function?[allData?scenario?sensor]?=?generateSensorData（）
%generateSensorData?-?Returns?sensor?detections
%????allData?=?generateSensorData?returns?sensor?detections?in?a?structure
%????with?time?for?an?internally?defined?scenario?and?sensor?suite.
%
%????[allData?scenario?sensors]?=?generateSensorData?optionally?returns
%????the?drivingScenario?and?detection?generator?objects.

%?Generated?by?MATLAB（R）?9.5?and?Automated?Driving?System?Toolbox?1.3.
%?Generated?on:?07-Mar-2019?23:15:02

%?Create?the?drivingScenario?object?and?ego?car
[scenario?egoCar]?=?createDrivingScenario;

%?Create?all?the?sensors
sensor?=?createSensor（scenario）;

allData?=?struct（‘Time‘?{}?‘ActorPoses‘?{}?‘objectDetections‘?{}?‘LaneDetections‘?{}）;
running?=?true;
while?running
????
????%?Generate?the?target?poses?of?all?actors?relative?to?the?ego?car
????poses?=?targetPoses（egoCar）;
????time??=?scenario.SimulationTime;
????
????%?Generate?detections?for?the?sensor
????laneDetections?=?[];
????[objectDetections?numobjects?isValidTime]?=?sensor（poses?time）;
????objectDetections?=?objectDetections（1:numobjects）;
????
????%?Aggregate?all?detections?into?a?structure?for?later?use
????if?isValidTime
????????allData（end?+?1）?=?struct（?...
????????????‘Time‘???????scenario.SimulationTime?...
????????????‘ActorPoses‘?actorPoses（scenario）?...
????????????‘objectDetections‘?{objectDetections}?...
????????????‘LaneDetections‘???{laneDetections}）;?%#ok
????end
????
????%?Advance?the?scenario?one?time?step?and?exit?the?loop?if?the?scenario?is?complete
????running?=?advance（scenario）;
end

%?Restart?the?driving?scenario?to?return?the?actors?to?their?initial?positions.
restart（scenario）;

%?Release?the?sensor?object?so?it?can?be?used?again.
release（sensor）;

%%%%%%%%%%%%%%%%%%%%
%?Helper?functions?%
%%%%%%%%%%%%%%%%%%%%

%?Units?used?in?createSensors?and?createDrivingScenario
%?Distance/Position?-?meters
%?Speed?????????????-?meters/second
%?Angles????????????-?degrees
%?RCS?Pattern???????-?dBsm

function?sensor?=?createSensor（scenario）
%?createSensors?Returns?all?sensor?objects?to?generate?detections

%?Assign?into?each?sensor?the?physical?and?radar?profiles?for?all?actors
profiles?=?actorProfiles（scenario）;
sensor?=?visionDetectionGenerator（‘SensorIndex‘?1?...
????‘SensorLocation‘?[3.7?0]?...
????‘MaxRange‘?10?...
????‘DetectorOutput‘?‘objects?only‘?...
????‘Intrinsics‘?cameraIntrinsics（[1814.81018227767?1814.81018227767][320?240][480?640]）?...
????‘ActorProfiles‘?profiles）;

function?[scenario?egoCar]?=?createDrivingScenario
%?createDrivingScenario?Returns?the?drivingScenario?defined?in?the?Designer

%?Construct?a?drivingScenario?object.
scenario?=?drivingScenario;

%?Add?all?road?segments
roadCenters?=?[72.2?7.1?0;
????22.3?11.7?0;
????-1.2?36.2?0];
laneSpecification?=?lanespec（2?‘Width‘?2.925）;
road（scenario?roadCenters?‘Lanes‘?laneSpecification）;

%?Add?t