radarDetectionGenerator
Generate radar detections for driving scenario
radarDetectionGenerator
is not recommended unless you require C/C++
code generation. Use drivingRadarDataGenerator
instead. For more information, see Compatibility Considerations.
Description
The radarDetectionGenerator
System object™ generates detections from a radar sensor mounted on an ego vehicle. All
detections are referenced to the coordinate system of the ego vehicle. You can use the
radarDetectionGenerator
object in a scenario containing actors and
trajectories, which you can create by using a drivingScenario
object. The object can simulate real detections with added
random noise and also generate false alarm detections. In addition, you can use the
radarDetectionGenerator
object to create input to a multiObjectTracker
. When building scenarios using the Driving Scenario
Designer app, the radar sensors mounted on the ego vehicle are output as
radarDetectionGenerator
objects.
To generate radar detections:
Create the
radarDetectionGenerator
object and set its properties.Call the object with arguments, as if it were a function.
To learn more about how System objects work, see What Are System Objects?
Creation
Description
creates a radar detection generator object with default property values.sensor
= radarDetectionGenerator
sets properties using one or more
name-value pairs. For example,
sensor
= radarDetectionGenerator(Name,Value
)radarDetectionGenerator('DetectionCoordinates','Sensor
Cartesian','MaxRange',200)
creates a radar detection generator
that reports detections in the sensor Cartesian coordinate system and has a
maximum detection range of 200 meters. Enclose each property name in
quotes.
Properties
Unless otherwise indicated, properties are nontunable, which means you cannot change their
values after calling the object. Objects lock when you call them, and the
release
function unlocks them.
If a property is tunable, you can change its value at any time.
For more information on changing property values, see System Design in MATLAB Using System Objects.
SensorIndex
— Unique sensor identifier
positive integer
Unique sensor identifier, specified as a positive integer. This property distinguishes detections that come from different sensors in a multisensor system.
Example: 5
Data Types: double
UpdateInterval
— Required time interval between sensor updates
0.1
(default) | positive real scalar
Required time interval between sensor updates, specified as a positive
real scalar. The drivingScenario
object calls
the radar detection generator at regular time intervals. The radar detector
generates new detections at intervals defined by the
UpdateInterval
property. The value of the
UpdateInterval
property must be an integer multiple
of the simulation time interval. Updates requested from the sensor between
update intervals contain no detections. Units are in seconds.
Example: 5
Data Types: double
SensorLocation
— Sensor location
[3.4 0]
(default) | [x y]
vector
Location of the radar sensor center, specified as an [x
y]
vector. The SensorLocation
and
Height
properties define the coordinates of the
radar sensor with respect to the ego vehicle coordinate system. The default
value corresponds to a radar mounted at the center of the front grill of a
sedan. Units are in meters.
Example: [4 0.1]
Data Types: double
Height
— Radar sensor height above ground plane
0.2
(default) | positive real scalar
Radar sensor height above the ground plane, specified as a positive real
scalar. The height is defined with respect to the vehicle ground plane. The
SensorLocation
and Height
properties define the coordinates of the radar sensor with respect to the
ego vehicle coordinate system. The default value corresponds to a radar
mounted at the center of the front grill of a sedan. Units are in
meters.
Example: 0.3
Data Types: double
Yaw
— Yaw angle of sensor
0
(default) | real scalar
Yaw angle of radar sensor, specified as a real scalar. The yaw angle is the angle between the center line of the ego vehicle and the downrange axis of the radar sensor. 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
Data Types: double
Pitch
— 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 downrange axis of the radar sensor 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
Data Types: double
Roll
— Roll angle of sensor
0
(default) | real scalar
Roll angle of the radar sensor, specified as a real scalar. The roll angle is the angle of rotation of the downrange axis of the radar 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.
Example: -4
Data Types: double
FieldOfView
— Azimuth and elevation fields of view of radar sensor
[20 5]
| real-valued 1-by-2 vector of positive values
Azimuth and elevation fields of view of radar sensor, specified as a
real-valued 1-by-2 vector of positive values, [azfov
elfov]
. 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]
Data Types: double
MaxRange
— Maximum detection range
150
| positive real scalar
Maximum detection range, specified as a positive real scalar. The radar cannot detect a target beyond this range. Units are in meters.
Example: 200
Data Types: double
RangeRateLimits
— Minimum and maximum detection range rates
[-100 100]
| real-valued 1-by-2 vector
Minimum and maximum detection range rates, specified as a real-valued 1-by-2 vector. The radar cannot detect a target out this range rate interval. Units are in meters per second.
Example: [-20 100]
Dependencies
To enable this property, set the HasRangeRate
property to true
.
Data Types: double
DetectionProbability
— Probability of detecting a target
0.9
| 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 one. This quantity defines the probability of
detecting target that has a radar cross-section,
ReferenceRCS
, at the reference detection range,
ReferenceRange
.
FalseAlarmRate
— False alarm rate
1e-6
(default) | positive real scalar
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
Data Types: double
ReferenceRange
— Reference range for given probability of detection
100
(default) | positive real scalar
Reference range for a given probability of detection, specified as a
positive real scalar. The reference range is the range when a target having
a radar cross-section specified by ReferenceRCS
is
detected with a probability of specified by
DetectionProbability
. Units are in meters.
Data Types: double
ReferenceRCS
— Reference radar cross-section for given probability of detection
0
(default) | nonnegative real scalar
Reference radar cross-section (RCS) for given probability of detection,
specified as a nonnegative real scalar. The reference RCS is the value at
which a target is detected with probability specified by
DetectionProbability
. Units are in dBsm.
Data Types: double
RadarLoopGain
— Radar loop gain
real scalar
This property is read-only.
Radar loop gain, specified as a real scalar. Radar loop gain is related to the reported signal-to-noise ratio of the radar, SNR, the target radar cross section, RCS, and target range, R by
SNR = RadarLoopGain + RCS - 40*log10(R)
RadarLoopGain
depends on the
DetectionProbability
,
ReferenceRange
, ReferenceRCS
,
and FalseAlarmRate
property values. Units are in
dB.
Data Types: double
AzimuthResolution
— Azimuth resolution of radar
4
(default) | positive real scalar
Azimuth 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 two targets. The azimuth resolution is typically the 3dB-downpoint in azimuth angle beamwidth of the radar. Units are in degrees.
Data Types: double
ElevationResolution
— Elevation resolution of radar
10
(default) | positive real scalar
Elevation 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 two targets. The elevation resolution is typically the 3dB-downpoint in elevation angle beamwidth of the radar. Units are in degrees.
Dependencies
To enable this property, set the HasElevation
property to true
.
Data Types: double
RangeResolution
— Range resolution of radar
2.5
(default) | positive real scalar
Range 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.
Data Types: double
RangeRateResolution
— Range rate resolution of radar
0.5
(default) | positive real scalar
Range 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.
Dependencies
To enable this property, set the HasRangeRate
property to true
.
Data Types: double
AzimuthBiasFraction
— Azimuth bias fraction
0.1
(default) | nonnegative real scalar
Azimuth 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 AzimuthResolution
. Units are
dimensionless.
Data Types: double
ElevationBiasFraction
— Elevation bias fraction
0.1
(default) | nonnegative real scalar
Elevation bias fraction of the radar, specified as a nonnegative real
scalar. Elevation bias is expressed as a fraction of the elevation
resolution specified in ElevationResolution
. Units are
dimensionless.
Dependencies
To enable this property, set the HasElevation
property to true
.
Data Types: double
RangeBiasFraction
— Range bias fraction
0.05
(default) | nonnegative real scalar
Range bias fraction of the radar, specified as a nonnegative real scalar.
Range bias is expressed as a fraction of the range resolution specified in
RangeResolution
. Units are dimensionless.
Data Types: double
RangeRateBiasFraction
— Range rate bias fraction
0.05
(default) | nonnegative real scalar
Range 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 RangeRateResolution
. Units are
dimensionless.
Dependencies
To enable this property, set the HasRangeRate
property to true
.
Data Types: double
HasElevation
— Enable radar to measure elevation
false
(default) | true
Enable the radar to measure target elevation angles, specified as
false
or true
. Set this property
to true
to model a radar sensor that can estimate target
elevation. Set this property to false
to model a radar
sensor that cannot measure elevation.
Data Types: logical
HasRangeRate
— Enable radar to measure range rate
false
(default) | true
Enable the radar to measure target range rates, specified as
false
or true
. Set this property
to true
to model a radar sensor which can estimate target
range rate. Set this property to false
to model a radar
sensor that cannot measure range rate.
Data Types: logical
HasNoise
— Enable adding noise to radar sensor measurements
true
(default) | false
Enable adding noise to radar sensor measurements, specified as
true
or false
. Set this property
to true
to add noise to the radar measurements.
Otherwise, the measurements have no noise. Even if you set
HasNoise
to false
, the object
still computes the MeasurementNoise
property of each
detection.
Data Types: logical
HasFalseAlarms
— Enable creating false alarm radar detections
true
(default) | false
Enable reporting false alarm radar measurements, specified as
true
or false
. Set this property
to true
to report false alarms. Otherwise, only actual
detections are reported.
Data Types: logical
HasOcclusion
— Enable line-of-sight occlusion
true
(default) | false
Enable line-of-sight occlusion, specified as true
or
false
. To generate detections only from objects for
which the radar has a direct line of sight, set this property to
true
. For example, with this property enabled, the
radar does not generate a detection for a vehicle that is behind another
vehicle and blocked from view.
Data Types: logical
MaxNumDetectionsSource
— Source of maximum number of detections reported
'Auto'
(default) | 'Property'
Source of maximum number of detections reported by the sensor, specified
as 'Auto'
or 'Property'
. When this
property is set to 'Auto'
, the sensor reports all
detections. When this property is set to 'Property'
, the
sensor reports no more than the number of detections specified by the
MaxNumDetections
property.
Data Types: char
| string
MaxNumDetections
— 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 distance to the sensor until the maximum number is reached.
Dependencies
To enable this property, set the
MaxNumDetectionsSource
property to
'Property'
.
Data Types: double
DetectionCoordinates
— Coordinate system of reported detections
'Ego Cartesian'
(default) | 'Sensor Cartesian'
| 'Sensor Spherical'
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.'Sensor Spherical'
— Detections are reported in a spherical coordinate system. This coordinate system is centered at the radar and aligned with the orientation of the radar on the ego vehicle.
Data Types: char
| string
ActorProfiles
— Actor profiles
structure | array of structures
Actor profiles, specified as a structure or as an array of structures. Each structure contains the physical and radar characteristics of an actor.
If
ActorProfiles
is a single structure, all actors passed into theradarDetectionGenerator
object use this profile.If
ActorProfiles
is an array, each actor passed into the object must have a unique actor profile.
To generate an array of structures for your driving scenario, use the actorProfiles
function. The table shows the valid structure fields. If you do
not specify a field, that field is set to its default value. If no actors are passed into the
object, then the ActorID
field is not included.
Field | Description |
---|---|
ActorID | Scenario-defined actor identifier, specified as a positive integer. |
ClassID | Classification identifier, specified as a
nonnegative integer. 0 is
reserved for an object of an unknown or unassigned
class. |
Length | Length of actor, specified as a positive
real scalar. The default is
4.7 . Units are in
meters. |
Width | Width of actor, specified as a positive
real scalar. The default is
1.8 . Units are in
meters. |
Height | Height of actor, specified as a positive
real scalar. The default is
1.4 . Units are in
meters. |
OriginOffset | Offset of the rotational center of
the actor from its geometric center, specified as
an [x
y
z] real-valued vector. The
rotational center, or origin, is located at the
bottom center of the actor. For vehicles, the
rotational center is the point on the ground
beneath the center of the rear axle. The default
is |
RCSPattern | Radar cross-section pattern of actor,
specified as a
numel(RCSElevationAngles) -by-numel(RCSAzimuthAngles)
real-valued matrix. The default is [10
10; 10 10] . Units are in decibels per
square meter. |
RCSAzimuthAngles | Azimuth angles corresponding to rows of
RCSPattern , specified as a
vector of real values in the range [–180, 180].
The default is [-180 180] .
Units are in degrees. |
RCSElevationAngles | Elevation angles corresponding to rows of
RCSPattern , specified as a
vector of real values in the range [–90, 90]. The
default is [-90 90] . Units are
in degrees. |
For full definitions of the structure fields, see the actor
and vehicle
functions.
Usage
Syntax
Description
[
also returns the number of valid detections reported,
dets
,numValidDets
]
= sensor(actors
,time
)numValidDets
.
[
also returns a logical value, dets
,numValidDets
,isValidTime
]
= sensor(actors
,time
)isValidTime
, indicating that
the UpdateInterval
time has elapsed.
Input Arguments
actors
— Scenario actor poses
structure | structure array
Scenario actor poses, specified as a structure or structure array.
Each structure corresponds to an actor. You can generate these
structures using the actorPoses
function.
You can also create these structures manually.
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-directions, specified as a real-valued vector of the form [vx vy vz]. 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-directions, specified as a real-valued vector of the form [ωx ωy ωz]. Units are in degrees per second. |
For full definitions of the structure fields, see the actor
and vehicle
functions.
time
— Current simulation time
nonnegative real scalar
Current simulation time, specified as a nonnegative real scalar. The
drivingScenario
object
calls the radar detection generator at regular time intervals. The radar
detector generates new detections at intervals defined by the
UpdateInterval
property. The value of the
UpdateInterval
property must be an integer
multiple of the simulation time interval. Updates requested from the
sensor between update intervals contain no detections. Units are in
seconds.
Example: 10.5
Data Types: double
Output Arguments
dets
— Radar sensor detections
cell array of objectDetection
objects
Radar sensor detections, returned as a cell array of objectDetection
objects.
Each object contains these fields:
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
,
MeasurementNoise
, and
MeasurementParameters
are reported in the
coordinate system specified by the
DetectionCoordinates
property of the radarDetectionGenerator
.
For spherical coordinates, Measurement
and
MeasurementNoise
are reported in the spherical
coordinate system based on the sensor Cartesian coordinate system.
MeasurementParameters
are reported in sensor
Cartesian coordinates.
Measurement
DetectionCoordinates Property | Measurement and Measurement Noise Coordinates | |||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
'Ego Cartesian' |
Coordinate Dependence on HasRangeRate
| |||||||||||||||
'Sensor Cartesian' | ||||||||||||||||
'Sensor Spherical' |
Coordinate Dependence on HasRangeRate and HasElevation
|
MeasurementParameters
Parameter | Definition |
---|---|
Frame | Enumerated type indicating the frame used to
report measurements. When Frame
is set to 'rectangular' ,
detections are reported in Cartesian coordinates.
When Frame is set
'spherical' , detections are
reported in spherical coordinates. |
OriginPosition | 3-D vector offset of the sensor origin from the
ego vehicle origin. The vector is derived from the
SensorLocation and
Height properties specified
in the radarDetectionGenerator . |
Orientation | Orientation of the vision sensor coordinate
system with respect to the ego vehicle coordinate
system. The orientation is derived from the
Yaw ,
Pitch , and
Roll properties of the
radarDetectionGenerator . |
HasVelocity | Indicates whether measurements contain velocity or range rate components. |
HasElevation | Indicates whether measurements contain elevation components. |
ObjectAttributes
Attribute | Definition |
---|---|
TargetIndex | Identifier of the actor,
ActorID , that generated the
detection. For false alarms, this value is
negative. |
SNR | Detection signal-to-noise ratio in dB. |
numValidDets
— Number of detections
nonnegative integer
Number of detections, returned as a nonnegative integer.
When the
MaxNumDetectionsSource
property is set to'Auto'
,numValidDets
is set to the length ofdets
.When the
MaxNumDetectionsSource
property is set to'Property'
,dets
is a cell array with length determined by theMaxNumDetections
property. No more thanMaxNumDetections
number of detections are returned. If the number of detections is fewer thanMaxNumDetections
, the firstnumValidDets
elements ofdets
hold valid detections. The remaining elements ofdets
are set to the default value.
Data Types: double
isValidTime
— Valid detection time
0
| 1
Valid detection time, returned as 0
or
1
. isValidTime
is
0
when detection updates are requested at times
that are between update intervals specified by
UpdateInterval
.
Data Types: logical
Object Functions
To use an object function, specify the
System object as the first input argument. For
example, to release system resources of a System object named obj
, use
this syntax:
release(obj)
Examples
Generate Radar Detections of Multiple Vehicles
Generate detections using a forward-facing automotive radar mounted on an ego vehicle. Assume that there are three targets:
Vehicle 1 is in the center lane, directly in front of the ego vehicle, and driving at the same speed.
Vehicle 2 is in the left lane and driving faster than the ego vehicle by 12 kilometers per hour.
Vehicle 3 is in the right lane and driving slower than the ego vehicle by 5 kilometers per hour.
All positions, velocities, and measurements are relative to the ego vehicle. Run the simulation for ten steps.
dt = 0.1; pos1 = [150 0 0]; pos2 = [160 10 0]; pos3 = [130 -10 0]; vel1 = [0 0 0]; vel2 = [12*1000/3600 0 0]; vel3 = [-5*1000/3600 0 0]; car1 = struct('ActorID',1,'Position',pos1,'Velocity',vel1); car2 = struct('ActorID',2,'Position',pos2,'Velocity',vel2); car3 = struct('ActorID',3,'Position',pos3,'Velocity',vel3);
Create an automotive radar sensor that is offset from the ego vehicle. By default, the sensor location is at (3.4,0) meters from the vehicle center and 0.2 meters above the ground plane. Turn off the range rate computation so that the radar sensor measures position only.
radar = radarDetectionGenerator('DetectionCoordinates','Sensor Cartesian', ... 'MaxRange',200,'RangeResolution',10,'AzimuthResolution',10, ... 'FieldOfView',[40 15],'UpdateInterval',dt,'HasRangeRate',false); tracker = multiObjectTracker('FilterInitializationFcn',@initcvkf, ... 'ConfirmationThreshold',[3 4],'DeletionThreshold',[6 6]);
Generate detections with the radar from the non-ego vehicles. The output
detections form a cell array and can be passed directly in to the
multiObjectTracker
.
simTime = 0;
nsteps = 10;
for k = 1:nsteps
dets = radar([car1 car2 car3],simTime);
[confirmedTracks,tentativeTracks,allTracks] = updateTracks(tracker,dets,simTime);
Move the cars one time step and update the multi-object tracker.
simTime = simTime + dt;
car1.Position = car1.Position + dt*car1.Velocity;
car2.Position = car2.Position + dt*car2.Velocity;
car3.Position = car3.Position + dt*car3.Velocity;
end
Use birdsEyePlot
to create an overhead view of the
detections. Plot the sensor coverage area. Extract the X
and Y positions of the targets by converting the
Measurement
fields of the cell array into a
MATLAB® array. Display the detections on the bird's-eye plot.
BEplot = birdsEyePlot('XLim',[0 220],'YLim',[-75 75]); caPlotter = coverageAreaPlotter(BEplot,'DisplayName','Radar coverage area'); plotCoverageArea(caPlotter,radar.SensorLocation,radar.MaxRange, ... radar.Yaw,radar.FieldOfView(1)) detPlotter = detectionPlotter(BEplot,'DisplayName','Radar detections'); detPos = cellfun(@(d)d.Measurement(1:2),dets,'UniformOutput',false); detPos = cell2mat(detPos')'; if ~isempty(detPos) plotDetection(detPlotter,detPos) end
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Usage notes and limitations:
See System Objects in MATLAB Code Generation (MATLAB Coder).
Version History
Introduced in R2017aR2021a: radarDetectionGenerator
System object and Radar Detection Generator block are not recommended
The radarDetectionGenerator
System object and Radar Detection Generator block are not recommended
unless you require C/C++ code generation. Instead, use the drivingRadarDataGenerator
System object and Driving
Radar Data Generator, respectively. These new radar sensors provide
additional properties for modeling radar sensors, including the ability to generate
tracks and clustered detections.
There are no current plans to remove the radarDetectionGenerator
System object or Radar Detection Generator block. MATLAB code and Simulink® models that use these features will continue to run. You can still import radarDetectionGenerator
objects into the Driving Scenario Designer app. However, the app updates the parameters of the imported sensor to reflect the parameters of a drivingRadarDataGenerator
object. In addition, when you export a scenario containing a radarDetectionGenerator
sensor to MATLAB code or to a Simulink model, the app exports the sensor as a drivingRadarDataGenerator
object or Driving Radar Data Generator block, respectively.
In MATLAB code, replace all instances of radarDetectionGenerator
with drivingRadarDataGenerator
. In addition, update all radarDetectionGenerator
properties with their equivalent drivingRadarDataGenerator
properties, as shown in the table. The properties not listed in the table are either specific only to drivingRadarDataGenerator
or identical in both objects.
radarDetectionGenerator Properties | Equivalent drivingRadarDataGenerator Properties |
---|---|
|
|
|
|
|
|
| RangeLimits |
|
|
|
|
|
|
This table shows sample code for creating a drivingRadarDataGenerator
object instead of a radarDetectionGenerator
object.
Discouraged Usage | Recommended Replacement |
---|---|
radar = radarDetectionGenerator( ... 'SensorLocation',[-1 0], ... 'Height',0.2, ... 'Yaw',180, ... 'Pitch',0, ... 'Roll',0, ... 'MaxRange',50); | radar = drivingRadarDataGenerator( ... 'MountingLocation',[-1 0 0.2], ... 'MountingAngles',[180 0 0], ... 'RangeLimits',[0 50]); |
To generate detections from target poses at each simulation time step, replace the dets = radarDetectionGenerator(targets,time)
syntax with dets = drivingRadarDataGenerator(targets,time)
.
In Simulink models, replace all Radar Detection Generator blocks with Driving Radar Data Generator blocks. In the Driving Radar Data Generator blocks, update the parameter values in the same way you would update the drivingRadarDataGenerator
property values described in the Update Code section.
If your model contains a separate block that clusters detections, you can remove it because the Driving Radar Data Generator block clusters detections by default.
For example, in this model, the Sensor Simulation subsystem outputs concatenated detections from Radar Detection Generator blocks into a separate block that clusters the detections.
In this model, the Sensor Simulation subsystem outputs concatenated, clustered detections from Driving Radar Data Generator blocks directly into the next part of the model pipeline.
See Also
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