自动驾驶毫米波雷达工程数据仿真

clear; rng(1) for i = 1:500 numTargets = randi([0,2], 1, 2); while(numTargets(1) == 0 & numTargets(2) == 0) numTargets = randi([0,2], 1, 2); continue; end fprintf('create no %d th scene: %d pedestrian, %d bicyclist.\n', i, numTargets(1), numTargets(2)); egoVel = 0; fc = 24e9; bw = 250e6; OtherCar = 0; % flag0/1, if other driving car exists in the scene [xRecF, Tsamp, label] = automotive_simu(numTargets(1),numTargets(2),OtherCar,fc,bw,egoVel); %[xRecF, Tsamp, label] = automotive_simu(numTargets(1), numTargets(2), 0, 24e9, 250e6, 0); filename = strcat(num2str(i)); save(filename, 'xRecF', 'Tsamp', 'label', 'fc','bw','-v7.3'); end clf; spectrogram(sum(xRecF),kaiser(128,10),120,256,1/Tsamp,'centered','yaxis'); clim = get(gca,'CLim'); set(gca,'CLim',clim(2)+[-50 0]) function [xRec, Tsamp, label] = automotive_simu(numPed, numBic, carFlag, fc, bw, egoVel) % simulate scene % pedestrian num:0-2 % bicylist num:0-2 % moving car num:0-2 % stationary targets num: % egoCar:staionary/moving % Rmax: m % Vmax: km/h %rng(1) c = 3e8; fs = bw*2; maxbicSpeed = 10; % maximum speed of the Bicyclist lambda = c/fc; oversamplingFactor = 1.11; % oversampling factor in frequency domain fmax = (2*maxbicSpeed/lambda)*oversamplingFactor; % calculate the sampling frequency based on the maximum speed of a bicyclist Tsamp = 1/(2*fmax); % slow time sampling interval % radar operating related parameters tm = 1e-6; % waveform repetition time timeDuration = 2; % simulation time duration in seconds npulse = floor(timeDuration/Tsamp); % number of pulses fprintf('echo dimension: (%d,%d)\n',fs*tm,npulse); % radar plat parameters radar_pos = [0;0;0]; % radar position if egoVel == 0 radar_vel = [0;0;0]; % radar velocity else radar_vel = [egoVel;0;0]; end radarplat = phased.Platform('InitialPosition',radar_pos,'Velocity',radar_vel,... 'OrientationAxesOutputPort',true); % radar waveform wav = phased.FMCWWaveform('SampleRate',fs,'SweepTime',tm,'SweepBandwidth',bw); tx = phased.Transmitter('PeakPower',1,'Gain',25); txWave = tx(wav()); channel_ped = phased.FreeSpace('PropagationSpeed',c,'OperatingFrequency',fc,... 'TwoWayPropagation',true,'SampleRate',fs); % channel channel_bic = phased.FreeSpace('PropagationSpeed',c,'OperatingFrequency',fc,... 'TwoWayPropagation',true,'SampleRate',fs); % channel channel_car = phased.FreeSpace('PropagationSpeed',c,'OperatingFrequency',fc,... 'TwoWayPropagation',true,'SampleRate',fs); % channel [posr,velr,~] = radarplat(Tsamp); % radar position and velocity numCar = 0; if carFlag == 1 numCar = 1; end % signal initialization xRec = complex(zeros(round(fs*tm),npulse)); xRecF = complex(zeros(round(fs*tm),npulse)); xPedRec = complex(zeros(round(fs*tm),npulse)); xBicRec = complex(zeros(round(fs*tm),npulse)); xCarRec = complex(zeros(round(fs*tm),npulse)); % area of interest yLocLimit = [-10,10]; xLocLimit = [5,45]; % Generation of pedestrian signals for i = 1:numPed % Pedestrian parameters ped_pos = [xLocLimit(1) + (xLocLimit(2)-xLocLimit(1))*rand; yLocLimit(1) + (yLocLimit(2)-yLocLimit(1))*rand; 0]; % initial location ped_height = 1.5 + (2-1.5)*rand; % height in U[1.5,2] meters ped_speed = rand*ped_height*1.4; % speed in U[0,1.4*height] m/s ped_heading(i) = -180 + 360*rand; % heading in U[-180,180] degrees pedestrian(i) = backscatterPedestrian('InitialPosition',ped_pos,... 'InitialHeading',ped_heading(i),'PropagationSpeed',c,... 'OperatingFrequency',fc,'Height',ped_height,... 'WalkingSpeed',ped_speed); % pedestrian object label(i).type = 'pedestrian'; label(i).pos = ped_pos; label(i).speed = ped_speed; label(i).heading = ped_heading(i); end % Generation of bicyclist signals for i = 1:numBic % Bicyclist parameters bic_pos = [xLocLimit(1) + (xLocLimit(2)-xLocLimit(1))*rand; yLocLimit(1) + (yLocLimit(2)-yLocLimit(1))*rand; 0]; % initial location bicyclistSpeed = 1 + (10-1)*rand; % Speed in U[1,10] meters bic_heading(i) = -180 + 360*rand; % heading in U[-180,180] degrees GearTransmissionRatio = 0.5 + (6-0.5)*rand; % in U[0.5,6],the ratio of wheel rotations to pedal rotations NumWheelSpokes = 36; % number of spokes Coast = rand<0.5; % 50% chance to be pedaling or coasting bicyclist(i) = backscatterBicyclist('InitialPosition',bic_pos,'InitialHeading',bic_heading(i),... 'Speed',bicyclistSpeed,'PropagationSpeed',c,'OperatingFrequency',fc,... 'GearTransmissionRatio',GearTransmissionRatio,'NumWheelSpokes',NumWheelSpokes,... 'Coast',Coast); % bicyclist object label(i+numPed).type = 'bicyclist'; label(i+numPed).pos = bic_pos; label(i+numPed).speed = bicyclistSpeed; label(i+numPed).heading = bic_heading(i); end maxCarSpeed = 10; % Generation of car signals for i = 1:numCar % Car parameters car_pos = [xLocLimit(1) + (xLocLimit(2)-xLocLimit(1))*rand; yLocLimit(1) + (yLocLimit(2)-yLocLimit(1))*rand; 0]; % initial location car_vel = [-maxCarSpeed+(maxCarSpeed+maxCarSpeed)*rand; -maxCarSpeed+(maxCarSpeed+maxCarSpeed)*rand; 0]; % car velocity car = phased.Platform('InitialPosition',car_pos,'Velocity',car_vel,... 'OrientationAxesOutputPort',true); % car object carTgt = phased.RadarTarget('PropagationSpeed',c,'OperatingFrequency',fc,'MeanRCS',10); label(i+numPed+numBic).type = 'car'; label(i+numPed+numBic).pos = car_pos; label(i+numPed+numBic).speed = car_vel; end for m = 1:npulse for i = 1:numPed [posPed,velPed,axPed] = move(pedestrian(i),Tsamp,ped_heading(i)); % pedestrian moves [~,angrPed] = rangeangle(posr,posPed,axPed); % propagation path direction xPedCh = channel_ped(repmat(txWave,1,size(posPed,2)),posr,posPed,velr,velPed); % simulate channel xPed = reflect(pedestrian(i),xPedCh,angrPed); % signal reflection %xPedRec(:,m) = xPed; % received m-th pulse xRec(:,m) = xRec(:,m) + xPed; end for i = 1:numBic [posBic,velBic,axBic] = move(bicyclist(i),Tsamp,bic_heading(i)); % target moves [~,angrBic] = rangeangle(posr,posBic,axBic); % propagation path direction xBicCh = channel_bic(repmat(txWave,1,size(posBic,2)),posr,posBic,velr,velBic); % simulate channel xBic = reflect(bicyclist(i),xBicCh,angrBic); % signal reflection %xBicRec(:,m) = xBic; % received m-th pulse xRec(:,m) = xRec(:,m) + xBic; end for i = 1:numCar [posCar,velCar,~] = car(Tsamp); % car moves xCarCh = channel_car(repmat(txWave,1,size(posCar,2)),posr,posCar,velr,velCar); % simulate channel xCar = carTgt(xCarCh); % detection %xCarRec(:,m) = xCar; % received m-th pulse xRec(:,m) = xRec(:,m) + xCar; end % if mod(m,100) == 0 % fprintf('%d pulses created\n',m); % end end % Configure Gaussian noise level at the receiver rx = phased.ReceiverPreamp('Gain',25,'NoiseFigure',10); xRecF = rx(xRecF); % convert received signals to baseband xRecF = conj(dechirp(xRec, txWave)); %xPedRecF(:,:,ii) = conj(dechirp(xPedRec,txWave)); end