rangeDetectionPlotter

Range detection plotter for bird's-eye plot

Since R2022a

Syntax

rangeDetPlotter = rangeDetectionPlotter(bep)

rangeDetPlotter = rangeDetectionPlotter(bep,Name=Value)

Description

rangeDetPlotter = rangeDetectionPlotter(bep) creates a rangeDetectionPlotter object that configures the display of object detections from an ultrasonic sensor on a bird's-eye plot. The rangeDetectionPlotter object is stored in the Plotters property of the input birdsEyePlot object, bep. To plot the object detections, use the plotRangeDetection function.

rangeDetPlotter = rangeDetectionPlotter(bep,Name=Value) sets properties using one or more Name=Value arguments. For example, rangeDetectionPlotter(bep,DisplayName="Range Detections") sets the display name that appears in the bird's-eye-plot legend.

Examples

Generate Ultrasonic Detections of Multiple Vehicles

Use a simulated ultrasonic sensor to generate detections for multiple vehicles in a driving scenario.

Create Driving Scenario

Create a driving scenario containing a three-lane road using lane specifications.

scenario = drivingScenario;
roadCenters = [-120 30 0;-60 0 0;0 0 0; 60 0 0; 120 30 0];
lspc = lanespec(3);
road(scenario,roadCenters,Lanes=lspc);

Create an ego vehicle that travels in the center lane at a velocity of 30 m/s.

egovehicle = vehicle(scenario,ClassID=1);
egopath = [1.5 0 0; 60 0 0; 111 25 0];
egospeed = 30;
smoothTrajectory(egovehicle,egopath,egospeed);

Add a target vehicle that travels ahead of the ego vehicle at 30.5 m/s in the right lane, and changes lanes close to the ego vehicle.

ftargetcar = vehicle(scenario,ClassID=1);
ftargetpath = [8 2; 60 -3.2; 120 33];
ftargetspeed = 30.5;
smoothTrajectory(ftargetcar,ftargetpath,ftargetspeed);

Add a second target vehicle that travels in the left lane at 32m/s.

ltargetcar = vehicle(scenario,ClassID=1);
ltargetpath = [-5.0 3.5 0; 60 3.5 0; 111 28.5 0];
ltargetspeed = 32;
smoothTrajectory(ltargetcar,ltargetpath,ltargetspeed);

Display a chase plot from behind the ego vehicle for a 3D view of the scenario..

chasePlot(egovehicle)

Create Ultrasonic Sensors

Create an ultrasonic sensor mounted at the front of the ego vehicle.

frontUltrasonic = ultrasonicDetectionGenerator(1,FieldOfView=[70 35]);
frontUltrasonic.Profiles = actorProfiles(scenario);

Create a second ultrasonic sensor mounted on the left side of the ego vehicle.

leftUltrasonic = ultrasonicDetectionGenerator(2,MountingLocation=[0.5 1 0.2],MountingAngles=[90 0 0],FieldOfView=[70 35]);
leftUltrasonic.Profiles = actorProfiles(scenario);

Create Bird's-Eye-Plot

Create a bird's-eye-plot for visualizing the sensor data. Add plotters for visualizing the ultrasonic coverage areas, detections, and points on targets. Use a rangeDetectionPlotter object to visualize ultrasonic detections as arcs and a detectionPlotter object to visualize the closest points on the target as markers. Add plotters to display the lane markings and vehicle outlines.

% Create bird's eye plot
bep = birdsEyePlot(XLim=[-20 20],YLim=[-12 12]);

% Plotters for Coverage areas of two ultrasonic sensors
fcaPlotter = coverageAreaPlotter(bep,DisplayName="Front Ultrasonic field of view");
plotCoverageArea(fcaPlotter,frontUltrasonic.MountingLocation(1:2), ...
  frontUltrasonic.DetectionRange(3),frontUltrasonic.MountingAngles(1),frontUltrasonic.FieldOfView(1));

lcaPlotter = coverageAreaPlotter(bep,DisplayName="Left Ultrasonic field of view",FaceColor="y");
plotCoverageArea(lcaPlotter,leftUltrasonic.MountingLocation(1:2), ...
  leftUltrasonic.DetectionRange(3),leftUltrasonic.MountingAngles(1),leftUltrasonic.FieldOfView(1));

% Range Detection Plotters for Ultrasonic Detections
frdPlotter = rangeDetectionPlotter(bep,DisplayName="Front Ultrasonic Ranges");
lrdPlotter = rangeDetectionPlotter(bep,DisplayName="Left Ultrasonic Ranges",LineStyle=":");

% Detection plotters for closest points on targets
fdetPlotter = detectionPlotter(bep,DisplayName="Point-On-Target (Front Ultrasonic)",MarkerFaceColor="r");
ldetPlotter = detectionPlotter(bep,DisplayName="Point-On-Target (Rear Ultrasonic)",MarkerFaceColor="k");

% Plotters for vehicle and target outlines, lane markings
olPlotter = outlinePlotter(bep);
lmPlotter = laneMarkingPlotter(bep,DisplayName="Lane markings");

Run the Simulation and Generate Detections

Run the scenario simulation. At each timestep:

1. Obtain the ground truth target poses, and generate detections for the two ultrasonic sensors.

2. Obtain and display the target outlines and lane markings.

3. When there are valid detections, display the detections and the corresponding points-on-targets generated by the ultrasonic sensor.

while advance(scenario)

    tgtpose = targetPoses(egovehicle);

    [fobdets,fisValid] = frontUltrasonic(tgtpose,scenario.SimulationTime);
    [lobdets,lisValid] = leftUltrasonic(tgtpose,scenario.SimulationTime);

    [objposition,objyaw,objlength,objwidth,objoriginOffset,color] = targetOutlines(egovehicle);
    plotOutline(olPlotter,objposition,objyaw,objlength,objwidth, ...
        OriginOffset=objoriginOffset,Color=color)

    [lmv,lmf] = laneMarkingVertices(egovehicle);
    plotLaneMarking(lmPlotter,lmv,lmf)

    if ~isempty(fobdets) && fisValid
        franges = fobdets{1}.Measurement;
        plotRangeDetection(frdPlotter,franges,frontUltrasonic.FieldOfView(1),frontUltrasonic.MountingLocation,frontUltrasonic.MountingAngles)
        plotDetection(fdetPlotter,fobdets{1}.ObjectAttributes{1}.PointOnTarget(1:2)')
    end

    if ~isempty(lobdets) && lisValid
        lranges = lobdets{1}.Measurement;
        plotRangeDetection(lrdPlotter,lranges,leftUltrasonic.FieldOfView(1),leftUltrasonic.MountingLocation,leftUltrasonic.MountingAngles)
        plotDetection(ldetPlotter,lobdets{1}.ObjectAttributes{1}.PointOnTarget(1:2)')
    end
end

Input Arguments

bep — Bird’s-eye plot

birdsEyePlot object

Bird’s-eye plot, specified as a birdsEyePlot object.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

Example: LineWidth=1

DisplayName — Plotter name to display in legend

'' (default) | character vector | string scalar

Plotter name to display in the legend, specified as a character vector or string scalar. If you do not specify a name, the bird's-eye plot does not display a legend entry for the plotter.

LineStyle — Range line style

'--' (default) | '-' | ':' | '-.' | 'none'

Range line style, specified as one of the options listed in this table.

Line Style	Description	Resulting Line
"-"	Solid line
"--"	Dashed line
":"	Dotted line
"-."	Dash-dotted line
"none"	No line	No line

LineWidth — Width of range line

0.5 (default) | positive scalar

Width of range line, specified as a positive scalar.

FontSize — Font size for range labels

10 points (default) | positive integer

Font size for range labels, specified as a positive integer in font points.

LabelOffset — Gap between label and positional point

[0 0] (default) | real-valued vector of form [x y]

Gap between label and positional point, specified as a real-valued vector of the form [x y]. Units are in meters.

Tag — Tag associated with plotter object

'PlotterN' (default) | character vector | string scalar

Tag associated with the plotter object, specified a character vector or string scalar. The default value is 'PlotterN', where N is an integer that corresponds to the Nth plotter associated with the input birdsEyePlot object.

Output Arguments

rangeDetPlotter — Range detection plotter

rangeDetectionPlotter object

Range detection plotter, returned as a rangeDetectionPlotter object. You can modify this object by changing its property values. The property names correspond to the name-value arguments of the rangeDetectionPlotter function.

rangeDetPlotter is stored in the Plotters property of the input birdsEyePlot object, bep. To plot the detections, use the plotRangeDetection function.

Version History

Introduced in R2022a