Obstacle Placement and Scenario Management
Basic Control
You can create, place, and delete obstacles in Edit - Scenario - Scenario Edit mode.
Vehicle Placement
Spawn Objects List - Select Vehicle Icon
Select the desired Vehicle Type
Shift + left click to create vehicle and Alt + left click to delete
Vehicle can only be placed above linked path.
Reference video
Pedestrian placement
Single Pedestrian
Select Spawn Objects List - Pedestrian Icon
Select the type of Pedestrian
Shift + left click to create pedestrian and Alt + left click to delete
Pedestrian parameter
AD : active distance
MD : move distance
speed : Pedestrian’s moving speed
Active : checks whether it is being active or not
Loop : checks the number of repetition
standard Point : set the standard point
e.g : Pedestrian’s travel distance is 14m, the No.1 Active will be marked when the vehicle enters within 15m of Standard Point (when selecting Loop, active loop is checked for 15m or less.
Behavior: denotes the behavior of a pedestrian
NORMAL: basic mode of a pedestrian
LOOKPHONE: a pedestrian looking at phone
Calling: a pedestrian calling on a phone
Reference video
Motion Pedestrian
Spawn Objects List - Select Pedestrian
Select police1 or “[pedestrian_name]_ai”
Shift + left click to create pedestrian and Alt + left click to delete
Motion Pedestrian parameter (“This could be used in [pedestrian_name]_ai”)
Pedestrian Mode Type : choose the pedestrian behavior type
ONCE - change destination to idle state when destination is set.
CLOSE LOOP - delete it on arrival of destination.
REPEAT - On arrival of its destination, repeat its process by teleporting toward the original location.
LOOP - make a round trip from departing location to the destination.
NEW PATH - If you have multiple destinations, find another destination when you arrive at the first destination.
STAND - standing in place
Pedestrian Animation : choose Pedestrian Animation
Idle - a pedestrian standing still
BT_IdleWalk: a pedestrian walking mode
Run: a pedestrian running mode
Reference Video (Pedestrian Motion)
Motion Pedestrian parameter (In the case of police 1)
Pedestrian Mode Type : pedestrian behavior type (Unavailable)
Pedestrian Animation : select Pedestrian Animation
Police_Handsignal_Idle_1
Police_Handsignal_FStop
FStop
FtoR
BtoL
Police_Handsignal_FandL_Stop (Based on the receiver)
Police_Handsignal_FandL (Based on the receiver)
Police_Handsignal_LRStop
LRStop
RtoB
LtoF
Police_Handsignal_RtoL
RtoL
LtoR
Police_Handsignal_FtoB
FtoB
BtoF
Reference video clip (Police Hand-Signal)
Pedestrian SpawnPoint
Spawn Objects List - select Spawn Point Icon
Select PedSpawnPoint
Shift + left click to generate Spawn point, Ctrl + click to generate destination point, Alt + left click to delete.
PedSpawnPoint parameter (“This could be used in [pedestrian_name]_ai” )
Pedestrian Count : specify the number of Pedestrians spawned.
Pedestrian Mode Type : select the behavior type of Pedestrian
ONCE - change destination to idle state when destination is set.
CLOSE LOOP - delete it on arrival of destination.
REPEAT - On arrival of its destination, repeat its process by teleporting toward the original location.
LOOP - make a round trip from departing location to the destination.
NEW PATH - If you have multiple destinations, find another destination when you arrive at the first destination.
STAND - standing in place
Pedestrian Animation : select Pedestrian Animation
Timer : select the period of spawned pedestrian cycle.
Destination : Specify destination point
Reference Video
Object placement
Spawn Objects List - Select Object
Select object type
Shift + left click to create and Alt + left click to delete
Object’s location and angle values could are modifiable
Object’s location replacement and rotation are enabled by changing its Position and Rotation values.
Position : Object’s location could be modified followed by the change of x,y,z field values.
Rotation : Object’s angle could be modified followed by the change of x,y,z field values.
Scale : Object’s size could be modified followed by the change of x,y,z field values. UPDATE
Reference Video
Shaded Area Placement
Select Edit - Scenario - Map Edit mode
Select ShadedArea.
Shift + Left click will generate it, and. Alt + Left click will delete it.
Shaded Area’s Size, Position, and Rotation items could be modified.
After selecting Size, Position, and Rotation, you can drag and drop to adjust/move/rotate the Shaded area.
POS XYZ : Select the axis you want to move (X,Y,Z). Enter a value or click, drag and drop to modify the position.
e.g : Move X by 10
ROT PYR : Select the axis (P,Y,R) you want to modify. Enter a value or click, drag, and drop to modify Rotation.
e.g : rotate pitch 45 degree
Size XYZ : Size XYZ: Select the size of axis (size X,Y,Z) you want to modify. Enter a value, click, drag, and drop to modify the size.
e.g : Size Change to X 2.0m
Specific setting configurations could be done on Sensor Setting by clicking each sensor toggle.
GPS
When setting Blackout in the Noise Type, Latitude, Longitude, and Altitude values are output as 0.
After selecting noise within the Noise Type, the GPS output value is changed according to the Gaussian Noise parameter.
IMU
When setting Blackout, Orientation, Angular Velocity, Linear Acceleration values are output as 0.
After selecting noise within the noise type, the IMU output value fluctuates according to parameters within Gaussian Noise, Bias-Instability Noise, and Random Walk Noise.
LiDAR
When setting Blackout in the Noise Type, the Point Cloud value is output as an empty value.
After selecting noise within the noise type, the LiDAR output value is changed according to the Gaussian Noise parameter.
Scenario Management
Save
Click on the following order: Spawn Objects List - Scenario - Save Scenario
Information about one’s current vehicles, vehicles, pedestrians, and obstacles can be saved.
Load
Click on the following order: Spawn Objects List - Scenario - Load Scenario
Information about one’s current vehicles, vehicles, pedestrians, and obstacles can be b.
Reset
Click on the following order: Edit - Scenario - Reset Spawned Actors
All vehicles, pedestrians and obstacles in the current map can be initialized in batches.