor center
`[3.4 0]` (default) | real-valued 1-by-2 vector

Location of the vision sensor center, specified as a real-valued 1-by-2 vector. The Sensor's (x,y) position (m) and Sensor's height (m) parameters define the coordinates of the vision sensor with respect to the ego vehicle coordinate system. The default value corresponds to a forward-facing vision sensor mounted to a sedan dashboard. Units are in meters.

`Sensor's height (m)` — Vision sensor height above the ground plane
`0.2` (default) | positive real scalar

Vision sensor height above the ground plane, specified as a positive real scalar. The height is defined with respect to the vehicle ground plane. The Sensor's (x,y) position (m) and Sensor's height (m) parameters define the coordinates of the vision sensor with respect to the ego vehicle coordinate system. The default value corresponds to a forward-facing vision sensor mounted a sedan dashboard. Units are in meters.

Example: 0.25

`Yaw angle of sensor mounted on ego vehicle (deg)` — Yaw angle of sensor
`0` (default) | real scalar

Yaw angle of vision sensor, specified as a real scalar. Yaw angle is the angle between the center line of the ego vehicle and the optical axis of the camera. A positive yaw angle corresponds to a clockwise rotation when looking in the positive direction of the z-axis of the ego vehicle coordinate system. Units are in degrees.

Example: -4.0

`Pitch angle of sensor mounted on ego vehicle (deg)` — Pitch angle of sensor
`0` (default) | real scalar

Pitch angle of sensor, specified as a real scalar. The pitch angle is the angle between the optical axis of the camera and the x-y plane of the ego vehicle coordinate system. A positive pitch angle corresponds to a clockwise rotation when looking in the positive direction of the y-axis of the ego vehicle coordinate system. Units are in degrees.

Example: 3.0

`Roll angle of sensor mounted on ego vehicle (deg)` — Roll angle of sensor
`0` (default) | real scalar

Roll angle of the vision sensor, specified as a real scalar. The roll angle is the angle of rotation of the optical axis of the camera around the x-axis of the ego vehicle coordinate system. A positive roll angle corresponds to a clockwise rotation when looking in the positive direction of the x-axis of the coordinate system. Units are in degrees.

Output Port Settings

`Source of object bus name` — Source of object bus name
`Auto` (default) | `Property`

Source of object bus name, specified as Auto or Property. If you select Auto, the block automatically creates a bus name. If you select Property, specify the bus name using the Specify an object bus name parameter.

Example: Property

`Source of output lane bus name` — Source of lane bus name
`Auto` (default) | `Property`

Source of output lane bus name, specified as Auto or Property. If you choose Auto, the block will automatically create a bus name. If you choose Property, specify the bus name using the Specify an object bus name parameter.

Example: Property

`Object bus name` — Name of object bus
valid bus name

Name of object bus, specified as a valid bus name.

Example: objectbus

Dependencies

To enable this parameter, set the Source of object bus name parameter to Property.

`Specify an output lane bus name` — Name of output lane bus
valid bus name

Namer of output lane bus, specified as a valid bus name.

Example: lanebus

Dependencies

To enable this parameter, set the Source of output lane bus name parameter to Property.

Detection Reporting

`Maximum number of reported detections` — Maximum number of reported detections
`50` (default) | positive integer

Maximum number of detections reported by the sensor, specified as a positive integer. Detections are reported in order of increasing distance from the sensor until the maximum number is reached.

Example: 100

Dependencies

To enable this parameter, set the Types of detections generated by sensor parameter to Objects only or Lanes and objects.

`Maximum number of reported lanes` — Maximum number of reported lanes
`30` (default) | positive integer

Maximum number of reported lanes, specified as a positive integer.

Example: 100

Dependencies

To enable this parameter, set the Types of detections generated by sensor parameter to Lanes only, Lanes with occlusion, or Lanes and objects.

`Coordinate system used to report detections` — Coordinate system of reported detections
`Ego Cartesian` (default) | `Sensor Cartesian`

Coordinate system of reported detections, specified as one of these values:

Ego Cartesian — Detections are reported in the ego vehicle Cartesian coordinate system.
Sensor Cartesian— Detections are reported in the sensor Cartesian coordinate system.

Simulation

`Simulate using` — Type of simulation to run
`Interpreted execution` (default) | `Code generation`

Interpreted execution — Simulate the model using the MATLAB interpreter. This option shortens startup time. In Interpreted execution mode, you can debug the source code of the block.
Code generation — Simulate the model using generated C/C++ code. The first time you run a simulation, Simulink generates C/C++ code for the block. The C code is reused for subsequent simulations as long as the model does not change. This option requires additional startup time.

Measurements

Settings

`Maximum detection range (m)` — Maximum detection range
`150` (default) | positive real scalar

Maximum detection range, specified as a positive real scalar. The vision sensor cannot detect objects beyond this range. Units are in meters.

Example: 250

Object Detector Settings

`Bounding box accuracy (pixels)` — Bounding box accuracy
`5` (default) | positive real scalar

Bounding box accuracy, specified as a positive real scalar. This quantity defines the accuracy with which the detector can match a bounding box to a target. Units are in pixels.

Example: 9

`Smoothing filter noise intensity (m/s^2)` — Noise intensity used for filtering position and velocity measurements
`5` (default) | positive real scalar

Noise intensity used for filtering position and velocity measurements, specified as a positive real scalar. Noise intensity defines the standard deviation of the process noise of the internal constant-velocity Kalman filter used in a vision sensor. The filter models the process noise using a piecewise-constant white noise acceleration model. Noise intensity is typically of the order of the maximum acceleration magnitude expected for a target. Units are in meters per second squared.

Example: 2

`Maximum detectable object speed (m/s)` — Maximum detectable object speed
`100` (default) | nonnegative real scalar

Maximum detectable object speed, specified as a nonnegative real scalar. Units are in meters per second.

Example: 20

`Maximum allowed occlusion for detector` — Maximum allowed occlusion for detector
`0.5` (default) | real scalar in the range [0 1)

Maximum allowed occlusion of an object, specified as a real scalar in the range [0 1). Occlusion is the fraction of the total surface area of an object that is not visible to the sensor. A value of 1 indicates that the object is fully occluded. Units are dimensionless.

Example: 0.2

`Minimum detectable image size of an object` — Minimum height and width of an object
`[15,15]` (default) | 1-by-2 vector of positive values

Minimum height and width of an object that the vision sensor detects within an image, specified as a [minHeight,minWidth] vector of positive values. The 2-D projected height of an object must be greater than or equal to minHeight. The projected width of an object must be greater than or equal to minWidth. Units are in pixels.

Example: [25 20]

`Probability of detecting a target` — Probability of detection
`0.9` (default) | positive real scalar less than or equal to 1

Probability of detecting a target, specified as a positive real scalar less than or equal to 1. This quantity defines the probability that the sensor detects a detectable object. A detectable object is an object that satisfies the minimum detectable size, maximum range, maximum speed, and maximum allowed occlusion constraints.

Example: 0.95

`Number of false positives per image` — Number of false detections generated by vision sensor per image
`0.1` (default) | nonnegative real scalar

Number of false detections generated by the vision sensor per image, specified as a nonnegative real scalar.

Example: 1.0

Lane Detector Settings

`Minimum lane size in image (pixels)` — Maximum size of lane
`[20,3]` (default) | 1-by-2 real-valued vector

Minimum size of a projected lane marking in the camera image that can be detected by the sensor after accounting for curvature, specified as a 1-by-2 real-valued vector, [minHeight minWidth]. Lane markings must exceed both of these values to be detected. Units are in pixels.

Dependencies

To enable this parameter, set the Types of detections generated by sensor parameter to Lanes only, Lanes only, or Lanes and objects.

`Accuracy of lane boundary (pixels)` — Accuracy of lane boundary
`3` (default) | positive real scalar

Accuracy of lane boundaries, specified as a positive real scalar. This parameter defines the accuracy with which the lane sensor can place a lane boundary. Units are in pixels.

Example: 2.5

Dependencies

To enable this parameter, set the Types of detections generated by sensor parameter to Lanes only, Lanes only, or Lanes and objects.

Random Number Generator Settings

`Add noise to measurements` — Enable adding noise to vision sensor measurements
`on` (default) | `off`

Select this parameter to add noise to vision 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 Add noise to measurements parameter.

`Select method to specify initial seed` — Method to specify random number generator seed
`Repeatable` (default) | `Specify seed` | `Not repeatable`

Method to set the random number generator seed, specified as one of the options in the table.

Option	Description
`Repeatable`	The block generates a random initial seed for the first simulation and reuses this seed for all subsequent simulations. Select this parameter to generate repeatable results from the statistical sensor model. To change this initial seed, at the MATLAB command prompt, enter: `clear all`.
`Specify seed`	Specify your own random initial seed for reproducible results by using the Specify seed parameter.
`Not repeatable`	The block generates a new random initial seed after each simulation run. Select this parameter to generate nonrepeatable results from the statistical sensor model.

`Initial seed` — Random number generator seed
`0` (default) | nonnegative integer less than 2³²

Random number generator seed, specified as a nonnegative integer less than 2³².

Example: 2001

Dependencies

To enable this parameter, set the Random Number Generator Settings parameter to Specify seed.

Actor Profiles

`Select method to specify actor profiles` — Method to specify actor profiles
`Parameters` (default) | `MATLAB expression`

Method to specify actor profiles, specified as Parameters or MATLAB expression. When you select Parameters, set the actor profiles using the parameters in the Actor Profiles tab. When you select MATLAB expression, set the actor profiles using the MATLAB expression for actor profiles parameter.

`MATLAB expression for actor profiles` — MATLAB expression for actor profiles
`struct('ClassID',0,'Length',4.7,'Width',1.8,'Height',1.4,'OriginOffset',[-1.35,0,0])` (default) | MATLAB structure | MATLAB structure array | valid MATLAB expression

MATLAB expression for actor profiles, specified as a MATLAB structure, a MATLAB structure array, or a valid MATLAB expression that produces such a structure or structure array.

If your Scenario Reader block reads data from a drivingScenario object, to obtain the actor profiles directly from this object, set this expression to call the actorProfiles function on the object. For example: actorProfiles(scenario).

Example: struct('ClassID',5,'Length',5.0,'Width',2,'Height',2,'OriginOffset',[-1.55,0,0])

Dependencies

To enable this parameter, set the Select method to specify actor profiles parameter to MATLAB expression.

`Unique identifier for actors` — Scenario-defined actor identifier
`[]` (default) | positive integer | length-L vector of unique positive integers

Scenario-defined actor identifier, specified as a positive integer or length-L vector of unique positive integers. L must equal the number of actors input into the Actors input port. The vector elements must match ActorID values of the actors. You can specify Unique identifier for actors as []. In this case, the same actor profile parameters apply to all actors.

Example: [1,2]