CarSim simulation quick start (XV) - ADAS sensor objects of CarSim sensor simulation (1)

BikeSim,CarSim and TruckSim The mathematical model includes up to 200 An optional object , Its position and motion can be controlled independently of the simulated vehicle . These objects can represent other vehicles , Fixed object （ tree , building ）, Pedestrians , animal , Road markings and other objects of interest . Objects can be fixed or mobile , And there are many ways to specify its motion . They can be reused , So that when they leave the specified distance range , They will disappear , Then reappear in a new location . In some cases , This function makes the visible number of objects much higher than 200.

This article is convenient ADAS and AD The development work of the development engineer , Special general CarSim The use of sensors and target objects in the environment is described here , This article is mainly about the learning of target objects in the environment , Those who are interested can study deeply .

VS Mathematical models also support up to 99 An advanced driver assistance system （ADAS） Range and tracking sensors （ The camera , radar , Ultrasound, etc ）, Moving objects can be detected as targets . These are based on 3D Vectorial “ Real detection ”, Connect the sensor position to some point on the moving object .

Each sensor has a set of output variables related to each target that can be detected . for example , If there are three sensors and 20 A moving object , Then there are 60 Potential detections , Each test has a set of output variables , You can view or export these variables for ADAS Or external software of other advanced control systems （ for example Simulink） .

CarSim and TruckSim For two levels of users . Model users are engineers and designers , They will run simulations under previously defined scenarios and conditions . For traditional vehicle dynamics analysis , Most models have been defined based on parameters and tables . By changing the value of an existing parameter or replacing the table , New vehicles and test conditions can be specified in existing models .

Another level of users is model building . Model building is a more advanced user , It will add new functions to the model .VehicleSim The optional moving objects and sensors in the product support the creation and Simulation of complex scenes . Due to no built-in migration