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ADAS カメラ シミュレータ Pro-SiVIC
1.
1www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. www.esi-group.com Copyright © ESI Group, 2017. All rights reserved. ADASセンサーシミュレータ Pro-SiVIC ADAS Sensor Simulation Platform 2017年3月 日本イーエスアイ株式会社 Nihon ESI K.K.
2.
2www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. 1973 ESI founded; expert in physics of materials THE STORY BEGINS 1985 First Volkswagen Polo FIRST CRASH TEST ON FULL CAR 1999 Added to the ESI portfolio: • Casting • Sheet Metal Forming • Welding VIRTUAL MANUFACTURING 2000 NYSE EURONEXT ESI enters the NYSE Euronext Paris stock market ISO 9001-2000 CERTIFICATION Leading CAE / HPC Software VendorESI Group
3.
3www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. ESI Group History 2001 • NVH • Durability • Vibro-Acoustics • Comfort EXPANSION INTO MULTI-DOMAIN SIMULATION 2011 ESI acquires IC.IDO ENTRY INTO VIRTUAL REALITY 2012 ESI acquires OpenCFD, the creators of OpenFOAM EMBRACING OPEN SOURCE 2015 CIVITEC/Pro-SiVIC acquisition Expanding into Systems Design & Control (MBD) 2016 ITI/SimulationX Acquistion
4.
4www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. ADAS(先進運転支援システム)関連動向 • Euro NCAP safety rating • AEB(Automatic Emergency Brake) • LDW(Lane Departure Warning) • 2014 年以降評価対象 • KT法(Kids & Transportation Safety Act) 4.5t以下車両へのリアビューカメラ/モニタ搭載義務化 • 2020年車載イメージセンサ数 ⇒ 19 (ON Semiconductor様 予測)
5.
5www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. ADAS関連動向 • Google Self-Driving Car Project Monthly Report - Jan. 2016 • > 4.8Mkm of simulation / day
6.
6www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. ADASシミュレータの必要性 • ADAS義務化/標準化/複雑化 • テストコース/ベンチでの実機検証には限界 • 天候/テスト車両+機材予約/危険走行etc… • シミュレータを用いたADAS ECU開発/検証が有効 • Pro-SiVIC
7.
7www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. What is CIVITEC ? • 2009 IFSTTARからスピンオフ ‣ IFSTTAR • French: Institut français des sciences et technologies des transports, de l'aménagement et des réseaux French institute of science and technology for transport, spatial planning, development and networks • 2015/03 ESI Group CIVITEC社買収
8.
8www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. What is Pro-SiVIC ? • Simulateur Simulator • Véhicules Vehicle • Infrastructure Infrastructure • Capteurs Sensors français English
9.
9www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Pro-SiVICによるADASシミュレーション • センサーモデル/センサー出力 ‣ raw data output • 走行環境モデル • 静的/動的/ダイナミックオブジェクト
10.
10www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Release 2016.1 : Available Sensor Models (Aug 2016) Sensor Module Level 0 Level 1 Level 2 Optical Camera LiDAR ibeo LUX 2010 GPS Radar Ultrasonic Inertial Navigation Unit Communication primitive advanced 2016.1
11.
11www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. ADASシミュレータの利点 さまざまな走行シーン/オブジェクト/センサーを瞬時に設定 開発期間短縮/性能改善 危険走行シナリオ (+さまざまな天候条件) 試験時間/物流コスト削減/テストドライバー安全確保 開発コスト削減 試作機製作/検証コスト削減 実走行試験におけるような物理的制約がない
12.
12www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. ADASシミュレータの利点 Tesla Fatal Autopilot Crash on May 7, 2016 in Williston, Florida police report about the Tesla crash shows how the vehicle in self-driving mode (V02) struck a tractor-trailer (V01) as it was turning left. (Credit Florida Highway Patrol via New York Times) Tesla
13.
13www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. ADASシミュレータの利点 Tesla Fatal Autopilot Crash on May 7, 2016 in Williston, Florida Tesla
14.
14www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Pro-SiVIC : 特長/利点 仮想テストによる設計改善 境界値分析(再現不可能走行条件を含む) 膨大な数のパラメータスタディ実施 イノベーション 革新的アーキテクチュアのシミュレーション (実機の存在しない仮想センサprototyping等)
15.
15www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Example of applications • AEB/LKA/LDW/ACC/AFS/Parking Assist…
16.
16www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. 様々な走行環境/気象条件の再現
17.
17www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. 様々な走行環境/気象条件の再現
18.
18www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. 様々な走行環境/気象条件の再現
19.
19www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. • シミュレーション実行方法 ‣ Real-Time シミュレーション ‣ Virtual time シミュレーション ‣ Offline シミュレーション • 動的/静的オブジェクト配置 ‣ 車両(自車/他車)/歩行者/標識/建物 • Real-Time特性変更 ‣ 各オブジェクトのパラメータ シミュレーション中も随時変更可 主な機能
20.
20www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. www.esi-group.com 20 Copyright © ESI Group, 2017. All rights reserved. Camera Sensor Model
21.
21www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. カメラセンサモデル • 位置/方向 • 出力画像サイズ(ピクセル数) • 各種フィルタ ‣ Fog ‣ Rain ‣ DOF ‣ Distortion ‣ Vignetting ‣ Blur ‣ Motion ‣ Blooming ‣ Sensitivity ‣ Noise ‣ AE(Auto Exposure) For Weather For Lens/Camera Specification Level2filters
22.
22www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Camera Sensor Filter : Fog w/o Fog w/ Fog
23.
23www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Camera Sensor Filter : Rain
24.
24www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Camera Sensor Filter : DOF (Depth of Field)
25.
25www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Camera Sensor Filter : Distortion
26.
26www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Camera Sensor Filter : Vignetting
27.
27www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Camera Sensor Filter : Blur w/o Blur w/ Blur
28.
28www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Camera Sensor Filter : Motion blur w/o Motion blur w/ Motion blur
29.
29www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Camera Sensor Filter : Blooming w/o Blooming w/ Blooming
30.
30www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Camera Sensor Filter : Noise w/ Additive gaussian noise w/ Multiplicative uniform w/ Impulsive w/o noise filter
31.
31www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. www.esi-group.com 31 Copyright © ESI Group, 2017. All rights reserved. Release 2016.1 new feature Radar Model Level 1
32.
32www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Radar model overview 2016.1 Radar “level 1” model Radar System(s) 自車 ADAS function ECU(s) Target(s) Propagation channel New model for the radar system (antennas, signal generation, and on-board signal processing) New model for the propagation channel (propagation paths, travel time, signal attenuation, phase shift) New model for reduced object representation (Radar Cross Sections, RCS)
33.
33www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Radar model level 1 overview • ショート/ミッド/ロングレンジまでカバー(24-79GHz) • アンテナやターゲットなどをより物理的に考慮 • 車両やターゲットのレーダーの代表的な反射特性 (increases accuracy of the model of targets) • CEM Oneで計算されたアンテナパターン(指向性)とターゲット特性 (RCS)の設定 *RCS : Radar Cross Sections
34.
34www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Characterization of radar antenna for Pro-SiVIC No directivity characterization isotropic antenna model is used in Pro-SiVIC Radar Level 0 Targets have same detectability whatever their angular position (receive same amount of energy) Use directivity characterization Directivity can be characterized based on either: - Horizontal + vertical profiles of directivity (directivity diagram is reconstructed by interpolation) - A set of parametric lobes (directivity is expressed as the sum of those lobes) - Standard pre-set directivity diagram Detectability of targets depend on their angular position
35.
35www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Characterization of radar targets for Pro-SiVIC No target characterization in Pro-SiVIC Targets have same uniform response from all directions (incoming/outgoing) 3D Model used as entry of the process: specific behavior of the vehicle is modelled (monostatic or bistatic RCS) Radar Cross Sections computed in CEM One for Pro-SiVICPre-computation of far-field RCS (at operating frequency) Characterization in Pro-SiVIC Bistatic Radar-Cross sections are entered as lobe models or use a pre-defined RCS model : detectability of targets depends on angle we are viewing the object under *CEM = Computational Electromagnetics
36.
36www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Radar Level 1使用例
37.
37www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. www.esi-group.com 37 Copyright © ESI Group, 2017. All rights reserved. Release 2016.1 new feature(beta) Road Section System(RSS)
38.
38www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. RSS(Road Section System) beta • Based on OpenDRIVE ‣ VIRES Simulationstechnologie GmbH ‣ .xodr(XML format) • Import .xodr file into Pro-SiVIC ‣ Generate scene data ‣ Track data ‣ Trajectory data • Left Lane • Right Lane
39.
39www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. RSS(Road Section System) beta • OpenDRIVE examples
40.
40www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. RSS(Road Section System) beta • Collection of road sections ‣ Length ‣ Curvature ‣ No. of lanes ‣ No. of junctions
41.
41www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. RSS(Road Section System) beta • Imported OpenDRIVE road sections in Pro-SiVIC 2016.1
42.
42www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. www.esi-group.com 42 Copyright © ESI Group, 2017. All rights reserved. Vehicle Model
43.
44www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. • ボディカラー : 変更可 Vehicle Model : Car Body Color
44.
45www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. 車両ボディ表面への映り込み
45.
46www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. 車両モデルの制御モード • Manual ‣ Keyboard ‣ Gamepad ‣ Gaming steering wheel/pedal • TrajectoryFollowing • TrajectoryControl ‣ あらかじめ作成した軌跡(trajectory)に沿って走行 • RTMaps/MATLAB/DDS ‣ コントローラ(モデル)により操舵/アクセル/ブレーキペダル等を制御
46.
47www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. www.esi-group.com 47 Copyright © ESI Group, 2017. All rights reserved. Interface w/ 3rd Party Controller
47.
48www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. commands Data Flow Sensors • Video & fisheye camera • 3D laser scanner/multi-layer LIDAR • Short/mid range radar • Ultrasonic sensor • GPS • Inertial Navigation System • Odometer • Car & road ground truth Controller • RTMaps(Intempora) • MATLAB • C++ application δ Road surface attributes Steering wheel Engine γ VehicleRawdata In-house vehicle model
48.
49www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Pro-SiVIC – RTMaps(Intempora) インターフェース
49.
50www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. I-DEEP (Intempora Distributed Execution & Evaluation Platform)
50.
51www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. I-DEEP (Intempora Distributed Execution & Evaluation Platform)
51.
52www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. • リンク対象オブジェクト(e.g. sensor_camera/cam) Export Mode : Mode_matlab • シミュレーション開始時 同一PC上でPro-SiVICがMATLABを起動(shared memory) • MATLAB Workspace Variable生成 >> whos Name Size Bytes Class Attributes SYNCHRO_CLOCK 5x1 40 double sensor_camera_cam 240x360x3 259200 uint8 time 1x1 8 double Pro-SiVIC – MATLAB インターフェース
52.
53www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Linkedobject:sensor_camera/cam Vehicle w/ cam 240x360 pixels Pro-SiVIC – MATLAB インターフェース FOV
53.
54www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. • MATLAB Workspace Variable : sensor_camera_cam 240x360x3 matrix Pro-SiVIC – MATLAB インターフェース
54.
55www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. • MATLABによる歩行者検出の例 • AVI 読込 ⇒ Pro-SiVICカメラ出力に置換 Pro-SiVIC – MATLAB インターフェース
55.
56www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. www.esi-group.com 56 Copyright © ESI Group, 2017. All rights reserved. 既存3D Scene
56.
57www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. 既存3D走行環境(Scene) Scene : Highway Scene : Urban Road Scene : Test Track(Satory)
57.
58www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. www.esi-group.com 58 Copyright © ESI Group, 2017. All rights reserved. import 3D Scenes into Pro-SiVIC
58.
59www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. Import Unity Asset Store free sample scene • OBJ file can be edited in Autodesk 3ds Max • OBJ ⇒ Pro-SiVIC package converter (3D Importer) is not included in Pro-SiVIC full package .3ds(3ds Max) .obj(Wavefront) .dae(COLLADA PS3/PSP) Pro-SiVIC package (.zip)
59.
60www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. www.esi-group.com 60 Copyright © ESI Group, 2017. All rights reserved. Pro-SiVIC Paid Engineering Services
60.
61www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. • 走行環境(infrastructure)モデルデータ作成 Pro-SiVIC Services
61.
62www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. • 特定センサーモデル開発 • e.g. ibeo LUX 2010 • ライセンス60日無料試用 (要有償トレーニング) Pro-SiVIC Services
62.
63www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. • カメラ/レンズ特性キャリブレーション • DxO Analyzer使用 Pro-SiVIC Services
63.
64www.esi-group.com Copyright © ESI
Group, 2017. All rights reserved. https://www.esi.co.jp/product/system-control https://blog.esi.co.jp/pro-sivic https://plus.google.com/+EsiJpPro-SiVIC https://www.facebook.com/esijapan https://twitter.com/ESI_Japan Learn More
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