毫米波雷达和视觉传感器融合的检测仿真代码

一、构建驾驶场景

驾驶场景为两车道的高速公路，长度为500m，共有四辆车。主车正前方和正后方各有一辆行使的车辆，还有一辆从左侧超车的车辆。所有车辆按设定的路径和车速行驶；超车车辆从右侧车道开始，变道至坐车到超车后又返回右车道。

scenario=drivingScenario; %构建驾驶场景
scenario.SampleTime=0.01;
roadCenters=[0 0;50 0;100 0;250 20;500 40];%道路中心
roadWidth=7.2;%道路宽度
road(scenario,roadCenters,roadWidth);%在驾驶场景中添加道路
egoCar=vehicle(scenario,"ClassID",1);%添加主车
path(egoCar,roadCenters(2:end,:)-[0 1.8],25)%主车路径的路径和车速
leadCar=vehicle(scenario,"ClassID",1);%添加前方车辆
path(leadCar,[70 0;roadCenters(3:end,:)]-[0 1.8],25);%前方车辆的路径和车速
passingCar=vehicle(scenario,"ClassID",1);%添加超车车辆
waypoints=[0 -1.8;50 1.8;100 1.8;250 21.8;400 32.2;500 38.2];%设置路线点
path(passingCar,waypoints,35);%超车车辆的路径和车速
chaseCar=vehicle(scenario,"ClassID",1);%添加后方车辆
path(chaseCar,[25 0;roadCenters(2:end,:)]-[0 1.8],25);%后方车辆的路径和车速
plot(scenario)

所得如下结果

二、定义毫米波雷达和视觉传感器

本示例中，主车带有六个毫米波雷达和两个视觉传感器，传感器的检测范围为360°。传感器检测区域有一些重叠和覆盖 。主车前后各装一个远程毫米波雷达传感器和一个视觉传感器；两侧分别装有两个短程毫米波雷达，每个短程毫米波雷达可覆盖90°检测范围，其中一个毫米波雷达覆盖车辆中部到后部区域，另一个毫米波雷达覆盖车辆中部到前部区域。

sensors=cell(8,1);
%设置位于汽车前保险杠中央的前向远程毫米波雷达
sensors{1}=radarDetectionGenerator("SensorIndex",1,"Height",0.2,"MaxRange",174,...
    "SensorLocation",[egoCar.Wheelbase+ egoCar.FrontOverhang,0],"FieldOfView",[20,5]);
%设置位于汽车后保险杠中央的前向远程毫米波雷达
sensors{2}=radarDetectionGenerator("SensorIndex",2,"Height",0.2,"Yaw",180,...
    "SensorLocation",[-egoCar.RearOverhang,0],"MaxRange",174,"FieldOfView",[20,5]);
%设置车辆左后轮罩处的左后短程毫米波雷达
sensors{3}=radarDetectionGenerator("SensorIndex",3,"Height",0.2,"Yaw",120,...
    "SensorLocation",[0,egoCar.Width/2],"MaxRange",30,"ReferenceRange",50,...
"FieldOfView",[90,5],"AzimuthResolution",10,"RangeResolution",1.25);
%设置车辆右后轮罩处的右后短程毫米波雷达
sensors{4}=radarDetectionGenerator("SensorIndex",4,"Height",0.2,"Yaw",-120,...
    "SensorLocation",[0,-egoCar.Width/2],"MaxRange",30,"ReferenceRange",50,...
    "FieldOfView",[90,5],"AzimuthResolution",10,"RangeResolution",1.25);
%设置车辆左前轮罩处的左前短程毫米波雷达
sensors{5}=radarDetectionGenerator("SensorIndex",5,"Height",0.2,"Yaw",60,...
    "SensorLocation",[egoCar.Wheelbase,egoCar.Width/2],"MaxRange",30,...
    "ReferenceRange",50,"FieldOfView",[90,5],"AzimuthResolution",10,...
    "RangeResolution",1.25);
%设置车辆右前轮罩处的右前短程毫米波雷达
sensors{6