ADAS カメラシミュレータ Pro-SiVIC

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Copyright © ESI Group, 2017. All rights reserved.
www.esi-group.com
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.

2www.esi-group.com
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

3www.esi-group.com
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

4www.esi-group.com
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)

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ADAS関連動向
• Google Self-Driving Car Project Monthly Report - Jan. 2016
• > 4.8Mkm of
simulation / day

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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

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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

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What is Pro-SiVIC ?
• Simulateur Simulator
• Véhicules Vehicle
• Infrastructure Infrastructure
• Capteurs Sensors
français English

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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

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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

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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

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 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

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 Tesla Fatal Autopilot Crash on May 7, 2016 in Williston, Florida
Tesla

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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)

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Example of applications
• AEB/LKA/LDW/ACC/AFS/Parking Assist…

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様々な走行環境/気象条件の再現

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• 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

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Camera Sensor Model

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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

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Camera Sensor Filter : Fog
w/o Fog w/ Fog

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Camera Sensor Filter : Rain

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Camera Sensor Filter : DOF (Depth of Field)

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Camera Sensor Filter : Distortion

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Camera Sensor Filter : Vignetting

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Camera Sensor Filter : Blur
w/o Blur w/ Blur

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Camera Sensor Filter : Motion blur
w/o Motion blur w/ Motion blur

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Camera Sensor Filter : Blooming
w/o Blooming w/ Blooming

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Camera Sensor Filter : Noise
w/ Additive gaussian noise
w/ Multiplicative uniform
w/ Impulsive
w/o noise filter

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Release 2016.1 new feature
Radar Model Level 1

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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)

33www.esi-group.com
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

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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

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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

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Radar Level 1使用例

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Release 2016.1 new feature(beta)
Road Section System(RSS)

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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

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• OpenDRIVE examples

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• Collection of road sections
‣ Length
‣ Curvature
‣ No. of lanes
‣ No. of junctions

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• Imported OpenDRIVE road sections in Pro-SiVIC 2016.1

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Vehicle Model

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• ボディカラー : 変更可
Vehicle Model : Car Body Color

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車両ボディ表面への映り込み

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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

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Interface w/ 3rd Party Controller

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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

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Pro-SiVIC – RTMaps(Intempora) インターフェース

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I-DEEP
(Intempora Distributed Execution & Evaluation Platform)

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I-DEEP
(Intempora Distributed Execution & Evaluation Platform)

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• 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

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Linkedobject:sensor_camera/cam
Vehicle
w/ cam
240x360 pixels
FOV

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• MATLAB Workspace Variable : sensor_camera_cam
240x360x3 matrix

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• MATLABによる歩行者検出の例
• AVI 読込 ⇒ Pro-SiVICカメラ出力に置換

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既存3D Scene

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既存3D走行環境(Scene)
Scene : Highway Scene : Urban Road
Scene : Test Track（Satory)

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import 3D Scenes into Pro-SiVIC

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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)

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Pro-SiVIC Paid Engineering Services

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• 走行環境(infrastructure)モデルデータ作成
Pro-SiVIC Services

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• 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

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• カメラ/レンズ特性キャリブレーション
• DxO Analyzer使用
Pro-SiVIC Services

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