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Overview
It is a package of Camera, LiDAR, Radar, IMU sensors modeled with Unreal engine 4 that can be used in simulations such as SIL.
A crucial element of ADAS (Advanced Driver Assistance Systems) and autonomous driving (AD) is a reliable and robust environmental perception by means of sensors.
An autonomous vehicle acquires knowledge of its surrounding in two stages. The first stage consists of scanning the road ahead to detect possible changes in driving conditions (traffic lights and signs, pedestrian crossing, and barriers, among others). The second stage relates to the perception of other vehicles.
This section introduces the most representative sensors that make up the perceptual system.
AV: Radar, LiDAR, camera, IMU.
AUTOCity Sensor Models Plugin Features
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Sensor model can communicate to the outside as a ROS message
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Detailed functions can be set with parameters for all sensor models.
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Sensors can be added to the player vehicle by defining the sensor in the settings.
Contents
Camera sensor
The camera sensor is mounted on the UE4 render engine and can output an image.
The camera position can be freely changed according to the purpose of the simulation.
Parameters included-
The resolution, Pixel Count, Field of View, Interface, CFA
The camera position can be freely changed according to the purpose of the simulation.
Parameters included-
The resolution, Pixel Count, Field of View, Interface, CFA
LiDAR sensor
This sensor can be customized by setting parameters such as update rate, resolution, minimum and maximum ray distances, number of rays, and the angle at which LiDAR is active, and it is possible to simulate LiDAR as a verification target.
Parameters included-
Angular Resolution, Points returned, Field of View, Interface, Range
Parameters included-
Angular Resolution, Points returned, Field of View, Interface, Range
Radar sensor
The radar can measure the distance between the vehicle and the object by calculating the time from the emitted signal to the reflection.
Parameters included-
Field of View, Interface, Range
Parameters included-
Field of View, Interface, Range
IMU sensor
The Inertial Measurement Unit (IMU) includes an accelerometer, gyroscope, and compass to capture acceleration and direction information. Specifically, in addition to the acceleration on the x, y, and z axes, the pitch (rotation back and forth), roll (rotation left and right), and yaw (rotation around the vertical axis). Parameters included --Frequency, Interface
Camera sensor
The camera sensor is mounted on the UE4 render engine and can output an image.
The camera position can be freely changed according to the purpose of the simulation.
Parameters included-
The resolution, Pixel Count, Field of View, Interface, CFA
The camera position can be freely changed according to the purpose of the simulation.
Parameters included-
The resolution, Pixel Count, Field of View, Interface, CFA
LiDAR sensor
This sensor can be customized by setting parameters such as update rate, resolution, minimum and maximum ray distances, number of rays, and the angle at which LiDAR is active, and it is possible to simulate LiDAR as a verification target.
Parameters included-
Angular Resolution, Points returned, Field of View, Interface, Range
Parameters included-
Angular Resolution, Points returned, Field of View, Interface, Range
Radar sensor
The radar can measure the distance between the vehicle and the object by calculating the time from the emitted signal to the reflection.
Parameters included-
Field of View, Interface, Range
Parameters included-
Field of View, Interface, Range
IMU sensor
The Inertial Measurement Unit (IMU) includes an accelerometer, gyroscope, and compass to capture acceleration and direction information. Specifically, in addition to the acceleration on the x, y, and z axes, the pitch (rotation back and forth), roll (rotation left and right), and yaw (rotation around the vertical axis). Parameters included --Frequency, Interface
Camera sensor
The camera sensor is mounted on the UE4 render engine and can output an image.
The camera position can be freely changed according to the purpose of the simulation.
Parameters included-
The resolution, Pixel Count, Field of View, Interface, CFA
The camera position can be freely changed according to the purpose of the simulation.
Parameters included-
The resolution, Pixel Count, Field of View, Interface, CFA
LiDAR sensor
This sensor can be customized by setting parameters such as update rate, resolution, minimum and maximum ray distances, number of rays, and the angle at which LiDAR is active, and it is possible to simulate LiDAR as a verification target.
Parameters included-
Angular Resolution, Points returned, Field of View, Interface, Range
Parameters included-
Angular Resolution, Points returned, Field of View, Interface, Range
Radar sensor
The radar can measure the distance between the vehicle and the object by calculating the time from the emitted signal to the reflection.
Parameters included-
Field of View, Interface, Range
Parameters included-
Field of View, Interface, Range
IMU sensor
The Inertial Measurement Unit (IMU) includes an accelerometer, gyroscope, and compass to capture acceleration and direction information. Specifically, in addition to the acceleration on the x, y, and z axes, the pitch (rotation back and forth), roll (rotation left and right), and yaw (rotation around the vertical axis). Parameters included --Frequency, Interface
Camera sensor
The camera sensor is mounted on the UE4 render engine and can output an image.
The camera position can be freely changed according to the purpose of the simulation.
Parameters included-
The resolution, Pixel Count, Field of View, Interface, CFA
The camera position can be freely changed according to the purpose of the simulation.
Parameters included-
The resolution, Pixel Count, Field of View, Interface, CFA
LiDAR sensor
This sensor can be customized by setting parameters such as update rate, resolution, minimum and maximum ray distances, number of rays, and the angle at which LiDAR is active, and it is possible to simulate LiDAR as a verification target.
Parameters included-
Angular Resolution, Points returned, Field of View, Interface, Range
Parameters included-
Angular Resolution, Points returned, Field of View, Interface, Range
Radar sensor
The radar can measure the distance between the vehicle and the object by calculating the time from the emitted signal to the reflection.
Parameters included-
Field of View, Interface, Range
Parameters included-
Field of View, Interface, Range
IMU sensor
The Inertial Measurement Unit (IMU) includes an accelerometer, gyroscope, and compass to capture acceleration and direction information. Specifically, in addition to the acceleration on the x, y, and z axes, the pitch (rotation back and forth), roll (rotation left and right), and yaw (rotation around the vertical axis). Parameters included --Frequency, Interface
Camera sensor
The camera sensor is mounted on the UE4 render engine and can output an image.
The camera position can be freely changed according to the purpose of the simulation.
Parameters included-
The resolution, Pixel Count, Field of View, Interface, CFA
The camera position can be freely changed according to the purpose of the simulation.
Parameters included-
The resolution, Pixel Count, Field of View, Interface, CFA
LiDAR sensor
This sensor can be customized by setting parameters such as update rate, resolution, minimum and maximum ray distances, number of rays, and the angle at which LiDAR is active, and it is possible to simulate LiDAR as a verification target.
Parameters included-
Angular Resolution, Points returned, Field of View, Interface, Range
Parameters included-
Angular Resolution, Points returned, Field of View, Interface, Range
Radar sensor
The radar can measure the distance between the vehicle and the object by calculating the time from the emitted signal to the reflection.
Parameters included-
Field of View, Interface, Range
Parameters included-
Field of View, Interface, Range
IMU sensor
The Inertial Measurement Unit (IMU) includes an accelerometer, gyroscope, and compass to capture acceleration and direction information. Specifically, in addition to the acceleration on the x, y, and z axes, the pitch (rotation back and forth), roll (rotation left and right), and yaw (rotation around the vertical axis). Parameters included --Frequency, Interface
Camera sensor
The camera sensor is mounted on the UE4 render engine and can output an image.
The camera position can be freely changed according to the purpose of the simulation.
Parameters included-
The resolution, Pixel Count, Field of View, Interface, CFA
The camera position can be freely changed according to the purpose of the simulation.
Parameters included-
The resolution, Pixel Count, Field of View, Interface, CFA
LiDAR sensor
This sensor can be customized by setting parameters such as update rate, resolution, minimum and maximum ray distances, number of rays, and the angle at which LiDAR is active, and it is possible to simulate LiDAR as a verification target.
Parameters included-
Angular Resolution, Points returned, Field of View, Interface, Range
Parameters included-
Angular Resolution, Points returned, Field of View, Interface, Range
Radar sensor
The radar can measure the distance between the vehicle and the object by calculating the time from the emitted signal to the reflection.
Parameters included-
Field of View, Interface, Range
Parameters included-
Field of View, Interface, Range
IMU sensor
The Inertial Measurement Unit (IMU) includes an accelerometer, gyroscope, and compass to capture acceleration and direction information. Specifically, in addition to the acceleration on the x, y, and z axes, the pitch (rotation back and forth), roll (rotation left and right), and yaw (rotation around the vertical axis). Parameters included --Frequency, Interface
Camera sensor
The camera sensor is mounted on the UE4 render engine and can output an image.
The camera position can be freely changed according to the purpose of the simulation.
Parameters included-
The resolution, Pixel Count, Field of View, Interface, CFA
The camera position can be freely changed according to the purpose of the simulation.
Parameters included-
The resolution, Pixel Count, Field of View, Interface, CFA
LiDAR sensor
This sensor can be customized by setting parameters such as update rate, resolution, minimum and maximum ray distances, number of rays, and the angle at which LiDAR is active, and it is possible to simulate LiDAR as a verification target.
Parameters included-
Angular Resolution, Points returned, Field of View, Interface, Range
Parameters included-
Angular Resolution, Points returned, Field of View, Interface, Range
Radar sensor
The radar can measure the distance between the vehicle and the object by calculating the time from the emitted signal to the reflection.
Parameters included-
Field of View, Interface, Range
Parameters included-
Field of View, Interface, Range
IMU sensor
The Inertial Measurement Unit (IMU) includes an accelerometer, gyroscope, and compass to capture acceleration and direction information. Specifically, in addition to the acceleration on the x, y, and z axes, the pitch (rotation back and forth), roll (rotation left and right), and yaw (rotation around the vertical axis). Parameters included --Frequency, Interface
Camera sensor
The camera sensor is mounted on the UE4 render engine and can output an image.
The camera position can be freely changed according to the purpose of the simulation.
Parameters included-
The resolution, Pixel Count, Field of View, Interface, CFA
The camera position can be freely changed according to the purpose of the simulation.
Parameters included-
The resolution, Pixel Count, Field of View, Interface, CFA
LiDAR sensor
This sensor can be customized by setting parameters such as update rate, resolution, minimum and maximum ray distances, number of rays, and the angle at which LiDAR is active, and it is possible to simulate LiDAR as a verification target.
Parameters included-
Angular Resolution, Points returned, Field of View, Interface, Range
Parameters included-
Angular Resolution, Points returned, Field of View, Interface, Range
Radar sensor
The radar can measure the distance between the vehicle and the object by calculating the time from the emitted signal to the reflection.
Parameters included-
Field of View, Interface, Range
Parameters included-
Field of View, Interface, Range
IMU sensor
The Inertial Measurement Unit (IMU) includes an accelerometer, gyroscope, and compass to capture acceleration and direction information. Specifically, in addition to the acceleration on the x, y, and z axes, the pitch (rotation back and forth), roll (rotation left and right), and yaw (rotation around the vertical axis). Parameters included --Frequency, Interface
SENSOR MODEL PLUGIN usage
By utilizing the Sensor Model Package in the SIL framework, it is possible to perform multiple sensor simulations in the same environment.
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