Generate radar sensor detections and tracks - Simulink

Examples

Using the Radar Data Generator Block

Open and run the Radar Data Generator block in Simulink™.

Open Script

Ports

Input

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Targets (Body Frame) — Target poses
Simulink^® bus containing MATLAB^® structure

Target poses in platform coordinates, specified as a Simulink bus containing a MATLAB structure. The Targets input port can accept output from the Actors output port of the Scenario Reader (Automated Driving Toolbox) block in the Automated Driving Toolbox™ or from the Platforms output port of the Tracking Scenario Reader (Sensor Fusion and Tracking Toolbox) in the Sensor Fusion and Tracking Toolbox™.

The Scenario Reader block and the Tracking Scenario Reader block output pose data in different formats. The Radar Data Generator reads data from either block. In each case, the data consists of two data fields followed by an array of structures. These structures define the number of Platforms or the number of Actors. Platforms and Actors are collectively called Targets.

Field Description Type

Input block	Field name
Scenario Reader (Automated Driving Toolbox)	`NumActors`
Tracking Scenario Reader (Sensor Fusion and Tracking Toolbox)	`NumPlatforms`

Number of valid target poses

Nonnegative integer

Time Current simulation time (optional). If missing, the current Simulink simulation time is used. Real-valued scalar

Input block	Field name
Scenario Reader (Automated Driving Toolbox)	`Actors`
Tracking Scenario Reader (Sensor Fusion and Tracking Toolbox)	`Platforms`

Valid target poses

Array of target pose structures

The Actors structure is described in the output port of the Scenario Reader (Automated Driving Toolbox) block and the Platforms structure is described in the output port of the Tracking Scenario Reader (Sensor Fusion and Tracking Toolbox) block.

INS — Radar pose from INS
Simulink bus containing MATLAB structure

Radar pose information from an inertial navigation system (INS), specified as a Simulink bus containing a single MATLAB structure. The structure includes pose information for the radar platform that is provided by the INS. The INS information can then be used to estimate the target positions in the NED frame. INS is a struct with the following fields:

Field	Definition
`Position`	Position in the scenario frame specified as a real-valued 1-by-3 vector. Units are in meters.
`Velocity`	Velocity in the scenario frame specified as a real-valued 1-by-3 vector. Units are in m/s.
`Orientation`	Orientation with respect to the scenario frame, specified as a 3-by-3 real-valued rotation matrix. The rotation is from the navigation frame to the current INS body frame. This is also referred to as a "parent to child" rotation.

Dependencies

To enable this port, select the Enable INS check box.

Time — Current simulation time
nonnegative scalar

Current simulation time, specified as a nonnegative scalar. The sensor only generates reports at simulation times corresponding to integer multiples of the update interval, which is given by the reciprocal of the Update rate (Hz) parameter. Units are in seconds.

Dependencies

To enable this port, set the Source of target truth time to Input port.

If this port is not enabled, then the time is taken from the time on the Target poses input bus. If time is not on this bus, then the current Simulink simulation time is used.

Data Types: double

Output

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Clustered detections — Clustered object detections
Simulink bus containing MATLAB structure

Clustered object detections, returned as a Simulink bus containing a MATLAB structure. For more details about buses, see Create Nonvirtual Buses (Simulink).

With clustered detections, the block outputs a single detection per target, where each detection is the centroid of the unclustered detections for that target.

You can pass object detections from these sensors and other sensors to a tracker, such as the Global Nearest Neighbor Multi Object Tracker (Sensor Fusion and Tracking Toolbox) block in the Sensor Fusion and Tracking Toolbox.

The structure contains these fields.

Field	Description	Type
`NumDetections`	Number of valid detections	Nonnegative integer
`IsValidTime`	False when updates are requested at times that are between block invocation intervals	Boolean
`Detections`	Object detections	Array of object detection structures of length set by the Maximum number of target reports parameter. Only `NumDetections` of these are actual detections.

Each object detection structure contains these properties.

Property	Definition
`Time`	Measurement time
`Measurement`	Object measurements
`MeasurementNoise`	Measurement noise covariance matrix
`SensorIndex`	Unique ID of the sensor
`ObjectClassID`	Object classification
`ObjectAttributes`	Additional information passed to tracker
`MeasurementParameters`	Parameters used by initialization functions of nonlinear Kalman tracking filters

For rectangular coordinates, Measurement and MeasurementNoise are reported in the rectangular coordinate system specified by the Coordinate system parameter.
For spherical coordinates, Measurement and MeasurementNoise are reported in the spherical coordinate system, which is based on the sensor rectangular coordinate system.

Measurement and MeasurementNoise

Coordinate System Measurement and MeasurementNoise Coordinates

Scenario

This table shows how coordinates are affected by the Enable range rate measurements parameter.

Enable range rate measurements	Coordinates
`on`	`[x;y;z;vx;vy;vz]`
`off`	`[x;y;z]`

Body

Sensor rectangular

Sensor spherical

This table shows how coordinates are affected by the Enable elevation angle measurements and Enable range rate measurements parameters.

Enable range rate measurements	Enable elevation angle measurements	Coordinates
`on`	`on`	`[az;el;rng;rr]`
`on`	`off`	`[az;rng;rr]`
`off`	`on`	`[az;el;rng]`
`off`	`off`	`[az;rng]`

For ObjectAttributes, this table describes the additional information used for tracking.

ObjectAttributes

Attribute Definition

TargetIndex Identifier of the ActorID or PlatformID of the target that generated the detection. For false alarms, this value is negative.

SNR Signal-to-noise ratio of the detection. Units are in dB.

BounceTargetIndex Identifier of the target generating the multipath bounce that produced the ghost target report. Only present when HasGhosts is true.

BouncePathIndex

Index of the bounce path associated with the target report. Only present when HasGhosts is true.

Bounce-Path Index

BouncePathIndex	Description
0	Direct-path target report
1	First 2-bounce path detection
2	Second 2-bounce path
3	3-bounce path

For MeasurementParameters, the measurements are relative to the parent frame. When you set the Coordinate system parameter to Body, the parent frame is the platform body. When you set Coordinate system to Sensor rectangular or Sensor spherical, the parent frame is the sensor.

MeasurementParameters

Parameter	Definition
`Frame`	Enumerated type indicating the frame used to report measurements. When `Frame` is set to `'rectangular'`, detections are reported in Cartesian coordinates. When `Frame` is set to `'spherical'`, detections are reported in spherical coordinates.
`OriginPosition`	3-D vector offset of the sensor origin from the parent frame origin.
`Orientation`	Orientation of the radar sensor coordinate system with respect to the parent frame.
`HasVelocity`	Indicates whether measurements contain velocity or range rate components.
`HasElevation`	Indicates whether measurements contain elevation components.

Dependencies

To enable this port, select the Target reporting format pull-down menu as Clustered detections.

Tracks — Object tracks
Simulink bus containing MATLAB structure

Object tracks, returned as a Simulink bus containing a MATLAB structure. See Create Nonvirtual Buses (Simulink).

This table shows the structure fields.

Field	Description
`NumTracks`	Number of tracks
`IsValidTime`	False when updates are requested at times that are between block invocation intervals
`Tracks`	Array of track structures of a length set by the Maximum number of target reports parameter. Only the first `NumTracks` of these are actual tracks.

This table shows the fields of each track structure.

Field	Definition
`TrackID`	Unique track identifier used to distinguish multiple tracks.
`BranchID`	Unique track branch identifier used to distinguish multiple track branches.
`SourceIndex`	Unique source index used to distinguish tracking sources in a multiple tracker environment.
`UpdateTime`	Time at which the track is updated. Units are in seconds.
`Age`	Number of times the track was updated.
`State`	Value of state vector at the update time.
`StateCovariance`	Uncertainty covariance matrix.
`ObjectClassID`	Integer value representing the object classification. The value `0` represents an unknown classification. Nonzero classifications apply only to confirmed tracks.
`TrackLogic`	Confirmation and deletion logic type. This value is always `'History'` for radar sensors, to indicate history-based logic.
`TrackLogicState`	Current state of the track logic type, returned as a 1-by-K logical array. K is the number of latest track logical states recorded. In the array, `1` denotes a hit and `0` denotes a miss.
`IsConfirmed`	Confirmation status. This field is `true` if the track is confirmed to be a real target.
`IsCoasted`	Coasting status. This field is `true` if the track is updated without a new detection.
`IsSelfReported`	Indicate if the track is reported by the tracker. This field is used in a track fusion environment. It is returned as `true` by default.
`ObjectAttributes`	Additional information about the track.

For more details about these fields, see objectTrack.

The block outputs only confirmed tracks, which are tracks to which the block assigns at least M detections during the first N updates after track initialization. To specify the values M and N, use the M and N for the M-out-of-N confirmation parameter.

Dependencies

To enable this port, on the Parameters tab, set the Target reporting format parameter to Tracks.

Detections — Unclustered object detections
Simulink bus containing MATLAB structure

Unclustered object detections, returned as a Simulink bus containing a MATLAB structure. For more details about buses, see Create Nonvirtual Buses (Simulink).

With unclustered detections, the block outputs all detections, and a target can have multiple detections.

You can pass object detections from these sensors and other sensors to a tracker, such as a Multi-Object Tracker (Automated Driving Toolbox) block, and generate tracks.

The structure must contain these fields:

Field	Description	Type
`NumDetections`	Number of valid detections	integer
`IsValidTime`	False when updates are requested at times that are between block invocation intervals	Boolean
`Detections`	Object detections	Array of object detection structures of length set by the Maximum number of target reports parameter. Only `NumDetections` of these are actual detections.

Each object detection structure contains these properties.

Property	Definition
`Time`	Measurement time
`Measurement`	Object measurements
`MeasurementNoise`	Measurement noise covariance matrix
`SensorIndex`	Unique ID of the sensor
`ObjectClassID`	Object classification
`ObjectAttributes`	Additional information passed to tracker
`MeasurementParameters`	Parameters used by initialization functions of nonlinear Kalman tracking filters

For rectangular coordinates, Measurement and MeasurementNoise are reported in the rectangular coordinate system specified by the Coordinate system parameter.
For spherical coordinates, Measurement and MeasurementNoise are reported in the spherical coordinate system, which is based on the sensor rectangular coordinate system.

Measurement and MeasurementNoise

Coordinate System Measurement and MeasurementNoise Coordinates

Scenario

This table shows how coordinates are affected by the Enable range rate measurements parameter.

Enable range rate measurements	Coordinates
`on`	`[x;y;z;vx;vy;vz]`
`off`	`[x;y;z]`

Body

Sensor rectangular

Sensor spherical

This table shows how coordinates are affected by the Enable elevation angle measurements and Enable range rate measurements parameters.

Enable range rate measurements	Enable elevation angle measurements	Coordinates
`on`	`on`	`[az;el;rng;rr]`
`on`	`off`	`[az;rng;rr]`
`off`	`on`	`[az;el;rng]`
`off`	`off`	`[az;rng]`

For ObjectAttributes, this table describes the additional information used for tracking.

ObjectAttributes

Attribute Definition

TargetIndex Identifier of the ActorID or PlatformID of the target that generated the detection. For false alarms, this value is negative.

SNR Signal-to-noise ratio of the detection. Units are in dB.

BounceTargetIndex Identifier of the target generating the multipath bounce that produced the ghost target report. Only present when HasGhosts is true.

BouncePathIndex

Index of the bounce path associated with the target report. Only present when HasGhosts is true.

Bounce-Path Index

BouncePathIndex	Description
0	Direct-path target report
1	First 2-bounce path detection
2	Second 2-bounce path
3	3-bounce path

For MeasurementParameters, the measurements are relative to the parent frame. When you set the Coordinate system parameter to Body, the parent frame is the platform body. When you set Coordinate system to Sensor rectangular or Sensor spherical, the parent frame is the sensor.

MeasurementParameters

Parameter	Definition
`Frame`	Enumerated type indicating the frame used to report measurements. When `Frame` is set to `'rectangular'`, detections are reported in Cartesian coordinates. When `Frame` is set to `'spherical'`, detections are reported in spherical coordinates.
`OriginPosition`	3-D vector offset of the sensor origin from the parent frame origin.
`Orientation`	Orientation of the radar sensor coordinate system with respect to the parent frame.
`HasVelocity`	Indicates whether measurements contain velocity or range rate components.
`HasElevation`	Indicates whether measurements contain elevation components.

Dependencies

To enable this port, set the Target reporting format parameter to Detections.

Configuration — Current sensor configuration
Simulink bus containing MATLAB structure

Configuration, returned as a Simulink bus containing a MATLAB structure. This output can be used to determine which objects fall within the radar beam during object execution. The structure fields are:

Field	Description	Type
`NumConfigurations`	Number of valid configurations	integer
`Configurations`	Configuration structure	Array of `NumConfigurations` configuration structures

The configuration structure hast these fields:

Field	Description
`SensorIndex`	Unique sensor index, returned as a positive integer.
`IsValidTime`	Valid detection time, returned as `true` or `false`. `IsValidTime` is `false` when detection updates are requested between update intervals specified by the update rate.
`IsScanDone`	`IsScanDone` is `true` when the sensor has completed a scan.
`FieldOfView`	Field of view of the sensor, returned as a 2-by-1 vector of positive real values, [`azfov`;`elfov`]. `azfov` and `elfov` represent the field of view in azimuth and elevation, respectively.
`RangeLimits`	Minimum and maximum range of sensor, in meters, specified as a 1-by-2 nonnegative real-valued vector of the form `[rmin,rmax]`.
`RangeRateLimits`	Minimum and maximum range rate of sensor, in meters per second, specified as a 1-by-2 real-valued vector of the form `[rrmin,rrmax]`.
`MeasurementParameters`	Sensor measurement parameters, returned as an array of structures containing the coordinate frame transforms needed to transform positions and velocities in the top-level frame to the current sensor frame. For details on `MeasurementParameters`, see Measurement Parameters.

Dependencies

To enable this port, select the Enable radar configuration output check box.

Parameters

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Parameters

Sensor Identification

Unique identifier of sensor — Unique sensor identifier
`0` (default) | positive integer

Unique sensor identifier, specified as a positive integer. Use this parameter to distinguish between detections or tracks that come from different sensors in a multisensor system. Specify a unique value for each sensor. If you do not update Unique identifier of sensor from the default value of 0, then the radar returns an error at the start of simulation.

Update rate (Hz) — Sensor update rate
`10` (default) | positive real scalar

Update rate, specified as a positive real scalar. The radar generates new reports at intervals defined by this reciprocal value. Any sensor update requested between update intervals contains no detections or tracks. Units are in Hz.

Sensor Mounting

Translation [ X, Y, Z ] relative to ego origin (m) — Mounting location of radar on platform
`[3.4,0,0.2]` (default) | 1-by-3 real-valued vector of form `[x,y,z]`

Sensor location on the radar on the platform, specified as a 1-by-3 real-valued vector of the form [x,y,z]. This parameter defines the coordinates of the sensor along the x-axis, y-axis, and z-axis relative to the platform origin. Units are in meters.

Rotation [Yaw,Pitch,Roll] relative to ego's frame (deg) — Mounting rotation angles of radar
`[0 0 0]` (default) | 1-by-3 real-valued vector of form [z_yaw y_pitch x_roll]

Mounting rotation angles of the radar, specified as a 1-by-3 real-valued vector of form [z_yaw y_pitch x_roll]. This parameter defines the intrinsic Euler angle rotation of the sensor around the z-axis, y-axis, and x-axis with respect to the platform frame, where:

z_yaw, or yaw angle, rotates the sensor around the z-axis of the platform frame.
y_pitch, or pitch angle, rotates the sensor around the y-axis of the platform frame. This rotation is relative to the sensor position that results from the z_yaw rotation.
x_roll, or roll angle, rotates the sensor about the x-axis of the platform frame. This rotation is relative to the sensor position that results from the z_yaw and y_pitch rotations.

These angles are clockwise-positive when looking in the forward direction of the z-axis, y-axis, and x-axis, respectively. Units are in degrees.

Detection Reporting

Enable elevation angle measurements — Enable radar to measure target elevation angles
`off` (default) | `on`

Select this check box to model a radar sensor that can estimate target elevation.

Enable range rate measurements — Enable radar to measure target range rates
`on` (default) | `off`

Select this check box to enable the radar to measure range rates from target detections.

Add noise to measurements — Enable addition of noise to radar sensor measurements
`on` (default) | `off`

Select this parameter to add noise to the radar measurements. Otherwise, the measurements have no noise. Even if you clear this parameter, the measurement noise covariance matrix, which is reported in the MeasurementNoise field of the generated detections output, represents the measurement noise that is added when Add noise to measurements is selected.

Enable false reports — Enable creating false alarm radar detections
`on` (default) | `off`

Select this parameter to enable creating false alarm radar measurements. If you clear this parameter, the radar reports only actual detections.

Enable occlusion — Enable line-of-sight occlusion
`on` (default) | `off`

Select this parameter to enable line-of-sight occlusion, where the radar generates detection only from objects for which the radar has a direct line of sight. For example, with this parameter enabled, the radar does not generate a detection for an object that is behind another object and blocked from view.

Enable ghosts — Enable ghost targets
`off` (default) | `on`

Select this parameter to generate ghost targets for multipath propagation paths having up to three reflections between transmission and reception of the radar signal.

Maximum number of target reports — Maximum number of detections or tracks
`50` (default) | positive integer

Maximum number of detections or tracks that the sensor reports, specified as a positive integer. The sensor reports detections in order of increasing distance from the sensor until reaching this maximum number.

Target reporting format — Format of generated target reports
Clustered detections (default) | Tracks | Detections

Format of generated target reports, specified as one of these options:

Clustered detections — The block generates target reports as clustered detections, where each target is reported as a single detection that is the centroid of the unclustered target detections. The block returns clustered detections at the Clustered detections output port.
Tracks — The block generates target reports as tracks, which are clustered detections that have been processed by a tracking filter. The block returns clustered detections at the Tracks output port.
Detections — The block generates target reports as unclustered detections, where each target can have multiple detections. The block returns clustered detections at the Detections output port.

Coordinate system — Coordinate system of reported detections
Body (default) | Sensor rectangular | Sensor spherical | Scenario

Coordinate system of reported detections, specified as one of these options:

Body — Detections are reported in the rectangular body system of the sensor platform.
Sensor rectangular — Detections are reported in the sensor rectangular body coordinate system.
Sensor spherical — Detections are reported in a spherical coordinate system that is centered at the radar sensor and aligned with the orientation of the radar on the platform.
Scenario — Detections are reported in the rectangular scenario coordinate frame. The scenario coordinate system is defined as the local navigation frame at simulation start time.

Port Settings

Source of target truth time — Source of target truth time
`Auto` (default) | `Input port`

Source of output truth time, specified as one of these options:

Auto — The block uses the time provided on the target bus, or if not present, the current Simulink simulation time.
Input port — The block uses the time provided on the Time input port of the block.

Enable INS — Enable INS input port
off (default) | on

Select this parameter to allow input of INS data using the INS input port.

Source of output target report bus name — Source of output target report bus name
`Auto` (default) | `Property`

Source of output target report bus name, specified as one of these options:

Auto — The block automatically creates a bus name.
Property — Specify the bus name by using the Specify an output target report bus name parameter.

This bus contains Clustered detections, Tracks, or Detections output port data.

Specify an output target report bus name — Name of target report output bus
`BusRadarDataGenerator` (default) | valid bus name

Name of the target report bus to be returned in output port, specified as a valid bus name.

Dependencies

To enable this parameter, set the Source of output target report bus name parameter to Property.

Enable radar configuration output — Enable radar configuration output
`off` (default) | `on`

Enable the Configuration output port.

Source of output config bus name — Source of output config bus name
`Auto` (default) | `Property`

Source of output config bus name, specified as one of these options:

Auto — The block automatically creates a bus name.
Property — Specify the bus name by using the Specify an output config bus name parameter.

Specify an output config bus name — Name of target report output bus
`BusRadarDataGeneratorConfig` (default) | valid bus name

Specify the name of the config bus returned in the output port.

Dependencies

To enable this parameter, set the Source of output config bus name parameter to Property.

Measurements

Resolution Settings

Azimuth resolution (deg) — Azimuth resolution of radar
`4` (default) | positive real scalar

Azimuth resolution of the radar, specified as a positive scalar. The azimuth resolution defines the minimum separation in azimuth angle at which the radar can distinguish between two targets. The azimuth resolution is typically the 3 dB downpoint of the azimuth angle beamwidth of the radar. Units are in degrees.

Elevation resolution (deg) — Elevation resolution of radar
`5` (default) | positive real scalar

Elevation resolution of the radar, specified as a positive scalar. The elevation resolution defines the minimum separation in elevation angle at which the radar can distinguish between two targets. The elevation resolution is typically the 3 dB downpoint of the elevation angle beamwidth of the radar. Units are in degrees.

Dependencies

To enable this parameter, select the Enable elevation angle measurements check box.

Range resolution (m) — Range resolution of radar
`2.5` (default) | positive real scalar

Range resolution of the radar in meters, specified as a positive real scalar. The range resolution defines the minimum separation in range at which the radar can distinguish between two targets. Units are in meters.

Range rate resolution (m/s) — Range rate resolution of radar
`0.5` (default) | positive real scalar

Range rate resolution of the radar, specified as a positive real scalar. The range rate resolution defines the minimum separation in range rate at which the radar can distinguish between two targets. Units are in meters per second.

Dependencies

To enable this parameter, on the Parameters tab, select the Enable range rate measurements check box.

Bias Settings

Azimuth bias fraction — Azimuth bias fraction of radar
`0.1` (default) | nonnegative scalar

Azimuth bias fraction of the radar, specified as a nonnegative scalar. Azimuth bias is expressed as a fraction of the azimuth resolution specified in the Azimuth resolution (deg) parameter. This value sets a lower bound on the azimuthal accuracy of the radar and is dimensionless.

Elevation bias fraction — Elevation bias fraction of radar
`0.1` (default) | nonnegative scalar

Elevation bias fraction of the radar, specified as a nonnegative scalar. Elevation bias is expressed as a fraction of the elevation resolution specified in the Elevation resolution (deg) parameter. This value sets a lower bound on the elevation accuracy of the radar and is dimensionless.

Dependencies

To enable this parameter, select the Enable elevation angle measurements check box.

Range bias fraction — Range bias fraction
`0.05` (default) | nonnegative scalar

Range bias fraction of the radar, specified as a nonnegative scalar. Range bias is expressed as a fraction of the range resolution specified by the Range resolution (m) property. This property sets a lower bound on the range accuracy of the radar and is dimensionless.

Range rate bias fraction — Range rate bias fraction
`0.05` (default) | nonnegative scalar

Range rate bias fraction of the radar, specified as a nonnegative scalar. Range rate bias is expressed as a fraction of the range rate resolution specified by the Range rate resolution (m/s) parameter. This property sets a lower bound on the range rate accuracy of the radar and is dimensionless.

Dependencies

To enable this parameter, select the Enable range rate measurements check box.

Detector Settings

Total angular field of view [AZ, EL] (deg) — Angular field of view of radar
`[20 5]` (default) | 1-by-2 positive real-valued vector of form `[azfov,elfov]`

Angular field of view of the radar, specified as a 1-by-2 positive real-valued vector of the form [azfov elfov]. The field of view defines the total angular extent spanned by the sensor. The azimuth field of view, azfov, must lie in the interval (0, 360]. The elevation field of view, elfov, must lie in the interval (0, 180]. Units are in degrees

Range limits [MIN, MAX] (m) — Minimum and maximum range of radar
`[0 150]` (default) | 1-by-2 nonnegative real-valued vector of form `[min max]`

Minimum and maximum range of the radar, specified as a 1-by-2 nonnegative real-valued vector of the form [min max]. The radar does not detect targets that are outside this range. The maximum range, max, must be greater than the minimum range, min. Units are in meters.

Range rate limits [MIN, MAX] (m/s) — Minimum and maximum range rate of radar (m/s)
`[-100 100]` (default) | 1-by-2 real-valued vector of form `[min max]`

Minimum and maximum range rate of radar as a 1-by-2 real-valued vector of the form [min max]. The radar does not detect targets that are outside this range rate. The maximum range rate, max, must be greater than the minimum range rate, min. Units are in meters per second.

Dependencies

To enable this parameter, select the Enable range rate measurements check box.

Detection probability — Probability of detecting a target
`0.9` (default) | scalar in range (0, 1]

Probability of detecting a target as a scalar, specified as a scalar in the range (0, 1]. This quantity defines the probability of detecting a target with a radar cross-section, with the radar cross-section specified by the Reference target RCS (dBsm) parameter at the reference detection range specified by the Reference target range (m) parameter. Units are dimensionless.

False alarm rate — False alarm report rate
`1e-06` (default) | positive real scalar in range [10^–7, 10^–3]

False alarm report rate within each radar resolution cell, specified as a positive real scalar in the range [10^–7, 10^–3]. The block determines resolution cells from the Azimuth resolution (deg) and Range resolution (m) parameters and, when enabled, from the Elevation resolution (deg) and Range rate resolution (m/s) parameters. Units are dimensionless.

Reference target range (m) — Reference range for given probability of detection
`100` (default) | positive real scalar

Reference range for the given probability of detection and the given reference radar cross-section (RCS) , specified as a positive real scalar. The reference range is the range at which a target having a radar cross-section specified by the Reference target RCS (dBsm) parameter is detected with a probability of detection specified by the Detection probability parameter. Units are in meters.

Reference target RCS (dBsm) — Reference radar cross-section for given probability of detection
`0` (default) | real scalar

Reference radar cross-section (RCS) for a given probability of detection and reference range, specified as a real scalar. The reference RCS is the RCS value at which a target is detected with a probability specified by the Detection probability parameter at the specified Reference target range (m) parameter value. Values are expressed in dBsm.

Center frequency (Hz) — Center frequency of radar band
`77e9` (default) | positive real scalar

Center frequency of the radar band, specified as a positive scalar. Units are in Hz.

Tracker Setting

Filter initialization function name — Kalman filter initialization function
`initcvekf` (default) | function handle

Kalman filter initialization function, specified as a character vector or string scalar of the name of a valid Kalman filter initialization function.

The table shows the initialization functions that you can use to specify Filter initialization function name.

Initialization Function	Function Definition
`initcaabf`	Initialize constant-acceleration alpha-beta Kalman filter
`initcvabf`	Initialize constant-velocity alpha-beta Kalman filter
`initcakf`	Initialize constant-acceleration linear Kalman filter.
`initcvkf`	Initialize constant-velocity linear Kalman filter.
`initcaekf`	Initialize constant-acceleration extended Kalman filter.
`initctekf`	Initialize constant-turnrate extended Kalman filter.
`initcvekf`	Initialize constant-velocity extended Kalman filter.
`initcaukf`	Initialize constant-acceleration unscented Kalman filter.
`initctukf`	Initialize constant-turnrate unscented Kalman filter.
`initcvukf`	Initialize constant-velocity unscented Kalman filter.

You can also write your own initialization function. The function must have the following syntax:

filter = filterInitializationFcn(detection)

The input to this function is a detection report like those created by an objectDetection object. The output of this function must be a tracking filter object, such as trackingKF, trackingEKF, trackingUKF, or trackingABF.

To guide you in writing this function, you can examine the details of the supplied functions from within MATLAB. For example:

type initcvekf

Dependencies

To enable this parameter, set the Target reporting format parameter to 'Tracks'.

M and N for the M-out-of-N confirmation — Threshold for track confirmation
`[2 3]` (default) | 1-by-2 vector of positive integers

Threshold for track confirmation, specified as a 1-by-2 vector of positive integers of the form [M N]. A track is confirmed if it receives at least M detections in the last N updates. M must be less than or equal to N.

When setting M, take into account the probability of object detection for the sensors. The probability of detection depends on factors such as occlusion or clutter. You can reduce M when tracks fail to be confirmed or increase M when too many false detections are assigned to tracks.
When setting N, consider the number of times you want the tracker to update before it makes a confirmation decision. For example, if a tracker updates every 0.05 seconds, and you want to allow 0.5 seconds to make a confirmation decision, set N = 10.

Dependencies

To enable this parameter, set the Target reporting format parameter to 'Tracks'.

P and R for the P-out-of-R deletion — Threshold for track deletion
`[5 5]` (default) | 1-by-2 vector of positive integers

Threshold for track deletion, specified as a 1-by-2 vector of positive integers of the form [P R]. If a confirmed track is not assigned to any detection P times in the last R tracker updates, then the track is deleted. P must be less than or equal to R.

To reduce how long the radar maintains tracks, decrease R or increase P.
To maintain tracks for a longer time, increase R or decrease P.

Dependencies

To enable this parameter, set the Target reporting format parameter to 'Tracks'.

Random Number Generator Settings

Random number generation — Method to specify random number generator seed
`Repeatable` (default) | `Specify seed` | `Not repeatable`

Method to set the random number generator seed as one of the options in the table.

Option	Description
`Repeatable`	The block generates a random initial seed for the first simulation and reuses this seed for all subsequent simulations. Select this parameter to generate repeatable results from the statistical sensor model. To change this initial seed, at the MATLAB command prompt, enter: `clear all`.
`Specify seed`	Specify your own random initial seed for reproducible results by using the Initial seed parameter.
`Not repeatable`	The block generates a new random initial seed after each simulation run. Select this parameter to generate nonrepeatable results from the statistical sensor model.

Initial seed — Random number generator seed
`0` (default) | nonnegative integer less than 2³²

Random number generator seed, specified as a nonnegative integer less than 2³².

Dependencies

To enable this parameter, set the Random number generation parameter to Specify seed.

Target Profiles

Target profiles definition — Method to specify target profiles
`From Scenario Reader block` (default) | `MATLAB expression` | `Parameters`

Method to specify target profiles, as one of Parameters, MATLAB expression, From Scenario Reader block. Profiles are the physical and radar characteristics of targets in the scenario.

Parameters — The block obtains the target profiles from these parameters:
- Unique target identifiers
- Target classification identifiers
- Length of target cuboids (m)
- Width of target cuboids (m)
- Height of target cuboids (m)
- Rotational center of target cuboids (m)
- Target signatures
MATLAB expression — The block obtains the target profiles from the MATLAB expression specified by the MATLAB expression for target profiles parameter.
From Scenario Reader block — The block obtains the actor profiles from the scenario specified by a scenario reader block such as Scenario Reader (Automated Driving Toolbox).

MATLAB expression for target profiles — MATLAB expression for target profiles
MATLAB structure | MATLAB structure array | valid MATLAB expression

Specify the MATLAB expression for target profiles, as a MATLAB structure, a MATLAB structure array, or a valid MATLAB expression that produces such a structure or structure array.

If your Scenario Reader block reads data from a drivingScenario (Automated Driving Toolbox) object, to obtain the actor profiles directly from this object, set this expression to call the actorProfiles (Automated Driving Toolbox) function on the object. For example: actorProfiles(scenario).

The default target profile expression produces a MATLAB structure and has this form:

struct('ClassID',0,'Length',4.7,'Width',1.8,'Height',1.4, ...
'OriginOffset',[-1.35 0 0],'RCSPattern',[10 10;10 10], ...
'RCSAzimuthAngles',[-180 180],'RCSElevationAngles',[-90 90])

Dependencies

To enable this parameter, set the Target profiles definition parameter to MATLAB expression.

Unique target identifiers — Scenario-defined target identifier
`[]` (default) | positive integer | length-L vector of unique positive integers

Specify the scenario-defined target identifier as a positive integer or length-L vector of unique positive integers. L must equal the number of targets input into the Targets (Body Frame) input port. The vector elements must match TargetID values of the targets. You can specify Unique target identifiers as []. In this case, the same target profile parameters apply to all targets.

Example: [1 2]