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Virtual Test Drive（VTD）用户使用手册
VTD是自动驾驶汽车场景仿真软件
发行日期：2015年10月
发行方：VIRES Simulationstechnologie GmbH
页数：157页
内容目录（简）：
1. Introduction
2. Resources und Installation (quick-start)
3. Common Definitions
4. System Design and Components
5. File Management
6. Components in Detail
7. Interfaces
……
Date:
Oct. 31
st
, 2015
Title:
VIRES Virtual Test Drive – User Manual
Name:
Marius Dupuis e.a.
Document No.:
Issue:
Page:
VI2008.076
N
1 of 157
Refer to protection notice DIN ISO 16016
TM
Project:
Virtual Test Drive
Document No.
Issue:
Title:
User Manual
VI2008.076
N
Date:
October 31
st
, 2015
no. of pages:
157
Issuing Party:
VIRES Simulationstechnologie GmbH
Distribution List:
3
rd
party:
VIRES:
VTD Users
any
issued by
VIRES Simulationstechnologie GmbH
Grassinger Strasse 8
83043 Bad Aibling
Germany
phone +49.8061.939093-0
fax +49.8061.939093-13
e-mail supportVTD@vires.com
web www.vires.com
Date:
Oct. 31
st
, 2015
Title:
VIRES Virtual Test Drive – User Manual
Name:
Marius Dupuis e.a.
Document No.:
Issue:
Page:
VI2008.076
N
2 of 157
Refer to protection notice DIN ISO 16016
TM
Version Control:
Issue
Date
Author
Description
affected
chapters
N
31.10.2015
Dupuis
adaptation to VTD 2.0
all
M
12.06.2014
Dupuis
adaptation to VTD 1.4
all
L
03.09.2012
Dupuis
minor typos
all
K
23.03.2012
Dupuis
new explanation of patch ids etc.
adaptation to VTD 1.1.2
2.1
2.2
12
J
27.12.2011
Dupuis
adaptation to VTD 1.1
all
J
27.12.2011
Dupuis
adaptation to VTD 1.1
all
I
11.08.2010
Dupuis
Karl
deleted SCP command table (it is now available as
HTML document)
harmonization with VTD 1.0
finished translation to English language
8.2.1
all
H
19.07.2010
Dupuis
various extensions (e.g. SCP),
harmonization with VTD 1.0
partial translation to English language
8.2.1
all
G
09.03.2010
Dupuis
various extensions (e.g. SCP),
adaptation to new file structure, removed description
of VIRES internal interfaces
Any new contents are in English language; the
remaining chapters will be "upgraded" during the
next releases.
Descriptions of GUI and binary record format are out
of date and will be reviewed with the next release
Date:
Oct. 31
st
, 2015
Title:
VIRES Virtual Test Drive – User Manual
Name:
Marius Dupuis e.a.
Document No.:
Issue:
Page:
VI2008.076
N
3 of 157
Refer to protection notice DIN ISO 16016
TM
Table of Contents
1 Introduction ....................................................................................................................................... 7
1.1 Overview ................................................................................................................................... 7
1.2 References ................................................................................................................................ 7
1.3 Trouble-shooting ....................................................................................................................... 7
2 Resources und Installation (quick-start) ........................................................................................... 8
2.1 Resources ................................................................................................................................. 8
2.2 Installation ................................................................................................................................. 9
2.2.1 System Requirements ....................................................................................................... 9
2.2.2 New Installation .................................................................................................................. 9
2.2.3 AddOns ............................................................................................................................ 10
2.2.4 Patches ............................................................................................................................ 11
2.2.5 Ad-hoc Updates ............................................................................................................... 11
2.3 Configuration ........................................................................................................................... 12
2.3.1 Basic Concept .................................................................................................................. 12
2.3.2 Distributions ..................................................................................................................... 12
2.3.3 Setups .............................................................................................................................. 12
2.3.4 Projects ............................................................................................................................ 13
2.4 Getting Started ........................................................................................................................ 13
2.4.1 Operation Stages – Overview .......................................................................................... 13
2.4.2 Starting with GUI – Quick Version ................................................................................... 14
2.4.3 Starting with GUI – Slow Version (Configure – Start – Reconfigure...) ........................... 16
2.4.4 Terminating the Simulation .............................................................................................. 21
2.4.5 Saving / Loading Configuration Data ............................................................................... 22
2.4.6 Starting from Command Prompt ...................................................................................... 25
3 Common Definitions ....................................................................................................................... 26
3.1 Units ........................................................................................................................................ 26
3.2 Co-ordinate Systems ............................................................................................................... 26
3.2.1 Inertial Co-ordinates......................................................................................................... 26
3.2.2 Vehicle Co-ordinates ....................................................................................................... 27
3.2.3 Screen Co-ordinates ........................................................................................................ 28
3.2.4 Other Co-ordinate Systems ............................................................................................. 28
4 System Design and Components ................................................................................................... 29
4.1 System Design ........................................................................................................................ 29
4.1.1 Runtime Environments .................................................................................................... 29
4.1.2 Layout .............................................................................................................................. 30
4.2 Components ............................................................................................................................ 33
4.2.1 Overview .......................................................................................................................... 33
4.2.2 Interfaces ......................................................................................................................... 35
4.3 Workflow ................................................................................................................................. 36
4.3.1 Overview .......................................................................................................................... 36
4.3.2 Design Phase ................................................................................................................... 37
4.3.3 Runtime Phase ................................................................................................................ 38
5 File Management ............................................................................................................................ 39
5.1 Configuration Files .................................................................................................................. 40
5.2 Simulation Files ....................................................................................................................... 41
5.3 Dependencies of Configuration and Simulation Files ............................................................. 41
5.4 File Finding .............................................................................................................................. 42
5.5 Directory Structure .................................................................................................................. 43
5.5.1 Main Directories ............................................................................................................... 43
5.5.2 Directories in "Data" ........................................................................................................ 44
5.5.3 Directories in "Runtime" ................................................................................................... 46
5.5.4 Directory "Develop" .......................................................................................................... 47
Date:
Oct. 31
st
, 2015
Title:
VIRES Virtual Test Drive – User Manual
Name:
Marius Dupuis e.a.
Document No.:
Issue:
Page:
VI2008.076
N
4 of 157
Refer to protection notice DIN ISO 16016
TM
6 Components in Detail ..................................................................................................................... 49
6.1 Component Management........................................................................................................ 49
6.1.1 Single- and Multi-Host Operation ..................................................................................... 49
6.1.2 SimServer ........................................................................................................................ 50
6.2 Adding Custom Components .................................................................................................. 52
6.3 VT-GUI .................................................................................................................................... 53
6.3.1 GUI Layout ....................................................................................................................... 53
6.3.2 Project Files ..................................................................................................................... 56
6.3.3 Operating Modes ............................................................................................................. 57
6.3.4 Toolbar Functionality ....................................................................................................... 58
6.3.5 Project Configuration ....................................................................................................... 59
6.3.6 Message Widget .............................................................................................................. 67
6.3.7 Parameter Window .......................................................................................................... 68
6.3.8 VIL Monitoring Window .................................................................................................... 69
6.3.9 Preferences Window ........................................................................................................ 71
6.3.10 Configuration Database ................................................................................................... 72
6.3.11 Files and File Formats ..................................................................................................... 72
6.3.12 Communication ................................................................................................................ 72
6.3.13 Installation / Options ........................................................................................................ 73
6.3.14 Start Procedure ................................................................................................................ 73
6.4 ScenarioEditor ......................................................................................................................... 74
6.4.1 Actions for the Simulation System ................................................................................... 74
6.4.2 Files and File Formats ..................................................................................................... 75
6.4.3 Communication ................................................................................................................ 75
6.4.4 Installation / Options ........................................................................................................ 76
6.4.5 Start Procedure ................................................................................................................ 76
6.5 Image Generator (IG) .............................................................................................................. 77
6.5.1 Preface ............................................................................................................................. 77
6.5.2 Hardware ......................................................................................................................... 77
6.5.3 Image Generation ............................................................................................................ 77
6.5.4 Databases ........................................................................................................................ 77
6.5.5 Animations ....................................................................................................................... 77
6.5.6 Overlays and Symbols ..................................................................................................... 78
6.5.7 Weather ........................................................................................................................... 78
6.5.8 Illumination of the Scene ................................................................................................. 78
6.5.9 Camera Frustum .............................................................................................................. 79
6.5.10 Operation ......................................................................................................................... 80
6.5.11 Files and File Formats ..................................................................................................... 81
6.5.12 Communication ................................................................................................................ 95
6.5.13 Installation / Options ........................................................................................................ 95
6.5.14 Launch Procedure............................................................................................................ 96
6.6 TaskControl (TC) ..................................................................................................................... 96
6.6.1 Overview .......................................................................................................................... 96
6.6.2 Configuration .................................................................................................................... 97
6.6.3 Simulation Control............................................................................................................ 97
6.6.4 Interfaces ......................................................................................................................... 99
6.6.5 Extended Configuration ................................................................................................... 99
6.6.6 Record / Playback .......................................................................................................... 101
6.6.7 Image Transfer / Video Generation ............................................................................... 102
6.6.8 Camera Settings ............................................................................................................ 105
6.6.9 Export Formats .............................................................................................................. 105
6.6.10 Files and File Formats ................................................................................................... 105
6.6.11 Communication .............................................................................................................. 106
6.6.12 Installation / Options ...................................................................................................... 106
Date:
Oct. 31
st
, 2015
Title:
VIRES Virtual Test Drive – User Manual
Name:
Marius Dupuis e.a.
Document No.:
Issue:
Page:
VI2008.076
N
5 of 157
Refer to protection notice DIN ISO 16016
TM
6.6.13 Start Procedure .............................................................................................................. 107
6.7 Traffic Simulation .................................................................................................................. 108
6.7.1 Files and File Formats ................................................................................................... 108
6.7.2 Communication .............................................................................................................. 108
6.7.3 Installation / Options ...................................................................................................... 109
6.7.4 Start Procedure .............................................................................................................. 109
6.8 Dynamics and Driver Model of the Ego Vehicle ................................................................... 110
6.9 Sound .................................................................................................................................... 111
6.9.1 Files and File Formats ................................................................................................... 111
6.9.2 Communication .............................................................................................................. 111
6.9.3 Installation / Options ...................................................................................................... 112
6.9.4 Start Procedure .............................................................................................................. 112
6.10 ModuleManager ................................................................................................................. 113
6.10.1 Preface ........................................................................................................................... 113
6.10.2 Implementation .............................................................................................................. 114
6.10.3 Run-time Behavior ......................................................................................................... 114
6.10.4 Configuration .................................................................................................................. 114
6.10.5 Sensor Plug-ins .............................................................................................................. 115
6.10.6 Dynamics Plug-ins ......................................................................................................... 118
6.10.7 Files and File Formats ................................................................................................... 119
6.10.8 Communication .............................................................................................................. 120
6.10.9 Installation / Options ...................................................................................................... 120
6.10.10 Start Procedure .......................................................................................................... 120
6.11 SCP-Generator .................................................................................................................. 121
6.11.1 Installation / Options ...................................................................................................... 121
6.11.2 Examples ....................................................................................................................... 121
6.12 RDB-Sniffer ....................................................................................................................... 122
6.12.1 Installation / Options ...................................................................................................... 122
6.13 Databases ......................................................................................................................... 123
6.14 Road Designer (ROD) ....................................................................................................... 124
6.14.1 Preface ........................................................................................................................... 124
6.14.2 Overview ........................................................................................................................ 124
6.14.3 Extensions ..................................................................................................................... 124
6.14.4 Operation ....................................................................................................................... 125
6.14.5 Files and File Formats ................................................................................................... 126
6.14.6 Installation / Options ...................................................................................................... 126
6.14.7 Starting ROD .................................................................................................................. 126
7 Interfaces ...................................................................................................................................... 127
7.1 Data Flows ............................................................................................................................ 127
7.1.1 Road Designer Road Library ..................................................................................... 127
7.1.2 Road Designer ScenarioEditor .................................................................................. 127
7.1.3 Operator Station TaskControl ................................................................................... 127
7.1.4 TaskControl Runtime Data Bus ............................................................................... 128
7.1.5 TaskControl Runtime Data Bus ............................................................................... 130
7.1.6 ImageGenerator Runtime Data Bus ........................................................................ 132
7.2 Resources ............................................................................................................................. 138
7.2.1 Ports ............................................................................................................................... 138
7.2.2 Environment Variables ................................................................................................... 139
8 Message Formats ......................................................................................................................... 140
8.1 Binary Messages According to VIRES Standard .................................................................. 140
8.2 Special Message Formats..................................................................................................... 140
8.2.1 Simulation Control Protocol (SCP) ................................................................................ 140
8.2.2 Runtime Data Bus (TC -> any) ...................................................................................... 143
8.2.3 Shared Memory for VIL .................................................................................................. 145
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