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Changed curvature of road, sensor position, car speeds and positions … #16

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55 changes: 34 additions & 21 deletions SensorFusionUsingSyntheticRadarandVisionDataWorkshop.m
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,8 @@
scenario = drivingScenario;
scenario.SampleTime = 0.01;

roadCenters = [0 0; 50 0; 100 0; 250 20; 500 40];
road(scenario, roadCenters, 'lanes',lanespec(2));
roadCenters = [0 0 ; 50 0; 100 -40; 250 30 ; 500 40];
road(scenario, roadCenters, 'lanes',lanespec([3 5]));

% 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)
Expand All @@ -15,54 +15,67 @@
leadCar = vehicle(scenario, 'ClassID', 1);
path(leadCar, [70 0; roadCenters(3:end,:)] - [0 1.8], 25); % On right lane

backCar = vehicle(scenario, 'ClassID', 1);
waypoints4 = [500 41.8; 400 30.8; 250 43.8; 100 -50.8; 50 -3; 0 -10.8];
path(backCar, waypoints4, 25); % On right lane

waypoints3 = [0 10; 50 3.8; 100 -38.2; 250 31.8; 400 30.8; 500 41.8];
slowCar = vehicle(scenario, 'ClassID', 1);
path(slowCar, waypoints3, 20); % 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);
waypoints = [0 1.8; 50 1.8; 100 -38.2; 250 31.8; 400 30.8; 500 41.8];
waypoints2 = [0 1.8; 50 -1.8; 100 -38.2; 250 31.8; 400 40.8; 500 51.8];
path(passingCar, waypoints2, 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
path(chaseCar, [25 0; roadCenters(2:end,:)] - [0 1.8], 25); % On right lane

sensors = cell(8,1);
sensors = cell(9,1);
% 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, ...
'SensorLocation', [egoCar.Wheelbase + egoCar.FrontOverhang, 0], 'FieldOfView', [20, 5]);
sensors{1} = radarDetectionGenerator('SensorIndex', 1, 'Height', 0.2, 'MaxRange', 100, ...
'SensorLocation', [egoCar.Wheelbase + egoCar.FrontOverhang, 0], 'FieldOfView', [40, 5]);

% Rear-facing long-range radar sensor at the center of the rear bumper of the car.
sensors{2} = radarDetectionGenerator('SensorIndex', 2, 'Height', 0.2, 'Yaw', 180, ...
'SensorLocation', [-egoCar.RearOverhang, 0], 'MaxRange', 174, 'FieldOfView', [20, 5]);
'SensorLocation', [-egoCar.RearOverhang, 0], 'MaxRange', 180, 'FieldOfView', [20, 5]);

% 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, ...
sensors{3} = radarDetectionGenerator('SensorIndex', 3, 'Height', 0.2, 'Yaw', 111, ...
'SensorLocation', [0, egoCar.Width/2], 'MaxRange', 30, 'ReferenceRange', 50, ...
'FieldOfView', [90, 5], 'AzimuthResolution', 10, 'RangeResolution', 1.25);
'FieldOfView', [95, 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, ...
sensors{4} = radarDetectionGenerator('SensorIndex', 4, 'Height', 0.2, 'Yaw', -111, ...
'SensorLocation', [0, -egoCar.Width/2], 'MaxRange', 30, 'ReferenceRange', 50, ...
'FieldOfView', [90, 5], 'AzimuthResolution', 10, 'RangeResolution', 1.25);
'FieldOfView', [95, 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, ...
sensors{5} = radarDetectionGenerator('SensorIndex', 5, 'Height', 0.2, 'Yaw', 69, ...
'SensorLocation', [egoCar.Wheelbase, egoCar.Width/2], 'MaxRange', 30, ...
'ReferenceRange', 50, 'FieldOfView', [90, 5], 'AzimuthResolution', 10, ...
'ReferenceRange', 50, 'FieldOfView', [95, 5], 'AzimuthResolution', 10, ...
'RangeResolution', 1.25);

% Front-right-facing short-range radar sensor at the right front wheel well of the car.
sensors{6} = radarDetectionGenerator('SensorIndex', 6, 'Height', 0.2, 'Yaw', -60, ...
sensors{6} = radarDetectionGenerator('SensorIndex', 6, 'Height', 0.2, 'Yaw', -69, ...
'SensorLocation', [egoCar.Wheelbase, -egoCar.Width/2], 'MaxRange', 30, ...
'ReferenceRange', 50, 'FieldOfView', [90, 5], 'AzimuthResolution', 10, ...
'ReferenceRange', 50, 'FieldOfView', [95, 5], 'AzimuthResolution', 10, ...
'RangeResolution', 1.25);

% Front-facing camera located at front windshield.
sensors{7} = visionDetectionGenerator('SensorIndex', 7, 'FalsePositivesPerImage', 0.1, ...
'SensorLocation', [0.75*egoCar.Wheelbase 0], 'Height', 1.1);
'SensorLocation', [0.75*egoCar.Wheelbase 0], 'Height', 1.1, 'Yaw', -22);

% Rear-facing camera located at rear windshield.
sensors{8} = visionDetectionGenerator('SensorIndex', 8, 'FalsePositivesPerImage', 0.1, ...
'SensorLocation', [0.2*egoCar.Wheelbase 0], 'Height', 1.1, 'Yaw', 180);

% Front-right facing camera
sensors{9} = visionDetectionGenerator('SensorIndex', 9, 'FalsePositivesPerImage', 0.1, ...
'SensorLocation', [0.75*egoCar.Wheelbase 0], 'Height', 1.1, 'Yaw', 22);

% Initiate the tracker
tracker = multiObjectTracker('FilterInitializationFcn', @initSimDemoFilter, ...
'AssignmentThreshold', 30, 'ConfirmationParameters', [4 5]);
Expand All @@ -82,8 +95,8 @@

% Simulate the sensors
detections = {};
isValidTime = false(1,8);
for i = 1:8
isValidTime = false(1,9);
for i = 1:9
[sensorDets,numValidDets,isValidTime(i)] = sensors{i}(ta, time);
if numValidDets
for j = 1:numValidDets
Expand Down Expand Up @@ -201,7 +214,7 @@
end

% Plot the coverage areas for vision sensors
for i = 7:8
for i = 7:9
cap = coverageAreaPlotter(BEP,'FaceColor','blue','EdgeColor','blue');
plotCoverageArea(cap, sensors{i}.SensorLocation,...
sensors{i}.MaxRange, sensors{i}.Yaw, 45);
Expand Down