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Made new scenario 3.0 #21

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93 changes: 67 additions & 26 deletions SensorFusionUsingSyntheticRadarandVisionDataWorkshop.m
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Original file line number Diff line number Diff line change
Expand Up @@ -2,28 +2,69 @@
scenario = drivingScenario;
scenario.SampleTime = 0.01;

roadCenters = [0 0; 50 0; 100 0; 250 20; 500 40];
road(scenario, roadCenters, 'lanes',lanespec(2));

% Create the ego vehicle that travels at 25 m/s along the road. Place the
% vehicle on the right lane by subtracting off half a lane width (1.8 m)
% from the centerline of the road.
egoCar = vehicle(scenario, 'ClassID', 1);
path(egoCar, roadCenters(2:end,:) - [0 1.8], 25); % On right lane

% Add a car in front of the ego vehicle
leadCar = vehicle(scenario, 'ClassID', 1);
path(leadCar, [70 0; roadCenters(3:end,:)] - [0 1.8], 25); % On right lane

% Add a car that travels at 35 m/s along the road and passes the ego vehicle
passingCar = vehicle(scenario, 'ClassID', 1);
waypoints = [0 -1.8; 50 1.8; 100 1.8; 250 21.8; 400 32.2; 500 38.2];
path(passingCar, waypoints, 35);

% Add a car behind the ego vehicle
chaseCar = vehicle(scenario, 'ClassID', 1);
path(chaseCar, [25 0; roadCenters(1:end,:)] - [0 1.8], 25); % On right lane

roadCenters = [12.1 12.8 0;
22.8 20.7 0;
36.5 21.5 0;
41.6 14.7 0;
38.1 6.3 0;
34 3.5 0;
33.7 -18.2 0;
12.5 -22.3 0;
12.1 12.8 0];
laneSpecification = lanespec(2, 'Width', 3.925);
road(scenario, roadCenters, 'Lanes', laneSpecification);

% Add the ego car
egoCar = vehicle(scenario, ...
'ClassID', 1, ...
'Position', [30.2 20.6 0]);
waypoints = [30.2 20.6 0;
31.5 20.3 0;
38.6 17.5 0;
39 10.6 0;
34.6 6.3 0;
30.3 2.5 0;
29.9 -5.5 0;
32.2 -16 0;
29.2 -21.7 0;
23.7 -23.5 0;
17.2 -22.8 0;
13 -20.4 0;
9.2 -15.9 0;
4.1 -14.1 0;
2.3 -5.8 0;
2.9 3.3 0;
7.5 11.7 0;
16.1 19.7 0;
21.1 21.8 0;
26.9 19.9 0;
31.5 20.6 0];
speed = 60;
trajectory(egoCar, waypoints, speed);

% Add the non-ego actors
truck = vehicle(scenario, ...
'ClassID', 2, ...
'Length', 8.2, ...
'Width', 2.5, ...
'Height', 3.5, ...
'Position', [27.1 -23.2 0]);
waypoints = [27.1 -23.2 0;
17.5 -22.7 0;
10.3 -18.2 0;
6.1 -7.4 0;
9.1 4.4 0;
13.4 11.1 0;
20.2 17.8 0;
34.5 20.7 0;
39.5 15.7 0;
38.2 8.6 0;
30.4 2.9 0;
30.4 -9.4 0;
32.2 -17.5 0;
28.8 -21.7 0];
speed = 22;
trajectory(truck, waypoints, speed);
sensors = cell(8,1);
% Front-facing long-range radar sensor at the center of the front bumper of the car.
sensors{1} = radarDetectionGenerator('SensorIndex', 1, 'Height', 0.2, 'MaxRange', 174, ...
Expand All @@ -35,13 +76,13 @@

% Rear-left-facing short-range radar sensor at the left rear wheel well of the car.
sensors{3} = radarDetectionGenerator('SensorIndex', 3, 'Height', 0.2, 'Yaw', 120, ...
'SensorLocation', [0, egoCar.Width/2], 'MaxRange', 30, 'ReferenceRange', 50, ...
'FieldOfView', [90, 5], 'AzimuthResolution', 10, 'RangeResolution', 1.25);
'SensorLocation', [0, egoCar.Width/2], 'MaxRange', 15, 'ReferenceRange', 50, ...
'FieldOfView', [100, 5], 'AzimuthResolution', 10, 'RangeResolution', 1.25);

% Rear-right-facing short-range radar sensor at the right rear wheel well of the car.
sensors{4} = radarDetectionGenerator('SensorIndex', 4, 'Height', 0.2, 'Yaw', -120, ...
'SensorLocation', [0, -egoCar.Width/2], 'MaxRange', 30, 'ReferenceRange', 50, ...
'FieldOfView', [90, 5], 'AzimuthResolution', 10, 'RangeResolution', 1.25);
'SensorLocation', [0, -egoCar.Width/2], 'MaxRange', 15, 'ReferenceRange', 50, ...
'FieldOfView', [100, 5], 'AzimuthResolution', 10, 'RangeResolution', 1.25);

% Front-left-facing short-range radar sensor at the left front wheel well of the car.
sensors{5} = radarDetectionGenerator('SensorIndex', 5, 'Height', 0.2, 'Yaw', 60, ...
Expand Down
162 changes: 162 additions & 0 deletions generateSensorData.m
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Original file line number Diff line number Diff line change
@@ -0,0 +1,162 @@
function [allData, scenario, sensors] = generateSensorData()
%generateSensorData - Returns sensor detections
% allData = generateSensorData returns sensor detections in a structure
% with time for an internally defined scenario and sensor suite.
%
% [allData, scenario, sensors] = generateSensorData optionally returns
% the drivingScenario and detection generator objects.

% Generated by MATLAB(R) 9.5 and Automated Driving System Toolbox 1.3.
% Generated on: 22-Nov-2018 18:51:15

% Create the drivingScenario object and ego car
[scenario, egoCar] = createDrivingScenario;

% Create all the sensors
[sensors, numSensors] = createSensors(scenario);

allData = struct('Time', {}, 'ActorPoses', {}, 'ObjectDetections', {}, 'LaneDetections', {});
running = true;
while running

% Generate the target poses of all actors relative to the ego car
poses = targetPoses(egoCar);
time = scenario.SimulationTime;

objectDetections = {};
laneDetections = [];
isValidTime = false(1, numSensors);

% Generate detections for each sensor
for sensorIndex = 1:numSensors
[objectDets, numObjects, isValidTime(sensorIndex)] = sensors{sensorIndex}(poses, time);
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}); %#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} = radarDetectionGenerator('SensorIndex', 1, ...
'SensorLocation', [2.8 -0.9], ...
'Yaw', -90, ...
'MaxRange', 15, ...
'FieldOfView', [120 5], ...
'ActorProfiles', profiles);
sensors{2} = visionDetectionGenerator('SensorIndex', 2, ...
'SensorLocation', [3.7 0], ...
'MaxRange', 100, ...
'DetectorOutput', 'Objects only', ...
'Intrinsics', cameraIntrinsics([1814.81018227767 1814.81018227767],[320 240],[480 640]), ...
'ActorProfiles', profiles);
sensors{3} = radarDetectionGenerator('SensorIndex', 3, ...
'SensorLocation', [2.8 0.9], ...
'Yaw', 90, ...
'MaxRange', 15, ...
'FieldOfView', [120 5], ...
'ActorProfiles', profiles);
numSensors = 3;

function [scenario, egoCar] = createDrivingScenario
% createDrivingScenario Returns the drivingScenario defined in the Designer

% Construct a drivingScenario object.
scenario = drivingScenario;

% Add all road segments
roadCenters = [12.1 12.8 0;
22.8 20.7 0;
36.5 21.5 0;
41.6 14.7 0;
38.1 6.3 0;
34 3.5 0;
33.7 -18.2 0;
12.5 -22.3 0;
12.1 12.8 0];
laneSpecification = lanespec(2, 'Width', 3.925);
road(scenario, roadCenters, 'Lanes', laneSpecification);

% Add the ego car
egoCar = vehicle(scenario, ...
'ClassID', 1, ...
'Position', [30.2 20.6 0]);
waypoints = [30.2 20.6 0;
31.5 20.3 0;
38.6 17.5 0;
39 10.6 0;
34.6 6.3 0;
30.3 2.5 0;
29.9 -5.5 0;
32.2 -16 0;
29.2 -21.7 0;
23.7 -23.5 0;
17.2 -22.8 0;
13 -20.4 0;
9.2 -15.9 0;
4.1 -14.1 0;
2.3 -5.8 0;
2.9 3.3 0;
7.5 11.7 0;
16.1 19.7 0;
21.1 21.8 0;
26.9 19.9 0;
31.5 20.6 0];
speed = 60;
trajectory(egoCar, waypoints, speed);

% Add the non-ego actors
truck = vehicle(scenario, ...
'ClassID', 2, ...
'Length', 8.2, ...
'Width', 2.5, ...
'Height', 3.5, ...
'Position', [27.1 -23.2 0]);
waypoints = [27.1 -23.2 0;
17.5 -22.7 0;
10.3 -18.2 0;
6.1 -7.4 0;
9.1 4.4 0;
13.4 11.1 0;
20.2 17.8 0;
34.5 20.7 0;
39.5 15.7 0;
38.2 8.6 0;
30.4 2.9 0;
30.4 -9.4 0;
32.2 -17.5 0;
28.8 -21.7 0];
speed = 20;
trajectory(truck, waypoints, speed);