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Caleb Tseng-Tham #6

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Caleb Tseng-Tham #6

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794a360
Lanes and Cars and Sensors
cztsengt Oct 11, 2018
e479fde
Name Changes
cztsengt Oct 29, 2018
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86 changes: 70 additions & 16 deletions ...singSyntheticRadarandVisionDataWorkshop.m → Caleb.m
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Original file line number Diff line number Diff line change
Expand Up @@ -2,29 +2,68 @@
scenario = drivingScenario;
scenario.SampleTime = 0.01;

roadCenters = [0 0; 50 0; 100 0; 250 20; 500 40];
road(scenario, roadCenters, 'lanes',lanespec(2));
road_0 = [0 0; 50 0; 100 0; 250 20; 500 40];
road(scenario, road_0, 'lanes',lanespec(2));

road_1 = [100 -100; 100 -50; 100 0; 100 50; 100 100;100 150;100 200;100 250;100 1000];
road(scenario, road_1, 'lanes',lanespec(2));

road_2 = [140 -100; 140 -50; 140 0; 140 50; 140 100;140 150;140 200;140 250;140 1000];
road(scenario, road_2, 'lanes',lanespec(2));

road_Loop = [80 20;80 -20; 120 -20; 120 20;80 20];
road(scenario, road_Loop, 'lanes',lanespec(2));

road_Loop_SingleCar = [80 20;80 -20; 120 -20; 120 20;80 20;80 20;80 -20; 120 -20; 120 20;80 20;80 20;80 -20; 120 -20; 120 20;80 20;80 20;80 -20; 120 -20; 120 20;80 20;80 20;80 -20; 120 -20; 120 20;80 20;80 20;80 -20; 120 -20; 120 20;80 20;80 20;80 -20; 120 -20; 120 20;80 20;80 20;80 -20; 120 -20; 120 20;80 20;80 20;80 -20; 120 -20; 120 20;80 20];
% 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
path(egoCar, road_0(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
path(leadCar, [70 0; road_0(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
% Add a loopy boi
car_Loop = vehicle(scenario, 'ClassID', 1);
path(car_Loop, [65 0; road_Loop_SingleCar(3:end,:)] - [0 1.8], 100); % On right lane

% Add another car in front of the ego vehicle (EDITED BY CALEB)ITS ORANGE
calebCar = vehicle(scenario, 'ClassID', 1);
path(calebCar, [80 0; road_0(3:end,:)] - [0 1.3], 25); % On right lane

% Add a car that's goona smack you on the side (PURPLE)
calebCarSmack = vehicle(scenario, 'ClassID', 1);
path(calebCarSmack, [30 0; road_1(3:end,:)] - [0 1.8], 45); % On right lane

% Incoming cars from the right (GREEN)
calebIncomingRight = vehicle(scenario, 'ClassID', 1);
path(calebIncomingRight, [100 -100; road_1(3:end,:)] - [0 2], 70); % On right lane

% Incoming cars from the right (2nd horizontal) (BLUE)
calebIncomingRight2 = vehicle(scenario, 'ClassID', 1);
path(calebIncomingRight2, [140 -100; road_2(3:end,:)] - [0 2], 80); % On right lane

% Incoming cars from the right (2nd horizontal) (green)
calebIncomingRight3 = vehicle(scenario, 'ClassID', 1);
path(calebIncomingRight3, [140 -150; road_2(3:end,:)] - [0 2], 60); % On right lane

% Add a car that travels at 50 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, 50);

% Add a car that travels at 35 m/s along the road and passes the ego vehicle
passingCar = vehicle(scenario, 'ClassID', 1);
waypoints = [-10 -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
path(chaseCar, [25 0; road_0(1:end,:)] - [0 1.8], 25); % On right lane

sensors = cell(8,1);
sensors = cell(10,1);
% 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]);
Expand All @@ -34,35 +73,43 @@
'SensorLocation', [-egoCar.RearOverhang, 0], 'MaxRange', 174, '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, ...
'SensorLocation', [0, egoCar.Width/2], 'MaxRange', 30, 'ReferenceRange', 50, ...
sensors{3} = radarDetectionGenerator('SensorIndex', 3, 'Height', 0.2, 'Yaw', 130, ...
'SensorLocation', [0, egoCar.Width/2], 'MaxRange', 40, 'ReferenceRange', 50, ...
'FieldOfView', [90, 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, ...
'SensorLocation', [0, -egoCar.Width/2], 'MaxRange', 30, 'ReferenceRange', 50, ...
sensors{4} = radarDetectionGenerator('SensorIndex', 4, 'Height', 0.2, 'Yaw', -130, ...
'SensorLocation', [0, -egoCar.Width/2], 'MaxRange', 40, 'ReferenceRange', 50, ...
'FieldOfView', [90, 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, ...
'SensorLocation', [egoCar.Wheelbase, egoCar.Width/2], 'MaxRange', 30, ...
sensors{5} = radarDetectionGenerator('SensorIndex', 5, 'Height', 0.2, 'Yaw', 50, ...
'SensorLocation', [egoCar.Wheelbase, egoCar.Width/2], 'MaxRange', 40, ...
'ReferenceRange', 50, 'FieldOfView', [90, 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, ...
'SensorLocation', [egoCar.Wheelbase, -egoCar.Width/2], 'MaxRange', 30, ...
sensors{6} = radarDetectionGenerator('SensorIndex', 6, 'Height', 0.2, 'Yaw', -50, ...
'SensorLocation', [egoCar.Wheelbase, -egoCar.Width/2], 'MaxRange', 40, ...
'ReferenceRange', 50, 'FieldOfView', [90, 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);

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

% Rear-facing camera located at rear windshield. (Big green cone in right)
sensors{9} = visionDetectionGenerator('SensorIndex', 9, 'FalsePositivesPerImage', 0.1, ...
'SensorLocation', [0.5*egoCar.Wheelbase 0], 'Height', 1.1, 'Yaw', 270);

% Rear-facing camera located at rear windshield. (Big green cone in left)
sensors{10} = visionDetectionGenerator('SensorIndex', 10, 'FalsePositivesPerImage', 0.1, ...
'SensorLocation', [0.5*egoCar.Wheelbase 0], 'Height', 1.1, 'Yaw', 90);

% Initiate the tracker
tracker = multiObjectTracker('FilterInitializationFcn', @initSimDemoFilter, ...
'AssignmentThreshold', 30, 'ConfirmationParameters', [4 5]);
Expand Down Expand Up @@ -206,6 +253,13 @@
plotCoverageArea(cap, sensors{i}.SensorLocation,...
sensors{i}.MaxRange, sensors{i}.Yaw, 45);
end

% Plot the coverage areas for CALEB's vision sensors
for i = 9:10
cap = coverageAreaPlotter(BEP,'FaceColor','green','EdgeColor','green');
plotCoverageArea(cap, sensors{i}.SensorLocation,...
sensors{i}.MaxRange, sensors{i}.Yaw, 45);
end

% Create a vision detection plotter put it in a struct for future use
detectionPlotter(BEP, 'DisplayName','vision', 'MarkerEdgeColor','blue', 'Marker','^');
Expand Down