Hi everyone, I am Li Slowly.
It took a week to learn the simulation software SCANeR Studio, and I barely understood the operation of this software. I also ran one or two simple examples. I couldn’t help but record it. I hope it can give some intuitive impressions to fellow Taoists who are new to this software. , the most important thing is to sort out the knowledge system for myself, so that I can check for leaks and make up for gaps in the future.
Example of a simulation scenario in SCANeR studio
Table of contents:
1. Introduction to software functions
2. Software background introduction
3. Software interface
4. Small example of simulation
5. Script control
6. External interface - co-simulation
7. A little digression
1. Introduction to software functions
An excerpt from Beijing Fengda Technology’s introduction to it: “SCANeR™studio is a comprehensive software suite dedicated to automotive and traffic simulation to solve ADAS, autonomous vehicles, HMI and headlight use cases for testing and driving. SCANeR™studio provides contains all the tools and models needed to build hyper-real virtual worlds: road environments, vehicle dynamics, traffic, sensors, real/virtual drivers, headlights, weather conditions and scenario scripts. Far from being a "black box" tool, it is A truly modular simulation platform, flexible, scalable and open, meeting the needs of researchers and engineers. Its versatility enables a complete range of setups: drive simulator, model-in-the-loop MIL, software-in-the-loop SIL , hardware in the loop HIL."
Generally speaking, in terms of function, this software is not much different from the current popular software (PreScan, CarMaker, VTD, etc.), and the function is very powerful. Whether it can continue to exist in the market depends on the update speed and marketing efforts.
2. Software background introduction
SCANeR™studio comes from a French company called AVSimulation, which is a joint venture formed by OKTAL (the parent company of SCANeR™studio) and Renault in 2017, but the software SCANeR™studio itself has With a history of more than 30 years, it has many customers and partners all over the world, with a solid foundation. You can simply feel it through the following figure:
The picture above is from the official website of AVSimulation Company: https://www.avsimulation.com
3. Software interface
Although the software integrates many modules, I still find that the whole layout is very logical. Create the road environment under the TERRAIN interface (as shown in Figure 1 below), do vehicle modeling under the VEHICLE interface (as shown in Figure 2), and under the SCENARIO interface Do scene combination configuration (as shown in Figure 3 below), perform simulation operation in the SIMULATION interface (as shown in Figure 4), and perform analysis in the ANALYSIS interface (as shown in Figure 5). So it is not so difficult to learn, plus many things (such as vehicles, pedestrians, road signs, etc.) are generated by dragging and dropping, so follow the steps of road surface -> vehicle -> scene -> simulation -> analysis to model , will soon be able to do a small example out. For novices, learning can be quick.
Figure 1: TERRAIN interface
Figure 2: VEHICLE interface
Figure 3: SCENARIO interface
Figure 4: SIMULATION interface
Figure 5: ANALYSIS interface
4. Small example of simulation
Don't talk about fake moves, let's simply build a scene and see the whole process.
4.1. First switch to the TERRAIN interface to create a simple road that cannot be simpler: straight road. In this interface, the road drawing function is on the far left, the display type of the road is controlled on the far right (top) and the parametric definition of the road is defined (bottom), and the drawing creation area is in the middle. Here I activate the straight line function, draw a straight line in the drawing area, select the display mode as logical content, and after zooming in, you can see what the road we created looks like. Then save the road.
4.2. Skip the VEHICLE modeling in the second step. We do not create a vehicle here, and directly call the vehicle model that comes with SCANeR studio in the next step.
4.3. Switch to SCENARIO mode, open the road model saved in the previous step, and then drag a car from the resource library on the right to the road. (The resource library on the right is very powerful, it has everything, various vehicles, various people, various road facilities, various sensors, various external script interfaces, etc.) After the vehicle is dragged to the road, you need to set the vehicle's Driving behavior, double-click the vehicle to open the settings window of the vehicle model, for simplicity, I set it to automatic driving mode.
4.4. Switching to the SIMULATION interface, I simply loaded a TRAFFIC process (required for automatic driving), a VISUAL process (required for subsequent viewing of vehicle driving), and a RECORD (required for subsequent analysis of vehicle data), and then click the run button above The simulation is ready to start.
After running it is as follows.
4.5. In this way, we simply run a vehicle model. After the simulation is over, switch to the ANALYSIS interface, where we can find the results recorded in our simulation, watch the vehicle behavior repeatedly, and open the data window to view various parameters. As shown in the figure below, simply check the driving speed curve of the vehicle.
The above is the approximate simulation process of this software. Is it very simple? However, I have omitted many descriptions, and many details have adopted default settings. If you want to really use this software well, there are still many, many details that need to be picked out.
5. Script control
Script control, used to control some special trigger conditions, is very applicable. For example, when to call the police, when to turn on the lights, when to rain, when to brake, etc., programming is not difficult, because the software itself comes with many function APIs, which only need to be called and combined. For example, I simply set a case of the depth of snow on the road in snowy days through the distance condition.
This is just a very simple application. I have also seen that the official scene library has very cool controls for street lights and car lights. It doesn't matter whether it's cool or not, the important thing is to be able to build a real scene. The real physical world is ever-changing, and to be able to reflect it requires software to provide a considerable degree of freedom. Fortunately, this software already has a great degree of freedom in terms of modeling (you don’t need to pick out the details), and with the addition of script control, it is quite comprehensive.
6. External interface - co-simulation
SCANeR studio provides an external program interface. You only need to define the program to be called, and you can use external programs or software to achieve your own goals. In my opinion, this kind of call can be one-way, such as the VISUAL process, which simply can only see the video output screen of SCANeR; it can also be two-way, such as the external SIMULINK, the SIMULINK program can obtain the output parameters of the simulated vehicle As an input, the result is obtained through a certain algorithm of its own and the result output is fed back to SCANeR to further control the vehicle, forming a two-way loop.
After configuring the communication between SCANeR and Simulink (10,000 words are omitted here...), I made a target speed control model, as shown below. First build a Simulink model as follows. The orange part on the left is to take out the output signal of the vehicle in SCANeR, and through a PID control in the middle, the speed is stabilized to 100, and then the real-time control speed is output to the blue part on the right (equivalent to receiver in SCANeR) to control the speed of the vehicle in SCANeR. This constitutes a speed control loop.
Then, both the Simulink model and the simulation scene in SCANeR are run (as follows), and the communication between the two begins.
After the model runs, you can see the effect of adding the "algorithm". as follows.
7. Some digressions
The content shared this time is really simple, and its purpose is only to popularize this software, and also to help myself sort out a basic understanding. There are not many useful materials available on the Internet during the learning process, and it all depends on the help files that come with the software. In addition, during the part-time job of Hongjing Zhijia, I had the opportunity to use this software for a period of time when I was on Hongjing's wifi. Thanks to Tang Tang's many guidance, I barely learned it. I would like to express my sincere thanks.
There are also some problems encountered in the learning process, which will be solved later.
vx public account - drive slowly
The road is slow, continuous and hard, and it takes a long time for success.
Copyright statement: This article is a personal original, and most of the pictures are software screenshots, welcome to reprint. If there is any infringement, please contact me in the background to deal with it, thank you.