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Ganeshtestworkshop #19

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85 changes: 62 additions & 23 deletions ...singSyntheticRadarandVisionDataWorkshop.m → Ganesh_Workshop.m
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Original file line number Diff line number Diff line change
@@ -1,28 +1,67 @@
% Define an empty scenario.
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
scenario.SampleTime = 1; % real time

% Add all road segments
roadCenters = [-5 18.6 0;
20.2 18.7 0;
20.8 9.5 0;
3.1 7.3 0;
2 -17.2 0;
-10.8 -18 0;
-12.9 18.5 0;
-5 18.6 0];
laneSpecification = lanespec(4, 'Width', 2);
road(scenario, roadCenters, 'Lanes', laneSpecification);

% Add the ego car
egoCar = vehicle(scenario, ...
'ClassID', 1, ...
'Position', [21.2 21.1 0]);
waypoints = [21.2 21.1 0;
24.8 13.3 0;
19.5 6.2 0;
12.7 6.9 0;
6.6 7 0;
2.1 3.5 0;
3.7 -3.2 0;
5.2 -10.8 0;
3.5 -18.5 0;
-0.2 -20.1 0;
-7.5 -20.8 0;
-14.9 -18.4 0;
-21.2 -11.2 0;
-22.2 -4 0;
-22.1 7.5 0;
-14.8 18.7 0;
0.2 20.5 0;
14.3 22.1 0;
20.4 21.1 0];
speed = 1;
trajectory(egoCar, waypoints, speed);

% Add the non-ego actors
car1 = vehicle(scenario, ...
'ClassID', 1, ...
'Position', [15.3 8.8 0]);
waypoints = [15.3 8.8 0;
6.5 9.5 0;
-0.6 6 0;
0.6 -4.5 0;
0.8 -15.8 0;
-6.6 -17.6 0;
-15.7 -13.3 0;
-22 -8.7 0;
-27 -0.2 0;
-22.8 13.7 0;
-14.1 16.6 0;
-4.7 17.8 0;
8.2 19.9 0;
16.7 19.1 0;
21.2 13.4 0;
16.9 9.1 0];
speed = 2;
trajectory(car1, waypoints, speed);

sensors = cell(8,1);
% Front-facing long-range radar sensor at the center of the front bumper of the car.
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