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Changed curvature of road, added opposing lane with car and a bike #17

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Changed curvature of road, added opposing lane with car and a bike #17

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311 changes: 311 additions & 0 deletions MatlabChallenge.m
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Original file line number Diff line number Diff line change
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function [allData, scenario, sensors] = MatlabChallenge()
%MatlabChallenge - Returns sensor detections
% allData = MatlabChallenge returns sensor detections in a structure
% with time for an internally defined scenario and sensor suite.
%
% [allData, scenario, sensors] = MatlabChallenge optionally returns
% the drivingScenario and detection generator objects.

% Generated by MATLAB(R) 9.5 and Automated Driving System Toolbox 1.3.
% Generated on: 08-Nov-2018 19:34:46

% Create the drivingScenario object and ego car
[scenario, egoCar] = createDrivingScenario;

% Create all the sensors
[sensors, numSensors] = createSensors(scenario);

allData = struct('Time', {}, 'ActorPoses', {}, 'ObjectDetections', {}, 'LaneDetections', {});
running = true;
while running

% Generate the target poses of all actors relative to the ego car
poses = targetPoses(egoCar);
time = scenario.SimulationTime;

objectDetections = {};
laneDetections = [];
isValidTime = false(1, numSensors);

% Generate detections for each sensor
for sensorIndex = 1:numSensors
[objectDets, numObjects, isValidTime(sensorIndex)] = sensors{sensorIndex}(poses, time);
objectDetections = [objectDetections; objectDets(1:numObjects)]; %#ok<AGROW>
end

% Aggregate all detections into a structure for later use
if any(isValidTime)
allData(end + 1) = struct( ...
'Time', scenario.SimulationTime, ...
'ActorPoses', actorPoses(scenario), ...
'ObjectDetections', {objectDetections}, ...
'LaneDetections', {laneDetections}); %#ok<AGROW>
end

% Advance the scenario one time step and exit the loop if the scenario is complete
running = advance(scenario);
end

% Restart the driving scenario to return the actors to their initial positions.
restart(scenario);

% Release all the sensor objects so they can be used again.
for sensorIndex = 1:numSensors
release(sensors{sensorIndex});
end

%%%%%%%%%%%%%%%%%%%%
% Helper functions %
%%%%%%%%%%%%%%%%%%%%

% Units used in createSensors and createDrivingScenario
% Distance/Position - meters
% Speed - meters/second
% Angles - degrees
% RCS Pattern - dBsm

function [sensors, numSensors] = createSensors(scenario)
% createSensors Returns all sensor objects to generate detections

% Assign into each sensor the physical and radar profiles for all actors
profiles = actorProfiles(scenario);
sensors{1} = visionDetectionGenerator('SensorIndex', 1, ...
'SensorLocation', [1.9 0], ...
'DetectorOutput', 'Objects only', ...
'ActorProfiles', profiles);
sensors{2} = visionDetectionGenerator('SensorIndex', 2, ...
'SensorLocation', [1.9 0], ...
'Yaw', 180, ...
'DetectorOutput', 'Objects only', ...
'ActorProfiles', profiles);
sensors{3} = visionDetectionGenerator('SensorIndex', 3, ...
'SensorLocation', [3.7 0], ...
'Yaw', -30, ...
'MaxRange', 100, ...
'DetectorOutput', 'Objects only', ...
'Intrinsics', cameraIntrinsics([1814.81018227767 1814.81018227767],[320 240],[480 640]), ...
'ActorProfiles', profiles);
sensors{4} = radarDetectionGenerator('SensorIndex', 4, ...
'SensorLocation', [1.67 -0.9], ...
'Yaw', -90, ...
'Pitch', 40, ...
'MaxRange', 75, ...
'FieldOfView', [80 5], ...
'ActorProfiles', profiles);
sensors{5} = radarDetectionGenerator('SensorIndex', 5, ...
'SensorLocation', [3.7 0], ...
'MaxRange', 30, ...
'FieldOfView', [170 2], ...
'ActorProfiles', profiles);
sensors{6} = radarDetectionGenerator('SensorIndex', 6, ...
'SensorLocation', [1.56 0.83], ...
'Yaw', 90, ...
'MaxRange', 75, ...
'FieldOfView', [80 5], ...
'ActorProfiles', profiles);
sensors{7} = radarDetectionGenerator('SensorIndex', 7, ...
'SensorLocation', [3.7 0], ...
'MaxRange', 100, ...
'FieldOfView', [70 10], ...
'ActorProfiles', profiles);
sensors{8} = radarDetectionGenerator('SensorIndex', 8, ...
'SensorLocation', [-1 0], ...
'Yaw', -180, ...
'MaxRange', 100, ...
'FieldOfView', [50 5], ...
'ActorProfiles', profiles);
sensors{9} = radarDetectionGenerator('SensorIndex', 9, ...
'SensorLocation', [-1 0], ...
'Yaw', -180, ...
'MaxRange', 30, ...
'FieldOfView', [170 5], ...
'ActorProfiles', profiles);
sensors{10} = radarDetectionGenerator('SensorIndex', 10, ...
'SensorLocation', [1.63 0.88], ...
'Yaw', 90, ...
'MaxRange', 10, ...
'FieldOfView', [180 5], ...
'ActorProfiles', profiles);
sensors{11} = radarDetectionGenerator('SensorIndex', 11, ...
'SensorLocation', [1.76 -0.9], ...
'Yaw', -90, ...
'MaxRange', 10, ...
'FieldOfView', [180 5], ...
'ActorProfiles', profiles);
numSensors = 11;

function [scenario, egoCar] = createDrivingScenario
% createDrivingScenario Returns the drivingScenario defined in the Designer

% Construct a drivingScenario object.
scenario = drivingScenario;

% Add all road segments
roadCenters = [-10.8 38 0;
-15.9 51.9 0;
-25.5 63.4 0;
-59.5 67.7 0];
laneSpecification = lanespec(3, 'Width', 3.28333);
road(scenario, roadCenters, 'Lanes', laneSpecification);

roadCenters = [-11.2 36.2 0;
-3 9.4 0;
22.9 -3.3 0;
43.5 -2.9 0;
50.9 55.1 0;
69 92.6 0;
98.6 87.6 0;
106.4 62.1 0;
108.9 27.5 0;
107.3 -5.8 0;
106.9 -53.1 0;
132.2 -79.5 0;
139.3 -42.6 0;
151.1 -36.8 0;
149.2 -4.6 0;
150.1 44.4 0;
150.5 75.7 0];
marking = [laneMarking('Solid', 'Color', [0.98 0.86 0.36])
laneMarking('DoubleSolid', 'Color', [0.98 0.86 0.36])
laneMarking('Dashed')
laneMarking('Solid')];
laneSpecification = lanespec(3, 'Width', 3.28333, 'Marking', marking);
road(scenario, roadCenters, 'Lanes', laneSpecification);

% Add the ego car
egoCar = vehicle(scenario, ...
'ClassID', 1, ...
'Position', [-5.5 8.9 0]);
waypoints = [-5.5 8.9 0;
6.4 -3.1 0;
26 -7.1 0;
36.7 -8.2 0;
44.1 -6.3 0;
48.5 -2.4 0;
52.7 1 0;
55.1 5.5 0;
58 11.7 0;
58.6 19.7 0;
57.8 28.5 0;
55.9 39.5 0;
53.7 51.5 0;
53.3 57.1 0;
53.5 66.8 0;
56.6 75.9 0;
64.2 86.7 0;
68.86 90.04 0.01;
74.31 92.56 0.01;
78.9 93.3 0;
83.2 93.3 0;
88.5 91.4 0;
92.8 89.2 0;
99.1 81.9 0;
102.1 71.7 0;
103.8 59.2 0;
105.2 45.3 0;
106.3 31.7 0;
106 17.2 0;
105.4 0.9 0;
104.5 -13.8 0;
103.9 -23.5 0;
103.6 -36.9 0;
103.5 -44.4 0;
104.5 -52.7 0;
105.2 -65.1 0;
112.6 -80 0;
122.8 -84.6 0;
131.8 -83.5 0;
137.8 -77.4 0;
139.4 -67.2 0;
138.8 -60.8 0;
137.5 -50.7 0;
141.4 -43.3 0;
149.3 -41.6 0;
156.2 -35.3 0;
157.9 -30.1 0;
157.6 -21.8 0;
154.8 -12.2 0;
153.6 -9.9 0];
speed = 30;
trajectory(egoCar, waypoints, speed);

% Add the non-ego actors
car1 = vehicle(scenario, ...
'ClassID', 1, ...
'Position', [-10.8 31.7 0]);
waypoints = [-10.8 31.7 0;
-6 13.9 0;
4.3 3.1 0;
16.1 -2 0;
33.5 -4.5 0;
39.8 -3.9 0;
48.1 -0.3 0;
53.6 8.6 0;
55.8 20.4 0;
54.2 36.1 0;
51.4 48.9 0;
51.4 62.3 0;
51.8 70.1 0;
58.7 85 0;
69.3 93 0;
81.8 96 0;
90.3 93.4 0;
95.7 90.9 0;
101.9 83 0;
105.9 71.9 0;
106.9 59 0;
107.5 46.4 0;
109.2 23.3 0;
108.2 8.2 0;
107.3 -6.1 0;
107.3 -16.3 0;
106.3 -30.3 0;
106.3 -38.5 0;
106.6 -48.5 0;
108.3 -61 0;
112.1 -73 0;
120.8 -80.9 0;
135.3 -75.6 0;
136 -67.6 0;
136 -59.9 0;
135.1 -53.1 0;
136.6 -46.2 0;
143.4 -40.1 0;
148.6 -38.2 0;
150.2 -36.1 0];
speed = 40;
trajectory(car1, waypoints, speed);

actor(scenario, ...
'ClassID', 5, ...
'Length', 2.4, ...
'Width', 0.76, ...
'Height', 0.8, ...
'Position', [146 -33.4 0], ...
'Yaw', 130);

bicycle = actor(scenario, ...
'ClassID', 3, ...
'Length', 1.7, ...
'Width', 0.45, ...
'Height', 1.7, ...
'Position', [104.2 84.8 0]);
waypoints = [104.2 84.8 0;
102 88.1 0;
98.1 93.5 0;
92.7 96.7 0;
87.9 98.6 0;
83 99.4 0;
75.1 99 0;
68.1 96.4 0;
61.5 93.2 0;
58 88.2 0;
54 82 0;
50.8 73.7 0;
48.8 60.4 0;
51.3 42.2 0;
54.3 26.6 0;
53.1 14.5 0];
speed = 10;
trajectory(bicycle, waypoints, speed);