[Prescan] Prescan与Simulink联合
2024-06-03 09:09:03
文章目录
- 基本结构
- Test Automation
- Model Data API
- Objects
- Sun
- Weather
- Fog
- Precipitation
- Sensor Models
- Utility functions
- prescan.experiment
笔记翻译自prescan帮助文档，侵删
基本结构
| Block | Description |
|---|---|
| Self input port & demux | Containing data of the object itself |
| Trajectory blocks | Containing all trajectories. If multiple trajectories are coupled to one actor,a switch enables the user to switch between them. If the user has generated a path definition file the object elapsed track velocity can be manipulated. Note: An actor (linked to a trajectory) stops at the end of the trajectory. |
| Control block | Containing control logics. This block is only present in case user specified control is selected in the GUI. |
| Dynamics block | Containing the vehicle dynamics. This block can contain simple dynamics or user specified dynamics. In case no dynamics is selected an empty dynamics block is inserted, in order to enable the user to insert manually dynamics. The empty dynamics block contains a mux block to the state port, in order to help the user supplying the correct signals to the state port. |
| State output port block | Sending the state signals to the state port block at experiment level. Be aware that the state port contains two modes: dynamics & positioning. Always check whether the desired mode is selected. |
| Game Controller input port & HID Controller demux block | Containing signals retrieved from Game Controller (Logitech MOMO, G27,G29 or Custom) control. |
| Sensors input port & demux block | Containing signals retrieved from the sensors. |
| Visualization Actuator mux &output port blocks | Sending data to the visualization port blocks. |
Prescan使用非虚拟总线的形式进行与Simulink的数据交互
碰撞检测选项：
| Component | 碰撞模型 |
|---|---|
| Vehicles | Actual geometry |
| Buildings | Actual geometry |
| Traffic Signs | Actual geometry |
| Information Boards | Only poles |
| Matrix Sign / Information Plate | Actual geometry (Detectability the same as the parent overhang). |
| Nature Elements | Rough shape |
| Road segments | None |
| Underlays | None |
| User-Defined Models | Actual geometry |
| Generated infrastructure (Guardrail,line placement, etc) | No |
具体设置见General Settings对话框。
Prescan提供了三种形式的自动化测试方式：
- Test Automation ： 参数直接进行修改，不对GUI做任何修改
- Test Automation with rebuild：先rebuild试验，可以结合命令行界面实现。
- Data Model API ：允许用户使用脚本自行修改。
Test Automation
数值类这里不说了，只需要注意角度的单位是deg，下表给出了drift type、noise type、detection type三种功能对应的参数变化表格：
| Sensor | Variable | Conversion |
|---|---|---|
| TIS | Drift Type | 0: None 1: Gaussian 2: Unidirectional |
| TIS | Noise Type | 0: Additive 1: Multiplicative |
| AIR | Detection Type | 0: BoundingBox 1: Bounding Box Center 2: CenterOfGravity |
Model Data API
worldmodel存储了试验中的大部分信息，包括对objects、objects之间的关系、照明信息、天气参数等。
大部分worldmodel参数都可以读取、修改。
| Filed name | Short description |
|---|---|
| experimentName [readonly] | The name of the experiment. Must not be modified. |
| experimentDescription | The description of the experiment. This field might be omitted in the worldmodel if no description was added during experiment creation |
| sensorRandomSeed | The random seed value which is used to initialize random generator of the experiment. Using the same random seed guarantees repeatability of the experiment. |
| experimentOrigin | The origin of the experiment specified as a longitude, latitude and altitude. |
| simulationConfiguration [read-only] | Specifies the frequency the simulation is running. |
| object | An array with all configurable objects in the experiment |
| material | An array of materials available in the experiment. Some objects refer to one of the materials defined in this array. |
| connectionTable | Specifies the connection between road lane segments |
| userObjectType | An array with objects grouped by their type. The information from this array is used by certain sensors, e.g. Image Segmentation Sensor |
| articulatedActor | An array with relationships (e.g. tuck/trailer) between objects in the experiment. |
| sun | Configuration of the sun |
| sky | Configuration of the sky |
| terrain | Configuration of the terrain. Few types of terrain can be used, e.g. grass, desert,etc. |
| weather | Configuration of the weather, e.g. fog and precipitation. This field might be empty if no weather was specified in the PreScan GUI |
| physicsEnvironment | Settings of the physics environment. One can change the air density, gravitation,air temperature, etc. |
Objects
每个目标的ID都是确定且唯一的。使用Model Data API之前需要确认目标是存在的。（Matlab isfield命令）
| field name | description |
|---|---|
| ID | unique identification number of the object |
| name | Unique name for general purposes, e.g. “StraightRoad_1”. |
| objectTypeName | The object type, e.g. “StraightRoad”, the object is a straight road. |
| modelFile | The model filename (e.g. car.osg) or the node name within the parent model, e.g. “BrakeLightR” |
| modelLocation | An object may have a 3D Model associated with it.The location of the file is determined by an enumeration value: 1. mlUnknown: Nothing is known about existence or location 2.mlNone: There is no model 3.mlContainer: There is no model but there may be children 4. mlModelDepo: The model is located in the modeldepo 5. mlExperimentDir: The model is located in the experiment folder (Models subfolder) 6.mlParentModel: The model is embedded in the parent’s model |
| objectTypeID | Object type. Consult the prescan.types.ObjectTypeID enumeration for available values |
| numericalID | Unique identification number on the compilation sheet in Matlab/Simulink. |
| description | A description of the object sensorDetectable Specifies if the object is detectable by any sensor sensorDetectionColor Some sensors use the color to uniquely identify the object. If the field doesn’t exists for a given object a default color of the object type will be used |
| collisionDetectable | Specifies if the object participates in collision detection |
| pose | Contains the position and orientation of the object |
| subType | Possible subtypes are: 1. typeBasic: No extra data 2.typeUnderlay 3.typeVehicle 4.typeRoad 5.typeDirtSpot 6.typeAbstractObject 7.typeTrafficSignPole 8.typeTrafficSignPlate 9.typeTrailer 10.typeHuman 11.typeTrafficSignElement 12.typeInformationBoard 13.typeRoadMarkin If an object has no further information it is of typeBasic. Examples of typeBasic objects are: Non-car vehicles (and their children), Buildings, Nature elements, Highway overhang children, Light element pivots and Sensor holders. |
| child | An array of children objects. An object can have multiple children, e.g. a car can have multiple wheels. |
| light | List of light sources. Light sources are treated separately. A single object can have multiple light sources, e.g. a car can have multiple lights. |
| staticModel | When a scene contains many objects of the same type, that are never changed individually (e.g. trees), a graphics system can optimize memory. The following flag specifies if an object is static: 1: This object’s 3D model is equal to all other models of this type 0: This object’s 3D model may differ from other models of this type. |
| materialID | A unique identification number of the material of this object. A list of materials can be found in the worldmodel.material array recolorMap The filename of a recolor map, a texture that specifies (in its alpha component) which parts of a 3D Model are recolored. The filename is searched for in the /ModelDepo/Visual folder |
| animation | Some actors can be animated. The animation index and update time are passed through. |
Sun
| field name | description |
|---|---|
| powerRatio | Unitless quotient of set power and the power of a default sun (in case of explicit definition: 688 W/m2). |
Weather
weather包括了两个部分：Fog和Precipitation
Fog
| field name | description |
|---|---|
| Field name | Description |
| enabled | Specifies if the fog calculation is enabled |
| name | The name of the selected fog configuration |
| color | The color of the fog |
| start | The fog starts at this distance from the observer [m] |
| visibility | The fog ends at this distance from the observer [m] |
| mode | Can be “exp”, “exp2” or “linear” |
| density | The density of the fog is calculated from the visibility: density = –ln(0.005)/(1.6*visibility). |
Precipitation
这里的降水表示的是降雨或降雪
| field name | description |
|---|---|
| subType | typeNone 1. typeRain Rain 2. typeSnow Snow |
| name | The name of the favorite, if selected in the editor, for example “Default Moderate_Rain” |
| animation | Specifies if the particles should be animated or not |
| color | The color of the precipitation particles |
| density | Number of particles per 1000 m3 |
| direction | The movement direction of the particles |
| hardness | A measure for the opacity of the particles [0-1], where 0 means fully transparent and 1 means fully opaque |
| particleSize | The size of the particles [m] |
| shape | The filename of the image file used for the particle, for example “Snow.tga” |
| shutterTime | The shuttertime influences the length of the rain streaks [s] |
| oscillationAmplitude | The amplitude of the snowflake dynamics, default 0.06 [m] |
| oscillationPeriod | The period of the snowflake dynamics, default 1.5 |
Sensor Models
| field name | description |
|---|---|
| cammodel [deprecated] | Used for the RemoteViewerFederate and VisViewer |
| viewerproxymodel | Used by the VisViewer |
| airsensormodel | Used by the AIR sensor |
| almsmodel | Used by the Analytical Lane Marker sensor |
| brsmodel | Used by the Bound Rectangle sensor |
| cameramodel | Used by the Camera, Fisheye, Depth and Image Segmentation sensors |
| collisiondetectionmodel | Used by the Collision detection sensor |
| communicationmodel | Used by the IR Beacon, IR OBU, RF Beacon, RF OBU |
| dynamicsmodel | Used for the vehicle dynamics generation |
| lanemarkermodel | Used by the Lane Marker sensor |
| lidarmodel | Used by the Lidar sensor |
| ocsmodel | Used by the Object Camera sensor |
| radarmodel | Used by the Radar sensor |
| tismodel | Used by the Technology Independent sensor |
| radarmodel | Used by the Radar sensor |
| tismodel | Used by the Technology Independent sensor |
| ultrasonicmodel | Used by the Ultrasonic sensor |
Utility functions
prescan.experiment
filename = prescan.experiment.getDefaultFilename()
[value, result] = prescan.experiment.getFieldValue(inStruct, name)
simOut = prescan.experiment.runWithDataModels(models, varargin)
[inStruct, result] = prescan.experiment.setFieldValue(inStruct, name, value)
[isValid, resultMsg] = prescan.experiment.validate(models, path)
- prescan.worldmodel
- prescan.sensors
《太多了，看官方文档吧》
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