Lidar Sensor
Libraries:
Lidar Toolbox
Description
The Lidar Sensor block generates point cloud data from the measurements recorded by a lidar sensor mounted on an ego vehicle. The generated data is in the ego vehicle coordinate system.
To generate point cloud data for a scene, you can configure the sensor and actor poses by using this block. The block also outputs the intensity and segmentation values for the generated points.
Additionally, you can use this block to
configure the lidar sensor parameters such as range, azimuth angles, and elevation angles.
add random Gaussian noise to the points in the point cloud.
simulate weather conditions such as fog and rain.
You can use the drivingScenario
(Automated Driving Toolbox) object to create a scenario
containing actors and trajectories, import this data into Simulink® by using the Scenario Reader (Automated Driving Toolbox)
block and then generate the point cloud data for the scenario by using the Lidar Sensor
block.
You can also use the block with vehicle actors in RoadRunner Scenario simulations. The block does not require any inputs when used with actors in a RoadRunner Scenario simulation. For more information, see Integrate Lidar Sensor Model into RoadRunner Scenario and Cosimulate with Unreal Engine. (since R2024a)
Examples
Generate Lidar Point Cloud Data for Driving Scenario with Multiple Actors
Generate lidar point cloud data for a driving scene with roads, pedestrians, and vehicles created using a drivingScenario object.
Ports
Input
ActorPoses — Actor poses
Simulink bus containing MATLAB® structure
Actor poses, specified as a Simulink bus containing MATLAB structure. The structure must contain these two fields.
Target poses of the actors in the scene, specified as an L- element array of structures. Each structure corresponds to an actor. L is the number of actors used.
You can generate this structure programmatically using the
actorPoses
(Automated Driving Toolbox) function. You can also create these structures manually. Each structure must contain these fields.Field Description Value ActorID
Unique identifier for the actor. Positive scalar Position
Position of the actor with respect to the ego vehicle coordinate system, in meters. Three-element vector of the form [ x y z
]Velocity
Velocity (V) of the actor, in meters per second, along the x-, y-, and z- directions. Three-element vector of the form [
Vx Vy Vz
]Roll
Roll angle of the actor in degrees. Numeric scalar
Pitch
Pitch angle of the actor in degrees. Numeric scalar
Yaw
Yaw angle of the actor in degrees. Numeric scalar
AngularVelocity
Angular velocity (ω) of the actor, in degrees per second, along the x-, y-, and z- directions. Three-element vector of the form [
ωx ωy ωz
]Simulation time for generating new point clouds, specified as a positive scalar.
You can output the scene actors poses from a Scenario Reader (Automated Driving Toolbox) block.
Output
IsValid — Valid simulation time
0
| 1
Valid simulation time, returned as a logical 0
(false
) or 1
(true
). This
value is 0
for the updates requested at times between the update
interval specified by the Required interval between sensor updates
(s) parameter.
Data Types: Boolean
Location — Location values of points
M-by-N-by-3 matrix
Location values of points in the point cloud, returned as an M-by-N-by-3 matrix. M, N are the number of rows and columns in the organized point cloud, respectively.
Intensity — Intensity values of points
M-by-N matrix
Intensity values of points in the point cloud, returned as an M-by-N matrix. M, N are the number of rows and columns in the organized point cloud, respectively.
Clusters — Classification data of actors
M-by-N-by-3 array
Classification data of actors in the scene, returned as an
M-by-N-by-3 array. M,
N are the number of rows and columns in the organized point
cloud, respectively. The first dimension of the array contains the
ActorID
s, the second dimension contains the
ClassID
s of the target actors, and third dimension contains the
material IDs representing indices of Material attribute
information in JSON format.
Parameters
Parameters
Sensor IdentificationUnique identifier of sensor — Unique sensor identifier
1
(default) | positive integer
Unique identifier for the sensor, specified as a positive integer. In a multisensor system, this index distinguishes different sensors from one another.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
Required interval between sensor updates (s) — Required time interval between sensor updates
0.1
(default) | positive scalar
Time interval between two consecutive sensor updates, specified as a positive scalar. The block generates new detections at the interval specified by this parameter. The value must be an integer multiple of the simulation time. Updates requested from the sensor in between the update intervals contain no detections. Units are in seconds.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
Sensor model to choose typical values — Name of sensor model
Custom
(default) | HDL64E
| HDL32E
| VLP16
| VLP32C
| VLS128
| PuckLITE
| PuckHiRes
| OS0-32
| OS0-64
| OS0-128
| OS1Gen1-32
| OS1Gen1-64
| OS1Gen1-128
| OS1Gen2-32
| OS1Gen2-64
| OS1Gen2-128
| OS2-32
| OS2-64
| OS2-128
Since R2024a
Specify the name of a sensor model. For information on the supported sensor
models, see Supported Sensors. This parameter sets
the default elevation angle values based on the specified sensor. To apply custom
elevation angles, set this parameter to Custom
and use the
Elevation angles
(deg) parameter.
Dependencies
When you do not set this
parameter to
Custom
, the block disables these parameters:
Use elevation angles
Elevation angles (deg)
Elevation limits (deg)
Elevation resolution (deg)
Position [X Y Height] (m) — Sensor center position
[1.5 0 1.6]
(default) | three-element vector of form [X
Y
Height]
Sensor center position, specified as a three-element vector of the form [X Y Height]. The values of X and Y represent the location of the sensor center with respect to the X- and Y-axes of the ego vehicle coordinate system. Height is the height of the sensor above the ground. The default value defines a lidar sensor mounted on the front edge of the roof of a sedan. Units are in meters.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
Orientation [Roll Pitch Yaw] (deg) — Sensor orientation
[0 0 0]
(default) | three-element vector
Sensor orientation, specified as a three-element vector of the form, [Roll Pitch Yaw]. These values are with respect to the ego vehicle coordinate system. Units are in degrees.
Roll — The roll angle is the angle of rotation around the front-to-back axis, which is the x-axis of the ego vehicle coordinate system. A positive roll angle corresponds to a clockwise rotation when looking in the positive direction of the x-axis.
Pitch — The pitch angle is the angle of rotation around the side-to-side axis, which is the y-axis of the ego vehicle coordinate system. A positive roll angle corresponds to a clockwise rotation when looking in the positive direction of the y-axis.
Yaw — The yaw angle is the angle of rotation around the vertical axis,which is the z-axis of the ego vehicle coordinate system. A positive roll angle corresponds to a clockwise rotation when looking in the positive direction of the z-axis. This rotation appears counter-clockwise when viewing the vehicle from above.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
MATLAB or Model workspace Actor profiles variable name — Variable name for actor profiles
actor_profiles
(default) | valid variable name
Variable name for actor profiles, specified as the name of a MATLAB or model workspace variable containing actor profiles.
Actor profiles are the physical characteristics of the actors in the scene, specified as a structure or as an L-element array of structures. L is the number of actors in the scene.
If the actor profiles variable has a single structure, then all actors specified at the ActorPoses input port use the same profile.
To generate an array of actor profile structures for your driving scenario drivingScenario
(Automated Driving Toolbox), use the actorProfiles
(Automated Driving Toolbox) function. You can also create these structures manually.
This table shows the valid structure fields.
Field | Description | Value | ||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
ActorID | Unique identifier for the actor. In a scene with multiple actors, this value distinguishes different actors from one another. | Positive integer | ||||||||||||||
ClassID | User-defined classification ID for the actor.
| Positive scalar | ||||||||||||||
Length | Length of the actor in meters. | Positive scalar | ||||||||||||||
Width | Width of the actor in meters. | Positive scalar | ||||||||||||||
Height | Height of the actor in meters. | Positive scalar | ||||||||||||||
OriginOffset | Offset of the rotational center of the actor from its geometric center. The rotational center, or origin, is located at the bottom center of the actor. For vehicles, the rotational center is the point on the ground beneath the center of the rear axle. | A three-element vector of the form | ||||||||||||||
MeshVertices | Vertices of the actor in mesh representation. | N-by-3 numeric matrix, where each row defines a vertex in 3-D space. | ||||||||||||||
MeshFaces | Face of the actor in mesh representation. | M-by-3 integer matrix, where each row represents a
triangle defined by vertex IDs, which are the row numbers of
MeshVertices . | ||||||||||||||
MeshTargetReflectances | Material reflectance for each triangular face of the actor. | M-by-1 numeric vector, where M is
the number of triangle faces of the actor. Each value must be in the range
[0, 1] . |
For more information about these structure fields, see the actor
(Automated Driving Toolbox) and vehicle
(Automated Driving Toolbox) functions.
ActorID of the host vehicle — Actor ID of ego vehicle
1
(default) | positive integer
ActorID
value of the ego vehicle, specified as a positive
integer. ActorID
is the unique identifier for an actor. This
parameter must be a valid ActorID
specified at the
ActorPoses input port.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
Coordinate system to report point cloud data — Coordinate system of reported detections
World
(default) | Sensor
| Host
Since R2024b
Coordinate system of reported detections, specified as one of these values:
Sensor
— The block reports the detections in the sensor coordinate system.Host
— The block reports the detections in the coordinate system of a host actor.World
— The block reports the detections in the world coordinate system.
Sensor FOV
SettingsMaximum detection range of sensor (m) — Maximum detection range
120
(default) | positive scalar
Maximum detection range of the sensor specified as a positive scalar. The sensor cannot scan for the points beyond this range. Units are in meters.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
Azimuth limits (deg) — Azimuth limits of lidar sensor
[-180 180]
(default) | two-element vector
Azimuth limits of the lidar sensor, specified as a two-element vector of the form
[min
max]. The values must be in the range [-180,
180]
, max must be greater than min.
Units are in degrees.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
Azimuth resolution (deg) — Azimuthal resolution of lidar sensor
0.16
(default) | positive scalar
Azimuthal resolution of the lidar sensor, specified as a positive scalar. Units are in degrees.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
Use elevation angles — Use custom elevation angles
off
(default) | on
Select this parameter to use custom elevation angles.
Dependencies
To enable this parameter, set the Set model to choose typical values parameter to
Custom
.When you select this parameter, the block disables the Elevation limits (deg) and Elevation resolution (deg) parameters.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
Elevation angles (deg) — Elevation angles of lidar sensor
N-element real-valued vector
Custom elevation angles of the lidar sensor, specified as an N-element real-valued vector. N is the number of elevation channels. The elements of the vector must be in the increasing order. Units are in degrees.
Dependencies
To enable this parameter:
Set the Set model to choose typical values parameter to
Custom
.Select the Use elevation angles parameter.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
Elevation limits (deg) — Elevation limits of lidar sensor
[-20 20]
(default) | two element vector of form [min,
max]
Elevation limits of the lidar sensor, specified as a two-element vector of the
form [min
max]. The values must be in the range [-180,
180]
, max must be greater than min.
Units are in degrees.
Dependencies
To enable this parameter:
Set the Set model to choose typical values parameter to
Custom
.Clear the Use elevation angles parameter.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
Elevation resolution (deg) — Elevation resolution of lidar sensor
1.25
(default) | positive scalar
Elevation resolution of the lidar sensor, specified as a positive scalar in degrees.
Dependencies
To enable this parameter:
Set the Set model to choose typical values parameter to
Custom
.Clear the Use elevation angles parameter.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
Advance Settings
Noise SimulationAdd noise to measurements — Add noise to measurements
on
(default) | off
When you select this parameter, the block adds random Gaussian noise to each point in the point cloud using the Range accuracy (m) parameter as one standard deviation. Otherwise, the data has no noise.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
Range accuracy (m) — Accuracy of sensor range measurement
0.002
(default) | positive scalar
Accuracy of the sensor range measurement, specified as a positive scalar. Units are in meters.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
Fog visibility in meters — Visible distance in fog
1000
(default) | positive scalar
Visible distance in fog, specified as a positive scalar, in meters. The value of
this parameter must not be greater than 1000. A higher value indicates a better
visibility and a lower fog impact. The default value of 1000
indicates clear visibility, or no fog.
Note
When you specify both Fog visibility in meters and Rainrate in mm/hour parameters, the block simulates only the foggy weather.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
Rainrate in mm/hour — Rate of rainfall
0
(default) | positive scalar
Rate of rainfall, specified as a positive scalar in millimeter per hour. The value
of this parameter must not be greater than 200. Increasing this value increases the
impact of rain on the generated point cloud. The default value is
0
, indicating no rainfall.
Note
When you specify both Fog visibility in meters and Rainrate in mm/hour parameters, the block simulates only the foggy weather.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
Simulate Motion Distortion — Simulate motion distortion
off
(default) | on
Since R2024a
Select this parameter to simulate distortion in point cloud data due to ego vehicle motion.
Laser firing time (s) — Firing times of lasers in lidar sensor
[]
(default) | positive scalar | positive numeric vector
Since R2024a
Specify the firing times of the lasers in the lidar sensor. To specify the same firing time for all the lasers in the sensor, use a positive scalar. Otherwise use a positive numeric vector. The length of the vector must match the length of the Elevation angles (deg) parameter.
If you do not select the Use elevation angles parameter, then
the length of the vector must be consistent with the Elevation limits
(deg) and Elevation resolution (deg) parameters. For
example, if you set the Elevation limits (deg) parameter to
[-20 20]
, and the Elevation resolution (deg)
parameter to 1.25
, then the length of the Laser firing
time (s) vector must match the length of the vector
[-20:1.25:20]
.
Dependencies
To enable this parameter, select the Simulate Motion Distortion parameter.
Data Types: single
| double
Scene Material Attributes
Material attribute information in JSON format — Material attribute information in JSON format
string scalar | character vector
Since R2024b
Select this parameter to view or edit information of target material attributes in
JSON format. For more information of material attributes, see MaterialAttributes
property.
Dependencies
To enable this parameter, select Edit JSON text to add, remove, or modify material attributes.
Edit JSON text to add, remove, or modify material attributes — Edit JSON text to add, remove, or modify material attributes
off
(default) | on
Since R2024b
Select this parameter to enable editing material attribute information stored in JSON format.
Output Port Settings
Output intensity port — Output intensity values of points
on
(default) | off
Select this parameter to enable the Intensity output port.
Output clusters port — Output segmentation values of points
on
(default) | off
Select this parameter to enable the Clusters output port.
References
[1] Tian, Wenxin, Lingli Tang, Yuwei Chen, Ziyang Li, Jiajia Zhu, Changhui Jiang, Peilun Hu, et al. “Analysis and Radiometric Calibration for Backscatter Intensity of Hyperspectral LiDAR Caused by Incident Angle Effect.” Sensors 21, no. 9 (April 23, 2021): 2960. https://doi.org/10.3390/s21092960.
[2] Goodin, Christopher, Daniel Carruth, Matthew Doude, and Christopher Hudson. “Predicting the Influence of Rain on LIDAR in ADAS.” Electronics 8, no. 1 (January 15, 2019): 89. https://doi.org/10.3390/electronics8010089.
Version History
Introduced in R2023aR2024b: Use target material information from RoadRunner Scenario
You can now use material information of target actors in RoadRunner Scenario to generate point cloud data by using the parameters in the Scene Material Attributes tab. The Clusters output port also contains material ID information.
R2024b: Specify coordinate system to report point cloud data
Specify World
, Host
, or Sensor
type of coordinate system for the output point cloud by using the Coordinate
system to report point cloud data parameter.
R2024a: Specify sensor model
You can now specify the type of sensor model by using the Sensor model to choose typical values parameter. This parameter sets the default elevation angle values based on the specified sensor.
R2024a: Simulate motion distortion
You can now simulate motion distortion by using the Simulate Motion Distortion and Laser firing time (s) parameters.
R2024a: Add lidar sensor to vehicle actors in RoadRunner Scenario
You can now generate point cloud data in a RoadRunner scenario using a lidar sensor model defined in Simulink. The block does not require any inputs when used with actors in a RoadRunner Scenario simulation.
See Also
Apps
- Driving Scenario Designer (Automated Driving Toolbox) | Lidar Viewer | Lidar Labeler
Blocks
- Scenario Reader (Automated Driving Toolbox) | Point Cloud Viewer
Functions
actorProfiles
(Automated Driving Toolbox) |actorPoses
(Automated Driving Toolbox)
Objects
lidarSensor
|drivingScenario
(Automated Driving Toolbox)
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