Bird's-Eye Scope

Visualize sensor coverages, detections, and tracks

Description

The Bird's-Eye Scope visualizes aspects of a driving scenario found in your Simulink® model. Using the scope, you can:

  • Inspect the coverage areas of radar and vision sensors.

  • Analyze the sensor detections of actors, road boundaries, and lane boundaries.

  • Analyze the tracking results of moving actors within the scenario.

To get started, open the scope and click Find Signals. The scope updates the block diagram, finds signals representing aspects of the driving scenario, organizes the signals into groups, and displays the signals. You can then analyze the signals as you simulate, organize the signals into new groups, and modify the graphical display of the signals.

For more details about using the scope, see Visualize Sensor Data and Tracks in Bird's-Eye Scope.

Open the Bird's-Eye Scope

Simulink Toolstrip: On the Simulation tab, under Review Results, click Bird's-Eye Scope.

Parameters

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Limitations

General Limitations

  • Referenced models are not supported. To visualize signals that are within referenced models, move the output of these signals to the top-level model.

  • Rapid accelerator mode is not supported.

  • If you initialize your model in fast restart, then after the first time you simulate, the Find Signals button is disabled. To enable Find Signals again, on the Debug tab of the Simulink toolstrip, click Fast Restart.

Scenario Reader Block Limitations

  • The Bird's-Eye Scope does not support visualization in a model that contains:

    • More than one Scenario Reader block.

    • A Scenario Reader block within a nonvirtual subsystem, such as an atomic or enabled subsystem.

    • A Scenario Reader block that is configured to output actors and lane boundaries in world coordinates (Coordinate system of outputs parameter set to World Coordinates).

  • For Scenario Reader blocks in which you specify the ego vehicle using the Ego Vehicle input port, the ego vehicle signal must be connected directly to the block. Visualization of ego vehicle signals that are output from a nonvirtual subsystem or referenced model are not supported.

3D Simulation Block Limitations

  • The visualization of ground truth data (roads, lanes, and actors) from Simulation 3D Scene Configuration blocks is not supported. The Bird's-Eye Scope still visualizes the ego vehicle, but it is shown with default vehicle dimensions.

  • The visualization of sensor coverage areas from Simulation 3D Probabilistic Radar blocks is not supported.

More About

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Tips

  • Make sure that all sensor blocks have unique sensor identifiers. These identifiers are specified in the Unique identifier of sensor parameter of Vision Detection Generator and Radar Detection Generator blocks. If two sensor blocks have the same identifier, the Bird's-Eye Scope visualizes sensor data from only the first sensor block specified in the model. Duplicate sensor identifiers can occur when you add a default Vision Detection Generator block and Radar Detection Generator blocks to your model. The default Unique identifier of sensor parameter value for these sensor blocks is always 1.

  • To find the source of a signal within the model, in the left pane of the scope, right-click a signal and select Highlight in Model.

  • You can show or hide signals while simulating. For example, to hide a sensor coverage, first select it from the left pane. Then, from the Properties tab, clear the Show Sensor Coverage check box.

  • When you reopen the scope after saving and closing a model, the scope canvas is initially blank. Click Find Signals to find the signals again. The signals have the same properties from when you last saved the model.

  • If the simulation runs too quickly, you can slow it down by using simulation pacing. On the Simulation tab of the Simulink toolstrip, select Run > Simulation Pacing. Then, select the Enable pacing to slow down simulation check box and decrease the simulation time to less than the default of one second per wall clock second.

  • To better inspect the scenario, you can pan and zoom within the Vehicle Coordinates View and World Coordinates View windows. To return to the default display of either window, in the upper-right corner of that window, click the home button .

  • When you first click Find Signals, detection signals from Simulation 3D Probabilistic Radar blocks appear under Other Applicable Signals. To display the detections, move these signals to the Detections group.

Introduced in R2018b