（matlab程序）汽车安全应用轨道融合仿真.rar

function [f,plotters] = createV2VDisplay(scenario, sensors, attachedVehicle) % Create bird's eye plot f = figure('Visible','off'); pause(0.1) set(f,'Position',[433 425 1362 607]); p1 = uipanel(f,'Title', 'Vehicle 1', 'Position', [0.01 0.01 0.48 0.98]); p2 = uipanel(f,'Title', 'Vehicle 2', 'Position', [0.51 0.01 0.48 0.98]); a = axes(p1); xlims = [50 220]; bep{1} = birdsEyePlot('Parent', a, 'XLim', xlims, 'YLim', [-50 50]); a = axes(p2); bep{2} = birdsEyePlot('Parent', a, 'XLim', xlims, 'YLim', [-50 50]); set(p1.Children(1),'Position',[0.35 0.95 0.3 0.0345],'Orientation','horizontal','NumColumnsMode','manual','NumColumns',5); set(p2.Children(1),'Position',[0.35 0.95 0.3 0.0345],'Orientation','horizontal','NumColumnsMode','manual','NumColumns',5); for i = 1:numel(sensors) shift = scenario.Actors(attachedVehicle(i)).Position(1:2); name = "";%Vehicle " + string(attachedVehicle(i)); if isa(sensors{i},'radarDataGenerator') || isa(sensors{i},'drivingRadarDataGenerator') plotters.SensorPlotter(i) = coverageAreaPlotter(bep{attachedVehicle(i)}, 'DisplayName',... name + " radar", 'FaceColor', 'r'); plotCoverageArea(plotters.SensorPlotter(i), sensors{i}.MountingLocation(1:2) + shift,... sensors{i}.RangeLimits(2), sensors{i}.MountingAngles(3),... sensors{i}.FieldOfView(1)); else plotters.SensorPlotter(i) = coverageAreaPlotter(bep{attachedVehicle(i)}, 'DisplayName',... name + " vision", 'FaceColor', 'b'); plotCoverageArea(plotters.SensorPlotter(i), sensors{i}.SensorLocation + shift,... sensors{i}.MaxRange, sensors{i}.Yaw,... sensors{i}.FieldOfView(1)); end end plotters.veh1DetPlotter = detectionPlotter(bep{1}, 'DisplayName', 'Detections',... 'MarkerEdgeColor', 'black', 'MarkerFaceColor', 'black'); plotters.veh1TrkPlotter = trackPlotter(bep{1}, 'DisplayName', 'Local Tracks',... 'MarkerEdgeColor', 'black'); plotters.veh2TrkPlotter = trackPlotter(bep{2}, 'DisplayName', 'Local Tracks',... 'MarkerEdgeColor', 'black', 'MarkerFaceColor', 'black'); plotters.veh1FusePlotter = trackPlotter(bep{1}, 'DisplayName', 'Fuser Tracks',... 'MarkerEdgeColor', 'black', 'Marker', 'd'); plotters.veh2FusePlotter = trackPlotter(bep{2}, 'DisplayName', 'Fuser Tracks',... 'MarkerEdgeColor', 'black', 'Marker', 'd'); plotters.ol1Plotter = outlinePlotter(bep{1}); plotters.lb1Plotter = laneBoundaryPlotter(bep{1}); plotters.ol2Plotter = outlinePlotter(bep{2}); plotters.lb2Plotter = laneBoundaryPlotter(bep{2}); rb = roadBoundaries(scenario); [position, yaw, length, width, originOffset, color] = targetOutlines(scenario.Actors(1)); position = position + scenario.Actors(1).Position(1:2); % update the bird's-eye plotters with the road and actors plotLaneBoundary(plotters.lb1Plotter, rb); plotOutline(plotters.ol1Plotter, position, yaw, length, width, ... 'OriginOffset', originOffset, 'Color', color); plotLaneBoundary(plotters.lb2Plotter, rb); plotOutline(plotters.ol2Plotter, position, yaw, length, width, ... 'OriginOffset', originOffset, 'Color', color); end