说明成果讲稿prescan basic2day training

DayIntroductiontoPreScan软件介PreScanPreScan基Experiment实验场景建

theory+exercisetheory+Day传感器建Miscellaneous其他功能模Activesafety&ADAS主动安全系统&ADAS系统应

theory+exercisetheory+exercise2Introductionto安全系WhatisPreScan是什3IndependentPublicR&D Over80yearsofexperience超过805,000employeesworldwide全球范围有5000Annualturnoverapprox600M年销售额约6亿欧 whollyownedbyTNOTNOIs forapprox.80 yownedTNO80%TNOExists25years(since1987)25900employeesin11 Annualturnoverapprox.98M年销售额约9800Established010120132013200employeesin12countries全球12个国家约2004real-worldsafety

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forsafetyandmobilityCrashLabActivesafetylab(VeHIL)EEMClab

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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系统4.2.Verification&validationoftheconcept概念验3.Design3.Specifyingand Detailedalgorithmdesign算法设 ysisAutomaticECUcodegeneration Coder)ECU代码生PreScanHILsimulationverifyingECUforalargesetofscenarios Whataretheeffectsofthefinalverifiedsystem?HowmanyaccidentsdoesitAEBS/CMBwithLDWwith

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

ExampleLidarExampleLidarclustering,tracking&StereocameradepthestimationV2XHILsetupwithTomTomdeviceanddriverintheApplicationV2Xsystemforre-reroutingtrucksaroundlow-heighttunnelsonamotorway车-车/路通信Largeareamodelled–around30km2,withmultipleobjectsrepresentingarealcity大片区域建Real-timeTCP/IPcommunication-withTomTomreceiverandPreScanmachineTomTom和PreScan实时通VeHIL:testingtheactivesysteminasafe,controlled&realisticPreScanscenarioscanbeuploadedtoVeHILPreScan场景可导入Investigatedtrafficscenario:Investigatedtrafficscenario:UsingVeHILtocreatePreScansensorSimilarscenariosinVeHILandinVeHIL建立与PreScan中相似的测试场ComparisonofsensorsimulationsandexperimentsRangeaccuracy距离精umrange最大距FOV视野角度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 需要从PreScan中触发Themodeliscalled“CompilationSheet”orCSandisautomaticallygeneratedbyPreScanThemodelisaccessedandeditedfrom 模型可 TheCScontainsthefollowingActorsTrajectoriesDynamicsControllers3DvisualizationPredefinedUserdefinedPictureMovieSensorCameraVisualVisualcontrolbymouse(zooming,rotating,PreScanmodelfilesimulationresultssPreScanexperiment FirstcontactwithInterfaceBuildingInterfacingCreatingaPreScanCreatingaroadRoadbydragginganddropaStraightRoadandAnXCrossingintotheBuildCreatinganinheritedCreateCreateanInheritedbyclickingonmultipleyellowcircles(oneafteranother)FinishFinishpathcreationprocessbypressingthe“ESC”buttonAddinganActortotheDragDrag&DropanActorfromtheLibraryontoPathObject_1intheBuildAreainordertolinkittothispathPathestrajectorycinganOverviewofthecompletebyaddinganotherActorandsomedecorationExecutingtheOnceOnceanexperimentisbuilt,itcanbeanimated,simulatedand/orviewedin试验“建立”之后，便可在3D界面显示AnimatingtheAnimationAnimationControlOnceOnceanexperimentisbuilt,itcanbeanimatedandviewedinthe3DCheckCommandCheckCommandwhethertheCompilationissuccessfully Mode从PreScan中触发 Gototheexperimentdirectory OpentheCompilationSheetModifyingtheDragDrag&DropAIRSensorfromontotheMazdaRX8AIRSensorAIRSensorUpdatingtheGUI:Parse&Compilationsheet:ClickClickonRegenerateButtontocreateup-to-dateCompilationSheetNewNewAIRTheCompilationSheetatActorAnAnoverviewofallObjectIDscanbeonthemainleveloftheCompilationPreScanPreScanComponentscanbeusedtoextendtheCompilationSheetwithUserBlocksMonitoringAIRsensorDetectedDetecteddistancefromAIR-SensorObjectIDObjectIDofDayIntroductiontoPreScanExperiment

theory+exercisetheory+DayMiscellaneousActivesafety&ADAS

theory+exercisetheory+exerciseExperimentConventionsRoadsPaths&trajectoriesActors&objects执行器&RunninganexperimentVisuals& y3DPictures

Sensor/LightsReferenceRoadRoadBendBendLaneAdapterRoadSpiralRoadConnectsastraightroadsegmentwithabendroadEnablessmoothtransitionin laccelerationSecondcontrolSecondcontrolnormal:shapeofthecurveisadapted,whilestartandendangleremainconstant.

ThirdcontrolnormalThirdcontrolnormal:shapeofthecurveisadapted,whilestartandendangleremainconstant.Begin-Begin-andendcurvatureremainconstant.RoadXXandYFlexibleroadTheflexibleroadsegmenttypeenablestheusertodefinearoadwithanynumberofdefinitionpoints.Itallowstoeasilycreatelongstretchesofroadwithmanycurvesandbends.Flexibleroadsegment支持任意的自定义 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…路径的形状在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、撑伞、背包Lying,leaningandsitting平躺、斜靠、坐姿Naturalwalking&runningmotionbasedonreal-lifemotioncapturemeasurementsessentialforusingPreScanforpedestrianrecognition根据现实生活 运动的特征建Optiontochangethecolorofdifferentpartsofclothing可变不同部位衣服的颜Optiontochangethematerialofclothingleatherwool,raincoat)可变不同部位衣服的材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 不通过GUI或 VariousanimationcontrolsLoad yViewerSelectionofthenumberofpanelsofthe3DVisualizationViewer.5Predefinedlayoutsareavailable.Tochangesizehoveroverthepanelseparators,clickandholdtheleftmousebuttontochangethelayout.Theorientationcanbeflippedbyclickingtherightmousebutton.The"FlipOrientation"pop-upwillappear.Afterselectionthepanelsinvolvedwillre-appearfromverticaltohorizontalorviceversa.AreacolorThiscolorpickerallowsuserstoreadtheaverageRGBvalueofa10x10pixelsarea.Colorpicker可以10x10像素范围内CapturePicturePictureMoviePicture&moviePicture&movieCreateasimpleexperimentconsistingAsimpleroadTwodifferentvehiclesdrivingaround,eachequippedwithahumanCreateaseriesofPNGpicturesshotfrom3differentviewpoints;allhavingaverticalresolutionof480pixels:DefaultHumanViewHumanViewCreateaseriesofMPGmoviesshotfrom3differentviewpoints;allhavingaverticalresolutionof480pixels:DefaultHumanViewHumanViewDayIntroductiontoPreScan软件介PreScanPreScan基Experiment实验仿真建

theory+exercisetheory+Day传感器模Miscellaneous其他功能模Activesafety&ADAS主动安全系统&ADAS应

theory+exercisetheory+exerciseIdealizedIdealizedSELF/GPSAIRsensorAntenna&DSRCTISsensorDetailedDetailedGround-truthDepthGround-truthLanemarkerBoundingRectangleSensor&ObjectIdealizedIdealizedSELF/GPSAIRsensorAntenna&DSRCTISsensorDepthLanemarkerBoundingRectangleSensor&ObjectSELFsensor/GPSSELFsensoroutputstheactor’sgroundtruthGPS自带的GPS传感器输出本车最准确的GPS位置信SELFsensorisautomaticallypresentoneachactorandcannotbeOutputOwnOwnOwnGPSOwnOwnAIR:ActorInformationReceiverApplication Position&orientation位置&RangeOpeninganglesweepangle)OutputsignalsperDistancetotargetAzimuthangleθ)withtargetElevationangle(ϕwithtargetAbsolutevelocityoftargetAbsoluteheadingoftargetTargetID目标AIR:ActorInformationReceiverBoundingBoxCentreofBoundingCentreofAIR:ActorInformationReceiverThedistancetothedetectionpointisnotalwaystheshortest距离检测点距离并非Theboundingboxistakenintoaccount,nottherealshapeofthe只考虑边界框，不考虑目标的实际形Thedetectionpointmaybelocatedoutsidethesensorbeam检测点可能落在检测范围之Occlusionisnottakenintoaccount不考 、遮AIR:ActorInformationReceiverThedetectionpointmaybelocatedoutsidethesensor检测点可能落在检测范围之Objectsarenotdetectediftheirboundingboxcornersareoutsidethesensor 执行器/目标之间的信息交 360degreescoverage360度环MessagescanbesetinCompilation A信息内容可在CS中定CPosition&orientation位置&方位Channel传输频Portnames端口名RangeTx)传输距DetectableobjectsRx)可检测的目

R DSRCReceiver(Rx)andTransmitterUsingtheDSRCReceiver(Rx)andTransmitter(Tx)sensors,databetweenactorscanbeexchangedusingaselectedDSRCprotocolandselectedmessagetypes.车-车可根据特定的DSRC通信协议进行数据交Currently,theSAEJ2735protocolanditsbasicsafetymessage(BSM)part1and2aresupported.Thisisthestandardforvehicle-to-vehicle(V2V)andvehicle-to-infrastructure(V2I)safetyapplicationsintheUSA.ExchangeofinformationwhenOBUiswithinbeamrangeofbeacon当车载装置在beacon检测范围之内，可实现通 车-路通Fieldofview视野角RangePortnames端口RadionoocclusionIRocclusionpossible考虑遮SELF/GPSAIRsensorAntenna&DSRCTISsensorDetailedDetailedDepthLanemarkerBoundingRectangleSensor&ObjectThePreScanmodelsofthevarioushaveThePreScanmodelsofthevarioushavealotin→themodelsonlydifferintheThevarioussensorsoperatein sandatdifferentUltrasonic:soundspectrumpressurewaves)声波（压力波IntroductiontoscanningsensorsinPreScanThesensortransmitsawaveelectromagneticorsound)传感器发射出特定的Whenthewavehitsanobject,theobjectscatterspartofthe backtothereceiver The yzesthereceived 分析反射ReflectedOriginalIntroductiontoscanningsensorsinPreScanWavesloseenergybetweentransmissionandThefigurebelowshowsthetypicallossesthatappearinthevariousstagesbetweentransmissionandreceptionofwaves从发射到接收，波能量的损耗如下图所Adetailedex nationofeachterminthisenergylossmodelisgiveninthePreScanmanual详细的能量散射模型见PreScan手册 EachEachsensorhasanenergythresholdfordetectionofareflectedwave→ifthereceivedenergyislowerthanthisthreshold,theobjectthatreflectedthewaveisnotdetectedIntroductiontoscanningsensorsinPreScanTheusercancontroltheforRadarandTISthetarget’sORM(objectresponsemodel)isforLidarandUltrasonicperPreScanobjectintheGUIviathe/targetTheTISisageneralscanningdevicewhichcanbefeelyconfiguredbytheuserasaspecificsensorTheTISformsthebasisforPreScan’sdetailedlidar,radarandultrasonicsensorsTIS是通用的扫射传感器模型，可以通过改变参数模 TISgivesrealisticradar/laserreadings真实的模TISscanstheactualgeometryoftheobject扫描实际形(sono“bounding-boxapproach”aswiththeAIROccludedobjectswillnotbedetected考虑遮(incontrasttotheAIRPosition&orientation位置&方位Capturefrequency扫描频NumberofbeamsBeamrange检测距Beamtype波束类Noise&Drift噪音和漂OutputsignalsperDistancetotargetVelocityrelativetotargetDetectionanglesinazimuthθ)andelevationφ)Localincidenceanglesinazimuthαandelevationβ)EnergylossfiguredBloss)TargetID目标TISTISsensorcalculationscannowbedistributedoverdifferentmachines,CPUcoresand/orGPU's.Asaresulttheexperimentruntimecanbereducedsignificantly.ComparedtotheTISItsupportstheuseofAntennaGainMaps支持波能量散射Itmodelsatmosphericattenuationasfunctionfrequencyandweather模拟对环境的衰Position&orientation位置&方位Scanpattern扫描方Capturefrequency扫描频Numberofpositions扫描位Antennapattern波能量散射 频率（带宽AtmosphericattenuationNoiseDriftBeamcentreline波束中心线方位Numberofpositions波束扫描位Sweeprate扫描频ComparedtotheTIS对环境的衰减与波长有Position&orientation位置&方位FoVAzimuth&Elevation)视野角BeamRange检测范Numberofbeams波束Capturefrequency扫描频Operatingwavelength工作波DivergenceAngle发散NoiseDriftBeamorientation波束方Numberofbeams波束BeamRange检测距Sweeprate扫描频Transceiverbasedonhighfrequencysoundwaves(>20收发器基于高频声Position&orientation位置&Antennapattern能量散Operatingfrequency工作频Detectionrange检测距Capturefrequency扫描频DriftSendsimagedata(i.e.pixels) ,usercanimplementowninterpretationalgorithms,e.g.Fusionalgorithms(e.g.fusionwithradar/laser中可自定义算法，如车道线检测，目标检测等Position&orientation位置&Monovisionstereovision单目/Fieldofview视野范Resolution分辨Frame-rate帧频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根据距离的远近成像Providinggroundtruthdatafore.g.calibratingastereo为双 头调校提供最真实数据Position&FieldofLaneMarkerProvidesinformationaboutthelanelinespresentonthe提供最精准的车道线标志信ApplicationProvidinggroundtruthdatafore.g.calibratingawhitelinerecognitionalgorithm校准车道识别算法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°,BeamΔϕ=30°.Leavetheotherparametersasdefault.EditedTIS:ORM(ObjectResponseModel)ParsetheYouwillgetanerrormessage:thescanningfrequencyoftheTIS_2isnotanintegerdivisorofthePreScansimulationrate(youcanchecktheSimulationSchedulerintheGUIshowingatwhichrateeachusermoduleisworking).Inordertocorrectthiserror,changethescanningfrequencyoftheTIS_2to20Hz.Re-parseandbuildthe RegeneratetheCompilationSheetandaddascopetotheoutputsoftheRunthemodelandcheckwhichvehicle(s)is/isnotdetectedbytheTISsensors(youcanrefertotheActorsIDprovidedbythesensor).YouwillnoticethatintheTIS_1detectsonlytheActor1andTIS_2detectsonlyAc