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createScenario1.m
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createScenario1.m
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function [allData, scenario, sensors] = createScenario1()
rng(2018);
%createScenario1 - Returns sensor detections
% allData = createScenario1 returns sensor detections in a structure
% with time for an internally defined scenario and sensor suite.
%
% [allData, scenario, sensors] = createScenario1 optionally returns
% the drivingScenario and detection generator objects.
% Generated by MATLAB(R) 9.13 (R2022b) and Automated Driving Toolbox 3.6 (R2022b).
% Generated on: 27-Feb-2023 14:42:08
% Create the drivingScenario object and ego car
[scenario, egoVehicle] = createDrivingScenario;
% Create all the sensors
[sensors, numSensors] = createSensors(scenario);
allData = struct('Time', {}, 'ActorPoses', {}, 'ObjectDetections', {}, 'LaneDetections', {}, 'PointClouds', {}, 'INSMeasurements', {});
running = true;
while running
% Generate the target poses of all actors relative to the ego vehicle
poses = targetPoses(egoVehicle);
time = scenario.SimulationTime;
objectDetections = {};
laneDetections = [];
ptClouds = {};
insMeas = {};
isValidTime = false(1, numSensors);
% Generate detections for each sensor
for sensorIndex = 1:numSensors
sensor = sensors{sensorIndex};
[objectDets, isValidTime(sensorIndex)] = sensor(poses, time);
numObjects = length(objectDets);
objectDetections = [objectDetections; objectDets(1:numObjects)]; %#ok<AGROW>
end
% Aggregate all detections into a structure for later use
if any(isValidTime)
allData(end + 1) = struct( ...
'Time', scenario.SimulationTime, ...
'ActorPoses', actorPoses(scenario), ...
'ObjectDetections', {objectDetections}, ...
'LaneDetections', {laneDetections}, ...
'PointClouds', {ptClouds}, ... %#ok<AGROW>
'INSMeasurements', {insMeas}); %#ok<AGROW>
end
% Advance the scenario one time step and exit the loop if the scenario is complete
running = advance(scenario);
end
% Restart the driving scenario to return the actors to their initial positions.
restart(scenario);
% Release all the sensor objects so they can be used again.
for sensorIndex = 1:numSensors
release(sensors{sensorIndex});
end
%%%%%%%%%%%%%%%%%%%%
% Helper functions %
%%%%%%%%%%%%%%%%%%%%
% Units used in createSensors and createDrivingScenario
% Distance/Position - meters
% Speed - meters/second
% Angles - degrees
% RCS Pattern - dBsm
function [sensors, numSensors] = createSensors(scenario)
% createSensors Returns all sensor objects to generate detections
% Assign into each sensor the physical and radar profiles for all actors
profiles = actorProfiles(scenario);
sensors{1} = drivingRadarDataGenerator('SensorIndex', 1, ...
'MountingLocation', [3.7 0 0.2], ...
'RangeLimits', [0 100], ...
'DetectionProbability', 0.01, ...
'TargetReportFormat', 'Detections', ...
'HasOcclusion', false, ...
'Profiles', profiles);
sensors{2} = drivingRadarDataGenerator('SensorIndex', 2, ...
'MountingLocation', [2.8 0.9 0.2], ...
'MountingAngles', [60 0 0], ...
'RangeLimits', [0 20], ...
'TargetReportFormat', 'Detections', ...
'FieldOfView', [120 5], ...
'Profiles', profiles);
sensors{3} = drivingRadarDataGenerator('SensorIndex', 3, ...
'MountingLocation', [2.8 -0.9 0.2], ...
'MountingAngles', [-60 0 0], ...
'RangeLimits', [0 20], ...
'TargetReportFormat', 'Detections', ...
'FieldOfView', [120 5], ...
'Profiles', profiles);
sensors{4} = drivingRadarDataGenerator('SensorIndex', 4, ...
'MountingLocation', [0 0.9 0.2], ...
'MountingAngles', [130 0 0], ...
'RangeLimits', [0 20], ...
'TargetReportFormat', 'Detections', ...
'FieldOfView', [120 5], ...
'Profiles', profiles);
sensors{5} = drivingRadarDataGenerator('SensorIndex', 5, ...
'MountingLocation', [0 -0.9 0.2], ...
'MountingAngles', [-130 0 0], ...
'RangeLimits', [0 20], ...
'TargetReportFormat', 'Detections', ...
'HasElevation', true, ...
'FieldOfView', [120 5], ...
'Profiles', profiles);
numSensors = 5;
function [scenario, egoVehicle] = createDrivingScenario
% createDrivingScenario Returns the drivingScenario defined in the Designer
% Construct a drivingScenario object.
scenario = drivingScenario('StopTime', 20);
% Add all road segments
roadCenters = [0 0 0;
299.43 0 0;
486.7 0 0;
797 -1 0];
laneSpecification = lanespec(3);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Road');
% Add the ego vehicle
egoVehicle = vehicle(scenario, ...
'ClassID', 1, ...
'Position', [36 0 0], ...
'Mesh', driving.scenario.carMesh, ...
'Name', 'Car');
waypoints = [36 0 0;
170 0 0;
285 0 0;
404.1 0 0];
speed = [15;15;15;15];
waittime = [0;0;0;0];
trajectory(egoVehicle, waypoints, speed, waittime);
% Add the non-ego actors
frontCar = vehicle(scenario, ...
'ClassID', 1, ...
'Position', [58 0.104416064790012 0], ...
'Mesh', driving.scenario.carMesh, ...
'Name', 'FrontCar');
waypoints = [58 0.104416064790012 0;
190 0 0;
298 0.1 0;
427.02 0.24 0.01];
speed = [15;15;15;15];
waittime = [0;0;0;0];
trajectory(frontCar, waypoints, speed, waittime);
passingCar = vehicle(scenario, ...
'ClassID', 1, ...
'Position', [8.7018 4 0], ...
'Mesh', driving.scenario.carMesh, ...
'Name', 'PassingCar');
waypoints = [8.7018 4 0;
190 4 0;
293 4 0;
441.3 4 0];
speed = [17;17;17;17];
waittime = [0;0;0;0];
trajectory(passingCar, waypoints, speed, waittime);
backCar = vehicle(scenario, ...
'ClassID', 1, ...
'Position', [32 -4 0], ...
'Mesh', driving.scenario.carMesh, ...
'Name', 'BackCar');
waypoints = [32 -4 0;
40 -4 0;
113 -4 0;
116.7 -4 0;
121.3 -4 0;
124.34 -4 0;
127.52 -4 0;
129.87 -4 0;
132.79 -4 0;
136.4 -4 0;
140.2 -4 0];
speed = [15;15;14;14;13;12;10;10;10;5;5];
waittime = [0;0;0;0;0;0;0;0;0;0;0];
trajectory(backCar, waypoints, speed, waittime);