How to display Vehicle name and it's distance from ego vehicle with birdsEyePlot() function.

At present i am able to simulate road conditions and radar detections . i used drivingRadarDataGenerator() and createDrivingScenario objects for simulations.

using

bep = birdsEyePlot('XLim',[0 60],'YLim',[-75 75]); to plot the detections and road conditions.

using below function for detectons..

clusterDetPlotter = detectionPlotter(bep, ...

'DisplayName','Clustered detections', ...

'MarkerEdgeColor','red', ...

'MarkerFaceColor','red');

using below function to plot the detection using birdsEyePlot() function.

plotDetection(clusterDetPlotter,detPos);

With below code i was able to measure the target vehicle distance from the ego vehicle but not able to display that measurement on bird's eye plot on the screen.

for c=1:numDets

sqrX = targets(c).Position(1) *targets(c).Position(1);

sqrY = targets(c).Position(2) *targets(c).Position(2);

distance_target(c)= sqrt(sqrX+sqrY);

end

How can i display distance of target vehicle wrt to ego vehicle on birds eye plot??

Answer 1

[Raghava S N]

Hi @Bandla Purushothama reddy,

The distances of the targets in the "distance_target" vector can be converted to strings and passed as labels to the "plotDetection" function. To convert the distances captured in the "distance_target" vector, you may use the function "num2str" in an "arrayfun" function to apply it to all the elements of "distance_target"-

labels = arrayfun(@num2str, distance_target,'UniformOutput', false);

After this, call "plotDetection" to plot the targets with the distances as the labels-

plotDetection(clusterDetPlotter,detPos,labels);

For more details about labels in the "plotDetection" function, you may refer to this link - https://www.mathworks.com/help/radar/ref/theaterplot.plotdetection.html#:~:text=10%2C%20%2D4%2C%201%5D%3B-,labels,-%3D%20%7B%27R1%27

For information about "num2str" and "arrayfun", you may refer to these links-

https://www.mathworks.com/help/matlab/ref/num2str.html

https://www.mathworks.com/help/matlab/ref/arrayfun.html

Hope that helps!