Simulation for verification of diverse driving environments and vehicle sensors
Simulation program for reviewing self-driving
The driving simulation program was created to allow all data that can be gained from operating an actual self-driving vehicle in a virtual environment in a more efficient, real, and safe manner.
The virtual data provided is identical to the protocols of actual sensors and cars, and image processing, path planning, and other algorithms for self-driving can be verified virtually and applied quickly to actual vehicles.
The data is almost identical to actual physical data from LiDAR and cameras. In addition, custom scenarios allow for driving tests in various virtual environments with varying traffic situations, road conditions, weather, climate, nigh/day time, etc.
ERP42 Self-Driving & Obstacle Avoidance
ERP42 Self-driving Simulator for You
Self-driving simulation software
Driving algorithm (Control), sensor interface (LiDAR, GPS), vision processing (Image Processing), deep learning (object detection) are available. As for HW platforms, the software is applicable to WeCAR (educational)/ERP42 (for competitions), and ERP42 MINI (for educational research).
There is the academic version (Base, Full Version) and the research version (Professional, Developer Suite).
- A virtual environment features modeling of vehicles, driving environments, sensors, etc. and allows self-driving car development in a virtual environment.
- The simulator outputs vehicle data and sensor data, and takes speed and steering commands to move the car.
- The output of the simulator is identical to actual sensor protocols (Velodyne, GPS nmea, Camera, etc.)
- HILS fuction: simulation function includes hardware (vehicle, controller). Communication between self-driving software and the simulator can be performed via serial or UDP.
- A virtual car model identical in size and shape to ERP-42 and with similar dynamics is provided. The same serial communication protocol is provided.
- UDP provided for virtual car control (Protocol exclusive to the simulation, serial option is also available)
- 250 m straight track provided, has object placement feature
- Provides ground truth regarding objects and vehicle status
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연구/기업 Professional Research / Corporate Professional |
연구/기업 Standard Research / Corporate Standard |
학생 Full Student Full |
학생 Basic Student Basic |
Trial |
FEATURES |
설명 Description |
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|---|---|---|---|---|---|---|---|
| O | O | O | O | O |
Vehicle Model Vehicle Model |
실제 차량의 크기와 외형이 같은 3D 모델 및 실제차량과 통신 프로토콜이 동일한 가상의 차량 제공 A virtual vehicle with a 3D model identical to the size and appearance of the actual vehicle that uses the same communication protocol as the actual vehicle is provided |
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| O | O | O | O | O |
Ground Truth Data Ground Truth Data |
정답 데이터(주변 물체의 위치, 가상공간에서의 정확한 차량 위치 등) Truth data (The location of surrounding objects, the exact location of the vehicle in the virtual space, etc.) |
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| O | O | O | O | X |
Sensor Models Sensor Models |
기본 센서 모델 (Camera, Lidar, GPS, ...) Basic sensor models (Camera, Lidar, GPS, ...) |
상용 센서와 유사한 규격을 따르는 센서 모델 Sensor models follow specifications similar to commercial sensors |
| Option | X | X | X | X |
커스텀 센서 모델 (e.g. Velodyne, Ublox,...) Custom sensor models (e.g. Velodyne, Ublox,...) |
사용자가 요청한 실제 센서들의 모델링 Modeling of user-requested sensors |
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| O | O | O | O | O |
Maps Maps |
직진 트랙 (종방향 제어 테스트) Straight track (longitudinal control test) |
종방향 테스트가 가능한 가상 공간 Virtual space where longitudinal testing can be performed |
| O | O | O | O | X |
원형 테스트 트랙(경로 추종, 장애물 회피) Round test track (path tracking, obstacle avoidance) |
주어진 경로 추종 및 장애물 회피 테스트가 가능한가상 공간 A virtual space where tracking of set paths and obstacle avoidance can be tested |
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| O | O | O | X | X |
K-City K-City |
경기도 화성의 K-City를 그대로 모사한 앱(가상의 GPS값과 실제 GPS값이 같다) An app that accurately models K-City in Hwasung, Gyeonggi-do (virtual GPS values and actual GPS values are identical) |
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| O | O | O | X | X |
Sensor Calibration환경 Sensor Calibration Environment |
센서의 성능 테스트 및 Calibration이 가능한 앱 App that allows sensor performance testing and calibration |
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| Option | X | X | X | X |
커스텀 트랙 Custom Tracks |
사용자가 요청하는 트랙 제작 (실제 도로 구간도 제작 가능) User-requested tracks are created (actual road sections can be created) |
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| Option | X | X | X | X |
기타기능 Other functions |
Ghost 차량 배치 기능 Ghost car placement |
가상의 환경의 데이터를 실제 차량에 데이터를 전송하여다양한 실험이 가능한 기능(상세 설명은 문의) This functions allows various experiments to be performed via sending virtual environment data to actual vehicles (please send an inquiry for more information) |
| Option | X | X | X | X |
다중 클라이언트 환경 Multi-client environment |
하나의 트랙에 여러 클라이언트가 접속이 가능한 기능 Allows many clients to connect to a single track |
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| Win10 Linux |
Win10 Linux |
Win10 Linux |
Win10 Linux |
Win10 |
시뮬레이터 실행 환경 Simulator execution environment |
시뮬레이터를 실행하는 환경 Environment in which simulator is run |
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| O | O | O | X | X |
기술 지원 Technical support |
시뮬레이터 기술지원 Simulator technical support |
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Type : refers to sensor’s communication method
- UDP : UDP communication method. IP/Port must be set
- Serial : Serial communication method. COM Port Number must be input at Port Num
* Serial communication method is identical to actual ERP42 communication method
Hardware pictured is applied in the WEGO-ERP42 standard platform
- Rendering Quality – sets the simulator’s current rendering quality
- Location Setting – Moves the vehicle according to each scenario.
20 or so obstacles can be added to the simulation as necessary for the test.
Obstacles placement mode can be turned on/off(obstacles can be selected with the mouse from a list)
Obstacles placement mode can be turned on/off(obstacles can be selected with the mouse from a list)
HardLike with Veloview, this is a LiDAR test demo using LabVIEW; it can be applied to Python, OpenCV, etc.
ware pictured is applied in the WEGO-ERP42 standard platform
ware pictured is applied in the WEGO-ERP42 standard platform
Demo – LabVIEW Veloview
LabVIEW Lidar example
WeGo simulator
Type : refers to sensor’s communication method
- UDP : UDP communication method. IP/Port must be set
- Serial : Serial communication method. COM Port Number must be input at Port Num
Lane Detection applied
LabVIEW Vision module
Python OpenCV
Jupyter notebook
20 or so obstacles can be added to the simulation as necessary to test it.
Obstacles placement mode can be entered/exited (obstacles can be selected with the mouse from a list)
Obstacles placement mode can be entered/exited (obstacles can be selected with the mouse from a list)