Simulation 3D Probabilistic Radar Configuration

Configure probabilistic radar signatures in 3D simulation environment

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Libraries:
Automated Driving Toolbox / Simulation 3D

Description

Note

Simulating models with the Simulation 3D Probabilistic Radar Configuration block requires Simulink^® 3D Animation™.

The Simulation 3D Probabilistic Radar Configuration block configures the probabilistic radar signatures for actors in a 3D simulation environment. This environment is rendered using the Unreal Engine^® from Epic Games^®. To model the probabilistic radars, use Simulation 3D Probabilistic Radar blocks. The configured radar signatures apply to all Simulation 3D Probabilistic Radar blocks in your model.

Examples

Simulate Vision and Radar Sensors in Unreal Engine Environment

Implement a synthetic data simulation for tracking and sensor fusion using Simulink and the Unreal Engine simulation environment.

• Open Script

Parameters

Radar targets — Identifiers corresponding to radar targets

[] (default) | positive integer | L-length vector of unique positive integers

Identifiers that correspond to radar targets, specified as a positive integer or L-length vector of unique positive integers. L equals the number of radar targets for which you want to specify a nondefault radar cross section (RCS).

This table provides the identifiers and corresponding object types that radars can detect in the default scenes that you can select from the Simulation 3D Scene Configuration block. For example, to specify a nondefault RCS for a building and a road, set Radar targets to [1,7]. If you are using a custom scene, in the Unreal^® Editor, you can assign new object types to unused IDs. For more details, see Apply Labels to Unreal Scene Elements for Semantic Segmentation and Object Detection. If a scene contains an object that does not have an assigned ID, that object is assigned an ID of 0. The detection of lane markings is not supported.

ID	Type
0	None/default
1	Building
2	Not used
3	Other
4	Pedestrians
5	Pole
6	Lane Markings
7	Road
8	Sidewalk
9	Vegetation
10	Vehicle
11	Not used
12	Generic traffic sign
13	Stop sign
14	Yield sign
15	Speed limit sign
16	Weight limit sign
17-18	Not used
19	Left and right arrow warning sign
20	Left chevron warning sign
21	Right chevron warning sign
22	Not used
23	Right one-way sign
24	Not used
25	School bus only sign
26-38	Not used
39	Crosswalk sign
40	Not used
41	Traffic signal
42	Curve right warning sign
43	Curve left warning sign
44	Up right arrow warning sign
45-47	Not used
48	Railroad crossing sign
49	Street sign
50	Roundabout warning sign
51	Fire hydrant
52	Exit sign
53	Bike lane sign
54-56	Not used
57	Sky
58	Curb
59	Flyover ramp
60	Road guard rail
61	Bicyclist
62-66	Not used
67	Deer
68-70	Not used
71	Barricade
72	Motorcycle
73-255	Not used

Radar cross sections (dBsm) — Radar cross sections

{} (default) | real-valued Q-by-P matrix | L-length cell array of real-valued Q₁-by-P₁, …, Q_L-by-P_L matrices

Radar cross sections of target actors, in decibels per square meter, specified as a matrix or cell array of matrices. Each matrix defines the RCS for the corresponding target actor specified by Radar targets.

If Radar targets is a scalar (that is, a single target actor), then specify Radar cross sections (dBsm) as a real-valued Q-by-P matrix, where:

• Q is the number of elevation angle samples for the actor.

• P is the number of azimuth angle samples for the actor.

If Radar targets is a vector (that is, multiple target actors), then specify Radar cross sections (dBsm) as a L-length cell array of real-valued Q₁-by-P₁, …, Q_L-by-P_L matrices, where:

• L is the number of actors.

• Q₁, …, Q_L are the number of elevation angle samples per actor.

• P₁, …, P_L are the number of azimuth angle samples per actor.

Q and P can vary for each actor. For each RCS matrix:

• The rows correspond to uniformly sampled elevation angles over the interval [0, 180].

• The columns correspond to uniformly sampled azimuth angles over the interval [0, 360].

For example, the number of elevation and azimuth samples for RCS matrix RCS are as follows:

el = linspace(0,180,size(RCS,1));
az = linspace(0,360,size(RCS,2));

Default radar cross section (dBsm) — Default radar cross section

-20 (default) | real scalar

Default radar cross section, in decibels per square meter, specified as a real scalar. The block uses this RCS value for actors whose RCS is not specified by Radar cross sections (dBsm). If the model does not contain a Simulation 3D Scene Configuration block, then the default RCS assigned to actors in an Unreal Engine scenario is –20 dBsm.

Example: -10

Version History

Introduced in R2019b

R2024a: Requires Simulink 3D Animation

Simulating models with the Simulation 3D Probabilistic Radar Configuration block requires Simulink 3D Animation.