說(shuō)明成果講稿prescan basic2day training

DayIntroductiontoPreScan軟件介PreScanPreScan基Experiment實(shí)驗(yàn)場(chǎng)景建

theory+exercisetheory+Day傳感器建Miscellaneous其他功能模Activesafety&ADAS主動(dòng)安全系統(tǒng)&ADAS系統(tǒng)應(yīng)

theory+exercisetheory+exercise2Introductionto安全系WhatisPreScan是什3IndependentPublicR&D Over80yearsofexperience超過(guò)805,000employeesworldwide全球范圍有5000Annualturnoverapprox600M年銷售額約6億歐 whollyownedbyTNOTNOIs forapprox.80 yownedTNO80%TNOExists25years(since1987)25900employeesin11 Annualturnoverapprox.98M年銷售額約9800Established010120132013200employeesin12countries全球12個(gè)國(guó)家約2004real-worldsafety

hybridandelectric

forsafetyandmobilityCrashLabActivesafetylab(VeHIL)EEMClab

PowertrainlabEEMClab

5Our CrashEngine

TNO6Active

Tyre

ActiveActiveActive

BrakeActiveActive

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V2XADAS&ActiveSafety IntegratedSafety“Virtualtoolsuitefromsensortoinjuryrisk78WhatisPreScanisasimulationenvironmentfor ADASandIV thatmonitortheLaneKee Assistance(LKA)BlindSpotDetection(BSD)LaneChangeAssistance(LCA) NightVision(NV)

ofthevehicleinordertoavoidInfraredcameraV2XantennasGPSreceivers…9HowdoesPreScanModelingawarningsystemSensorsimulationSensorsimulationModelingacontrolsystemSensorsimulationSensorsimulationVehicledynamics(incl.braking&Vehicledynamics(incl.braking&ModelingacontrolsystemSensorsimulationSensorsimulation(e.g.CAN)Vehicledynamics(incl.braking&Vehicledynamics(incl.braking&PreScaninthedevelopmentprocess(v-Concept5.1.Conceptdesignofthe.ADAS系統(tǒng)4.2.Verification&validationoftheconcept概念驗(yàn)3.Design3.Specifyingand Detailedalgorithmdesign算法設(shè) ysisAutomaticECUcodegeneration Coder)ECU代碼生PreScanHILsimulationverifyingECUforalargesetofscenarios Whataretheeffectsofthefinalverifiedsystem?HowmanyaccidentsdoesitAEBS/CMBwithLDWwith

Shortlane

CatRoad

Hilly

BankedLKAwithPedestriandetectionwithPedestriandetectionwithPedestriandetectionwithradar-cameraTrafficSignRecognition(TSR)with Real-lifeurbanRealaccidentRealaccidentPreScanmodelofrealaccident(withFCW/CMBsystem)2.RawLIDAR

ExampleLidarExampleLidarclustering,tracking&StereocameradepthestimationV2XHILsetupwithTomTomdeviceanddriverintheApplicationV2Xsystemforre-reroutingtrucksaroundlow-heighttunnelsonamotorway車-車/路通信Largeareamodelled–around30km2,withmultipleobjectsrepresentingarealcity大片區(qū)域建Real-timeTCP/IPcommunication-withTomTomreceiverandPreScanmachineTomTom和PreScan實(shí)時(shí)通VeHIL:testingtheactivesysteminasafe,controlled&realisticPreScanscenarioscanbeuploadedtoVeHILPreScan場(chǎng)景可導(dǎo)入Investigatedtrafficscenario:Investigatedtrafficscenario:UsingVeHILtocreatePreScansensorSimilarscenariosinVeHILandinVeHIL建立與PreScan中相似的測(cè)試場(chǎng)ComparisonofsensorsimulationsandexperimentsRangeaccuracy距離精umrange最大距FOV視野角度FieldofFrommultiplerunsthestatisticalerroronrangeandangleisdetermined多次 Modelparametersaretunedtomatchresultsofthe“Theresultsfromradarsensorben arkinginTNO’sVeHILfacilityenabledustomakeanobjectiveselectionofdifferentsensor rsforournewACC/AEBsystem.Moreover,thePreScansensormodelthatwasderivedfromthesetestsallowedustocompletelargepartsofthealgorithmdevelopmentprocessbysimulationinsteadofontheroad.WealsousedVeHILtovalidatethefinalsystemundercontrolledyetrealisticconditions.Thisofferedusvaluableinsightintothesystem’sreal-worldbehaviorandperformance.”Mr.ShaoboFAWGroupR&DCenterSAIC:activesafety“WesuccessfullyusedPreScanfordesignandevaluationofactivesafetysystemconceptsintypical accidentscenarios.PreScanenabledustoachieveourprojecttargetsinacost-andtime-effectivemanner…thismakesthatwewillbeabletosaveaconsiderableamountoftime,hardwareinvestments,androad-testingefforts.”Dr.XiaodongTangSAICMotorDenso:"WeareusingPreScanextensivelyforLaneKee AssistandLaneDepartureWarning(LKA/LDW)applications.Itallowedustoachieveamajorreductioninroadtestingwhileinvestigatingamuchwiderrangeofscenariovariations,whichwouldneverhavebeenpossiblebyusingroadtestingalone."Mr.TakahitoNakanoDP-iSafetyCenterHyundai"HyundaiMotor (HMC)hasbeenusingPreScansoftwareforseveralyearsnowtodevelopandverifynewADASfunctionssuchaspre-crash.Weparticularlyvaluethecapabilitiesofthesoftwareintheareaofscenariodefinitions,theeasyinterfacetoourexistingvehicledynamicsmodels,thebroaddatabaseofdifferentsensingandtheprofessionalsupportthatwereceivefromthelocalTASSteam.Asaresultwerecently nnedtoextendourPreScanusagetoourautonomousdrivingdevelopmentandresearch."HyundaiMotorDaimler“WhenupgradingourtruckdrivingsimulatorsforADASandHMIstudies,weselectedthePreScansoftwarefromTASSInternationalfortheworld,scenarioandsensorsimulation.Itsaccuratesensormodelsandflexiblescenariodefinitionenableustodoactivesafetysystem ysisandHMIstudieswithadriverintheloop.TheirengineeringteamdidagreatjobconnectingPreScantoourexistingcontrolandvehicledynamicsmodels"Mr.ThomasPasseggerDaimlerAGVisLab:Autonomous"ThePreScansoftwareisusedatVisLabduringthealgorithmdesignphaseofourautonomousvehicles.Itsusageallowedustomakeveryfastdesigni tionsandcontributedtoarobustalgorithmdesignandasuccessfulroaddemonstrationofourautonomousarmaProf.Dr.AlbertoBroggiVisLab,armaDayIntroductiontoPreScanExperiment

theory+exercisetheory+DayMiscellaneousActivesafety&ADAS

theory+exercisetheory+exercisePreScanusermodulesPreScanCreatinganexperiment ParsingandeditingPreScanuserBuildScenarioModel

Simulation

3DvisualizationviewerVisualizeExperiment/AddControlRunToToworkwiththe/needstobestartedfrom注意 需要從PreScan中觸發(fā)Themodeliscalled“CompilationSheet”orCSandisautomaticallygeneratedbyPreScanThemodelisaccessedandeditedfrom 模型可 TheCScontainsthefollowingActorsTrajectoriesDynamicsControllers3DvisualizationPredefinedUserdefinedPictureMovieSensorCameraVisualVisualcontrolbymouse(zooming,rotating,PreScanmodelfilesimulationresultssPreScanexperiment FirstcontactwithInterfaceBuildingInterfacingCreatingaPreScanCreatingaroadRoadbydragginganddropaStraightRoadandAnXCrossingintotheBuildCreatinganinheritedCreateCreateanInheritedbyclickingonmultipleyellowcircles(oneafteranother)FinishFinishpathcreationprocessbypressingthe“ESC”buttonAddinganActortotheDragDrag&DropanActorfromtheLibraryontoPathObject_1intheBuildAreainordertolinkittothispathPathestrajectorycinganOverviewofthecompletebyaddinganotherActorandsomedecorationExecutingtheOnceOnceanexperimentisbuilt,itcanbeanimated,simulatedand/orviewedin試驗(yàn)“建立”之后，便可在3D界面顯示AnimatingtheAnimationAnimationControlOnceOnceanexperimentisbuilt,itcanbeanimatedandviewedinthe3DCheckCommandCheckCommandwhethertheCompilationissuccessfully Mode從PreScan中觸發(fā) Gototheexperimentdirectory OpentheCompilationSheetModifyingtheDragDrag&DropAIRSensorfromontotheMazdaRX8AIRSensorAIRSensorUpdatingtheGUI:Parse&Compilationsheet:ClickClickonRegenerateButtontocreateup-to-dateCompilationSheetNewNewAIRTheCompilationSheetatActorAnAnoverviewofallObjectIDscanbeonthemainleveloftheCompilationPreScanPreScanComponentscanbeusedtoextendtheCompilationSheetwithUserBlocksMonitoringAIRsensorDetectedDetecteddistancefromAIR-SensorObjectIDObjectIDofDayIntroductiontoPreScanExperiment

theory+exercisetheory+DayMiscellaneousActivesafety&ADAS

theory+exercisetheory+exerciseExperimentConventionsRoadsPaths&trajectoriesActors&objects執(zhí)行器&RunninganexperimentVisuals& y3DPictures

Sensor/LightsReferenceRoadRoadBendBendLaneAdapterRoadSpiralRoadConnectsastraightroadsegmentwithabendroadEnablessmoothtransitionin laccelerationSecondcontrolSecondcontrolnormal:shapeofthecurveisadapted,whilestartandendangleremainconstant.

ThirdcontrolnormalThirdcontrolnormal:shapeofthecurveisadapted,whilestartandendangleremainconstant.Begin-Begin-andendcurvatureremainconstant.RoadXXandYFlexibleroadTheflexibleroadsegmenttypeenablestheusertodefinearoadwithanynumberofdefinitionpoints.Itallowstoeasilycreatelongstretchesofroadwithmanycurvesandbends.Flexibleroadsegment支持任意的自定義 Definitionpointscanbeadded,removedandeditedandboththetangentandthecurvatureateachdefinitionpointcanbeadjustedwhentheflexibleroadsegmentisineditmode.3DRoads:RampRampARamphasapredefinedshape.TheangleofRampGradientisshownintheCoGoffsetis3DroadssupportonlyZ

<1414%toExamplesoframp3DRoads:BankanglescanbedefinedStraightroadBendroadCurvedroadRamproadSpiral(clothoid)roadRoadnetworkGripGrippointsSnappointsSelectionObjectconfigurationofroadCustommarkerAdaptasphalt,lanemarkerandotherroadlayoutpropertiesAddline poles,cateyes,trees,etc.)Addfrictioncoefficient(availablewhen3Ddynamicsenabled)EditingroadDrag&Resizing&RoadDrag&Startbuildingtheroadnetworkbydraggingastraightroadsegmentanddrop intothebuildarea.Resizing&orientingDouble-clickthesegmenttoenterthe“EditMode”.orientationbyclickingtherightcontrolpointoftheAdjustthelengthbypressingtheCTRL-buttonandmovingrightcontrolResizing&orientingDragaY-crossingintothebuildareaandmovetheleftsideoftheY-crossingtowardstherightendofthecreatedstraightsegment.TheY-crossingwillbealignedautomaticallywithrespecttothestraightPayattentiontothegreencircles:alightgreencircleindicatessegmentscanbeconnected/linked;whenasegmentismovedinpositiontolink,thelightcircleturnsdark(middlepicture);whenthemousebuttonisreleasedthe‘Linked’iconappearbetweenthetwosegmentstoindicatethelink(rightpicture).Resizing&orientingTheanglecanalsobechangedintheBuildDouble-clickontheY-crossingtogotoEditClicktheuppercontrolpointoftheY-crossing,andmovearoundtheIfanangleisnotpossiblethisisindicatedvisually,asseeninthenextfigurebytheredFineGobacktotheStraightsegment.AdapttheLocation(10,10,0meter)orientation(10deg)andlength(10meter)oftheroadsegmentinthepropertyeditor.Right-clickontheupperendoftheY-sectionandchooseEditRoadEndinthe seefigure.IntheappearingwindowchangetheAngleto60degrees.Repeattheroadendeditingfortherightroadendandsettheangleto10degrees.RoadjointsDragaLaneadapterroadtowardstheendoftheupperendoftheY-crossing.InthePropertyEditorchangethenumberoflanes(#Lanes(end))oftheRoadEndto3.DraganewstraightsegmenttotheendoftheMergesegment.Thestraightsegmentwillautomaticallychangetoasegmentwiththreelanes,conformtheendoftheLaneAdaptersegment.Clickwiththerightmousebuttonontheendofthestraightsegment,andselectEditroadjoint.RoadjointsDrawaline(leftpicture),orclickontherightlane,toobtaina2:1separationoftheroadsegment.DragaBendroadsegmenttotheleftsideoftheendofthestraight.TheArcsegmentwillremaintwolanesandwillautomaticallyaligntowardstheStraightsegment.DraganewStraightsegmenttotheopenendedlaneofthethreelaneStraightsegment.ThenewStraightsegmentwillautomaticallychangetoonelane.PathsRoute:fromAtoBPath:actualpathofhowyougofromAtoBPathsHowtocreateadraftedInheritedGPSGPSAssigntheActortotheThedotsdenotethatthetrajectoryhasbeenSpeedprofilePinPinPointSynchronizedMultipletrajectoriesperActorscanhavemultiple

OnlyonetrajectorycanbeactiveatthesametimeActivetrajectorycanbesetinGUIor Controlactor’sspeedGeneratetrajectorydefinitionPathprofileisusedasitwasdefinedintheGUI…路徑的形狀在GUI…butspeedprofilecanbecontrolled 速度可 Road&trajectoryGenerateroadGeneratepaths&speedRoadNetworkCreateaRoadnetworkastheoneshowninthenextStartwithStraightRoadAttachtheotherroadKeepinmindTheStraightRoadhastworoadjointsonitsleftTheRoundabouthasthreeTheY-Crossing#1hasoneroadendwithanangleof110degreesandalengthof60mTheY-Crossing#2hasdefaultThebottomsideroadoftheX-Crossinghasanoffsetof1.5TheMotorway*hasfourlanes,twoper ceandorienttheMotorwaycorrectly,thenlinkittotheLaneAdapterRoad.Onlyafterwards,useaCurvedRoadtolinkthelattertotherestoftheRoadNetwork.RoadNetworkSpeedProfileCreate2pathsandattach2actorstoitsuchActor1drivesfromtheY-Crossing#2intotheActor2exitstheCreateaSpeedProfilefortheActor1suchItstartsat10m/s,stopsatthefirstStopThenitacceleratesagainandslowsdownrightbeforetheThenitacceleratesprogressivelyuptothefinalspeedof24CreateaSpeedProfilefortheActor2suchItstartswiththeinitialspeedof33.33Itstartsdeceleratingafter2secondsdowntothefinalspeedof17YoucancomparetheSpeedProfilesyouhavecreatedtotheonesinthefollowingSpeedProfileActorActorActorActorSuggestedSpeedSuggestedSpeedProfilefortheInitialspeedof10ConstantdecelerationuntiltheStopLine(EndofPathStop(WaitslotintheSpeedProfileeditor)for0.5ConstantSpeed/Acceluptothespeedof8.0m/s(EndofPathSmoothAccelerationuptothespeedof11.0m/s(MaxAcceleration=0.10m/s^2,EndofPathID=4)ConstantSpeed/Acceluptothespeedof8.0m/s(EndofPathConstantSpeed/Acceluptothefinalspeedof24.0SuggestedSpeedProfilefortheInitialspeedof10ConstantSpeed/Acceluptothespeedof33.33m/s(EndofPathConstantSpeed/Acceldowntothespeedof24.0m/s(EndofPathConstantSpeed/Acceldowntothefinalspeedof17.0EnablefourwindowsintheViewerinorderOutputthetwodriver’sOutputanexternalHumanViewmovingalongwithoneoftheActors(setitspositionrelativetotheActor)Outputagenericviewshowingthewholescenario(selectdefaultviewandnavigateinthe3DworldinordertochoosetheviewRuntheAnimationfromtheActors&objectsHumansCalibrationelementsInfrastructureelements路/BuildingsNatureelementsobjectsActors&objectsAreequippedwithaGPS Canbelinkedtoatrajectory Haveastatethatcanbeadaptedinruntime(e.g.fromatrajectorydefinitionCanhaveextraanimationfeaturesCarsandtruckscanbeequippedwithRealistictrailermotionderivedfromofactorOptiontochangelocationof Male,female& 、女性Differentlengthsandsizes不同高度拖箱、撐傘、背包Lying,leaningandsitting平躺、斜靠、坐姿Naturalwalking&runningmotionbasedonreal-lifemotioncapturemeasurementsessentialforusingPreScanforpedestrianrecognition根據(jù)現(xiàn)實(shí)生活 運(yùn)動(dòng)的特征建Optiontochangethecolorofdifferentpartsofclothing可變不同部位衣服的顏Optiontochangethematerialofclothingleatherwool,raincoat)可變不同部位衣服的材Pedestrianmodels:SensorpropertiesControlDrivermodelPhysicsDynamicsCollisiondetectionAnimationMaterialsLightsActorscanbeassignedmultiplePeractor,onlyonetrajectorycanbeactiveatthesametimeActorconfiguration:sensorObjectscanbemadevisibletoradar/lidar/ultrasonicsensors(inclAIR&TIS)ObjectscanbeassignedanObjectResponseModel(ORM)ORMsrepresentanilluminatedtarget'sreflectivecrosssection(RCS)ORMsare3Dlook-uptables:thereflectivecrosssection[dBsm]isafunctionofthelocalincidenceanglesinazimuthandelevationAssigna (e.g.ACC-algorithm)toanactorThecontrolalgorithmwillshowupinthe CompilationSheetActorconfiguration:drivermodelPathsteeringangleinputoftheVehicleDynamics.Brakethrottleandinitialvelocityarealsocontrolledbutarenotrelatedtothetrajectoryspeedprofile. ThePathFollowerwithpreviewisbasedonamoresteeringanglebymonitoring10previewpoints:the lerrorbetweentheactorpositionandthereferencepathisthusminimized(seepictureonthe

kekVInInordertohavesmoothsteeringitisadvisedtohaveatrajectorystepfrequencyof100Hzandaspeedprofilesettodefault.Actorconfiguration:drivermodel“Man-in-the-loopdriver”possiblethroughLogitechG27Racingwheel,LogitechMomoandLogitechWingmanFormulaGPPreScan’ssimpledynamicsmodelconsistsChassis(incl.ShiftMSCCarSim,TESISveDYNA,dSPACEASMmodeldynamicsmodelcanbeimportedas??????Longitudinalbehaviour:??????Longitudinalbehaviour:2lbehaviour:2Rollbehaviour:2wheelsPitchbehaviour:2wheelsYawbehaviour:2wheels3DOFbicyclemodel→x,y,Extendedwithcalculationofz,pitch,Usage:onPreScan’s2Droads(i.e.flat??????Longitudinalbehaviour:??????Longitudinalbehaviour:2lbehaviour:2Rollbehaviour:2wheelsPitchbehaviour:2wheelsYawbehaviour:2wheels6DOFsprungbody→x,y,z,roll,pitch,4x1DOFunsprungwheels→4xUsage:onPreScan’s3Droads(i.e.roadswithaheightPreScanvehicledynamicsmodel–chassisPreScanvehicledynamicsmodel–drivelinePreScanvehicledynamicsmodel–engineImporting3rdpartyvehicledynamicsWheelSeatSeatSteerMetalliclacquervehicleexterior)Skin(implicit)forTheTheoption“UseReflectiveMaterials”appliesonlytothevisualActorconfiguration:ActiveLightsAdjustableOrientationColorLightintensityIntensityfall-offmapActorconfiguration:ActiveLightsSensorpropertiesControlCollisiondetectionRunninganRunninganOpen.mdlOpen.mdlListofallRunninganAntennaIRIRRFDepthcameraBoundingLane

IRIRRFOBUBodyWheelvisualizationSteervisualizationHeadlightrightHeadlightleftStatic(positionedonDynamic(positionedon3DvisualizationviewerHoldleftmousebutton=Leftdoubleclick=definerotationcenter(alwayson Holdmiddlemousebutton=Wheel=3DvisualizationviewerAlwaysonFullscreenPanel

Savecurrentviewpoint y yascenariowithoutloadingitintotheGUI 不通過(guò)GUI或 VariousanimationcontrolsLoad yViewerSelectionofthenumberofpanelsofthe3DVisualizationViewer.5Predefinedlayoutsareavailable.Tochangesizehoveroverthepanelseparators,clickandholdtheleftmousebuttontochangethelayout.Theorientationcanbeflippedbyclickingtherightmousebutton.The"FlipOrientation"pop-upwillappear.Afterselectionthepanelsinvolvedwillre-appearfromverticaltohorizontalorviceversa.AreacolorThiscolorpickerallowsuserstoreadtheaverageRGBvalueofa10x10pixelsarea.Colorpicker可以10x10像素范圍內(nèi)CapturePicturePictureMoviePicture&moviePicture&movieCreateasimpleexperimentconsistingAsimpleroadTwodifferentvehiclesdrivingaround,eachequippedwithahumanCreateaseriesofPNGpicturesshotfrom3differentviewpoints;allhavingaverticalresolutionof480pixels:DefaultHumanViewHumanViewCreateaseriesofMPGmoviesshotfrom3differentviewpoints;allhavingaverticalresolutionof480pixels:DefaultHumanViewHumanViewDayIntroductiontoPreScan軟件介PreScanPreScan基Experiment實(shí)驗(yàn)仿真建

theory+exercisetheory+Day傳感器模Miscellaneous其他功能模Activesafety&ADAS主動(dòng)安全系統(tǒng)&ADAS應(yīng)

theory+exercisetheory+exerciseIdealizedIdealizedSELF/GPSAIRsensorAntenna&DSRCTISsensorDetailedDetailedGround-truthDepthGround-truthLanemarkerBoundingRectangleSensor&ObjectIdealizedIdealizedSELF/GPSAIRsensorAntenna&DSRCTISsensorDepthLanemarkerBoundingRectangleSensor&ObjectSELFsensor/GPSSELFsensoroutputstheactor’sgroundtruthGPS自帶的GPS傳感器輸出本車最準(zhǔn)確的GPS位置信SELFsensorisautomaticallypresentoneachactorandcannotbeOutputOwnOwnOwnGPSOwnOwnAIR:ActorInformationReceiverApplication Position&orientation位置&RangeOpeninganglesweepangle)OutputsignalsperDistancetotargetAzimuthangleθ)withtargetElevationangle(?withtargetAbsolutevelocityoftargetAbsoluteheadingoftargetTargetID目標(biāo)AIR:ActorInformationReceiverBoundingBoxCentreofBoundingCentreofAIR:ActorInformationReceiverThedistancetothedetectionpointisnotalwaystheshortest距離檢測(cè)點(diǎn)距離并非Theboundingboxistakenintoaccount,nottherealshapeofthe只考慮邊界框，不考慮目標(biāo)的實(shí)際形Thedetectionpointmaybelocatedoutsidethesensorbeam檢測(cè)點(diǎn)可能落在檢測(cè)范圍之Occlusionisnottakenintoaccount不考 、遮AIR:ActorInformationReceiverThedetectionpointmaybelocatedoutsidethesensor檢測(cè)點(diǎn)可能落在檢測(cè)范圍之Objectsarenotdetectediftheirboundingboxcornersareoutsidethesensor 執(zhí)行器/目標(biāo)之間的信息交 360degreescoverage360度環(huán)MessagescanbesetinCompilation A信息內(nèi)容可在CS中定CPosition&orientation位置&方位Channel傳輸頻Portnames端口名RangeTx)傳輸距DetectableobjectsRx)可檢測(cè)的目

R DSRCReceiver(Rx)andTransmitterUsingtheDSRCReceiver(Rx)andTransmitter(Tx)sensors,databetweenactorscanbeexchangedusingaselectedDSRCprotocolandselectedmessagetypes.車-車可根據(jù)特定的DSRC通信協(xié)議進(jìn)行數(shù)據(jù)交Currently,theSAEJ2735protocolanditsbasicsafetymessage(BSM)part1and2aresupported.Thisisthestandardforvehicle-to-vehicle(V2V)andvehicle-to-infrastructure(V2I)safetyapplicationsintheUSA.ExchangeofinformationwhenOBUiswithinbeamrangeofbeacon當(dāng)車載裝置在beacon檢測(cè)范圍之內(nèi)，可實(shí)現(xiàn)通 車-路通Fieldofview視野角RangePortnames端口RadionoocclusionIRocclusionpossible考慮遮SELF/GPSAIRsensorAntenna&DSRCTISsensorDetailedDetailedDepthLanemarkerBoundingRectangleSensor&ObjectThePreScanmodelsofthevarioushaveThePreScanmodelsofthevarioushavealotin→themodelsonlydifferintheThevarioussensorsoperatein sandatdifferentUltrasonic:soundspectrumpressurewaves)聲波（壓力波IntroductiontoscanningsensorsinPreScanThesensortransmitsawaveelectromagneticorsound)傳感器發(fā)射出特定的Whenthewavehitsanobject,theobjectscatterspartofthe backtothereceiver The yzesthereceived 分析反射ReflectedOriginalIntroductiontoscanningsensorsinPreScanWavesloseenergybetweentransmissionandThefigurebelowshowsthetypicallossesthatappearinthevariousstagesbetweentransmissionandreceptionofwaves從發(fā)射到接收，波能量的損耗如下圖所Adetailedex nationofeachterminthisenergylossmodelisgiveninthePreScanmanual詳細(xì)的能量散射模型見(jiàn)PreScan手冊(cè) EachEachsensorhasanenergythresholdfordetectionofareflectedwave→ifthereceivedenergyislowerthanthisthreshold,theobjectthatreflectedthewaveisnotdetectedIntroductiontoscanningsensorsinPreScanTheusercancontroltheforRadarandTISthetarget’sORM(objectresponsemodel)isforLidarandUltrasonicperPreScanobjectintheGUIviathe/targetTheTISisageneralscanningdevicewhichcanbefeelyconfiguredbytheuserasaspecificsensorTheTISformsthebasisforPreScan’sdetailedlidar,radarandultrasonicsensorsTIS是通用的掃射傳感器模型，可以通過(guò)改變參數(shù)模 TISgivesrealisticradar/laserreadings真實(shí)的模TISscanstheactualgeometryoftheobject掃描實(shí)際形(sono“bounding-boxapproach”aswiththeAIROccludedobjectswillnotbedetected考慮遮(incontrasttotheAIRPosition&orientation位置&方位Capturefrequency掃描頻NumberofbeamsBeamrange檢測(cè)距Beamtype波束類Noise&Drift噪音和漂OutputsignalsperDistancetotargetVelocityrelativetotargetDetectionanglesinazimuthθ)andelevationφ)Localincidenceanglesinazimuthαandelevationβ)EnergylossfiguredBloss)TargetID目標(biāo)TISTISsensorcalculationscannowbedistributedoverdifferentmachines,CPUcoresand/orGPU's.Asaresulttheexperimentruntimecanbereducedsignificantly.ComparedtotheTISItsupportstheuseofAntennaGainMaps支持波能量散射Itmodelsatmosphericattenuationasfunctionfrequencyandweather模擬對(duì)環(huán)境的衰Position&orientation位置&方位Scanpattern掃描方Capturefrequency掃描頻Numberofpositions掃描位Antennapattern波能量散射 頻率（帶寬AtmosphericattenuationNoiseDriftBeamcentreline波束中心線方位Numberofpositions波束掃描位Sweeprate掃描頻ComparedtotheTIS對(duì)環(huán)境的衰減與波長(zhǎng)有Position&orientation位置&方位FoVAzimuth&Elevation)視野角BeamRange檢測(cè)范Numberofbeams波束Capturefrequency掃描頻Operatingwavelength工作波DivergenceAngle發(fā)散NoiseDriftBeamorientation波束方Numberofbeams波束B(niǎo)eamRange檢測(cè)距Sweeprate掃描頻Transceiverbasedonhighfrequencysoundwaves(>20收發(fā)器基于高頻聲Position&orientation位置&Antennapattern能量散Operatingfrequency工作頻Detectionrange檢測(cè)距Capturefrequency掃描頻DriftSendsimagedata(i.e.pixels) ,usercanimplementowninterpretationalgorithms,e.g.Fusionalgorithms(e.g.fusionwithradar/laser中可自定義算法，如車道線檢測(cè)，目標(biāo)檢測(cè)等Position&orientation位置&Monovisionstereovision單目/Fieldofview視野范Resolution分辨Frame-rate幀頻Colourmonochrome彩色/DriftFisheyeCamerasensorformodelingcameraswithanultra-wideanglelens(<360°).FOV,sensorsizeandimagediameterscanbespecified. NographicalNographicalHighDynamicContrastbetweendarkandbrightpixelsisBloomingeffect(lightintheobscuresobjectsinWithWithCrossscreenLinesradiateoutwardfrombrightobjects,creatingastarpattern.MotionblurReductionofanimage’sbrightnessMotionblur MotionAvelocitybasedmotionBarrel&pincushionGaussianMirrorCameraeffectsperCameraeffectscanbesavedandre-usedindifferentDifferentcamerascanhavedifferenteffects(HDR,distortions,blur,vignetting,etc). SELF/GPSAIRsensorAntenna&DSRCTISsensorGround-truthDepthGround-truthLanemarkerBoundingRectangleSensor&ObjectDepthProvidesa“cameraimage”withadepthvalueforeverypixel根據(jù)距離的遠(yuǎn)近成像Providinggroundtruthdatafore.g.calibratingastereo為雙 頭調(diào)校提供最真實(shí)數(shù)據(jù)Position&FieldofLaneMarkerProvidesinformationaboutthelanelinespresentonthe提供最精準(zhǔn)的車道線標(biāo)志信ApplicationProvidinggroundtruthdatafore.g.calibratingawhitelinerecognitionalgorithm校準(zhǔn)車道識(shí)別算法Quickgenerationofaccurateinputtoe.g.LDW/LKAOutputAbsolutelocationofthelaneDistanceoflanelinesfromthesensor’sscanColour,label,width,length,andspacingofthemarkersthatvisualizethelaneorcurbline.ReferencecameraBoundingRectangleSensor/ObjectTheboundingrectanglesensorprovidesinformationabouttheboundingboxofactors.Outputin3DviewerApplicationAreferenceforobjectdetectionalgorithmsthatworkoncamerainput.SensorSensorScenarioCreateascenarioconsistingofaStraightRoadwithtwovehiclesdrivingoppositedirections.Theroadis300mlongandhastwolanes.Assigntheactorstoastraightpath;youcanleavethespeedprofileasAIRvsAssignanAIRsensortotheActor1,andaTISsensortotheActor2.Leavealltheparametersasdefault.Buildtheexperiment,generate/regeneratetheCompilationSheet(Model)andmakesurethesensorblockshavebeenadded.Connectascope*tothesensorsblocksoutputs.RuntheCompilationSheetandplotthesensorsoutputsbydoubleclickingonthescope:eachvehicledetectstheothervehicleandprovidesinformationaboutitsrelativeposition,velocity,IDnumber,etc.(theusernormallyusessensorsdatatowritespecificADASalgorithms).WithaTISyouhavethepossibilitytooutputmoreGobacktothePreScanGUI,opentheTISobjectconfigurationpanelbydoubleclickingontheTISsensorintheExperimentTree,andenableCoherentSystemundertheBasictab,andORMPortsundertheORMAssignmenttab.InthiswaythreeadditionaloutputsareaddedtothesensorblockintheCompilationRangedot(relativevelocityofthedetectedα β Runthemodelagainandcheckthenew*youcanfindthescopein TIS:ORM(ObjectResponseModel)EachPreScanActorhasitsORMsettingsdefinedthatdeterminethewaythesensordetectsit.Theexercisenowex inshowtheORMsettingsaffectthesensordetection.UpdatethescenariobyeditingtheNumberoflanesto4andthe#LanesinxdirtoOpentheroadsegmentObjectConfigurationpanelandmakethecenterlinesolid:youwillthenseetwolanesperdirection(seethefigureinthenextslide).Addanotheractor(referredtoasActor3)ontherightsideofActor1andassignittoastraightpath(figureinthenextslide).OpentheActor3ObjectConfigurationpanel,SensorPropertiestab.TheactorisassignedadefaultORM,butwewanttoaddauser-definedone;tothisendclickonAdd,typeaTechnologyName(UserDefinedORM,forexample)andbrowsetodfltORM_Car.txt.AfterthattickoffthedefaultORMandpressOKinthebottomofthewindow.AssignasecondTIStotheOpenthesensorObjectConfigurationpanel(doubleclickontheTIS)ClickonORMAssignmentandchooseTechnologySpecific:youshouldnowfindtheORMTechnologyyouhavejustcreated(UserDefinedORM,inthisexample).Afterselectingthistechnology,youwillfindthenameoftheActor3intheTargetsVisibletothisTISpanel.Ifeverythinghasbeendonecorrectly,theActor1willnotbementionedClickontheBasictabandsetthe#Beamsto1,CaptureFreq.FoVto6Hz,BeamtypePyramid,BeamΔθ=60°,BeamΔ?=30°.Leavetheotherparametersasdefault.EditedTIS:ORM(ObjectResponseModel)ParsetheYouwillgetanerrormessage:thescanningfrequencyoftheTIS_2isnotanintegerdivisorofthePreScansimulationrate(youcanchecktheSimulationSchedulerintheGUIshowingatwhichrateeachusermoduleisworking).Inordertocorrectthiserror,changethescanningfrequencyoftheTIS_2to20Hz.Re-parseandbuildthe RegeneratetheCompilationSheetandaddascopetotheoutputsoftheRunthemodelandcheckwhichvehicle(s)is/isnotdetectedbytheTISsensors(youcanrefertotheActorsIDprovidedbythesensor).YouwillnoticethatintheTIS_1detectsonlytheActor1andTIS_2detectsonlyAc