시나리오 생성
기록된 실제 센서 데이터에서 시나리오 생성
자율주행 응용 분야에서 시나리오 생성은 GPS(위성 측위 시스템), IMU(관성 측정 장치), 카메라, 라이다 센서에서 기록된 실제 차량 데이터로부터 가상 시나리오를 작성하는 프로세스입니다. Automated Driving Toolbox™는 시나리오 생성 프로세스를 자동화하는 함수와 툴을 제공합니다. 센서 데이터를 전처리하고, 도로를 추출하고, 액터의 위치를 추정하고, 액터 궤적을 구하여 실세계 시나리오를 정확히 반영한 디지털 트윈을 만들 수 있습니다. 생성된 시나리오를 시뮬레이션하고 자율주행 알고리즘을 실제 데이터와 비교하여 테스트합니다.
기록된 센서 데이터에서 시나리오를 생성하려면 애드온 탐색기에서 Scenario Builder for Automated Driving Toolbox 지원 패키지를 다운로드하십시오. 애드온 다운로드에 대한 자세한 내용은 애드온을 받고 관리하기 항목을 참조하십시오.
함수
도움말 항목
시작하기
- Overview of Scenario Generation from Recorded Sensor Data
Learn the basics of generating scenarios from recorded sensor data. - Coordinate Systems for Scenario Generation
Learn the coordinate system used in Scenario Builder for Automated Driving Toolbox support package workflows. - Optional Set Up for Scenario Generation
Learn how to download and install optional third-party software for Scenario Builder for Automated Driving Toolbox support package. - Extract Key Scenario Events from Recorded Sensor Data
Extract key scenario events from recorded sensor data.
장면 생성
- Generate RoadRunner Scene Using Processed Camera Data and GPS Data
Generate RoadRunner scene using labeled camera images and GPS data. - Generate RoadRunner Scene from Recorded Lidar Data
Generate RoadRunner HD map from recorded lidar data using pretrained deep learning model. - Generate High Definition Scene from Lane Detections and OpenStreetMap
Generate HD road scene using recorded lane detections, GPS data, and OpenStreetMap® data. - Generate RoadRunner Scene with Traffic Signs Using Recorded Sensor Data
Generate RoadRunner scene with traffic signs using recorded sensor data. - Generate RoadRunner Scene Using Aerial Lidar Data
Generate RoadRunner scene from aerial lidar data. - Generate RoadRunner Scene Using Aerial Hyperspectral and Lidar Data
Generate RoadRunner scene from aerial hyperspectral and lidar data. - Georeference Sequence of Point Clouds for Scene Generation
Georeference sequence of point clouds for scene generation. - Transform Aerial Point Cloud for Scene Generation
Georeference aerial point cloud for scene generation.
시나리오 생성
- Ego Vehicle Localization Using GPS and IMU Fusion for Scenario Generation
Localize ego vehicle by fusing GPS and IMU sensor data to generate virtual driving scenario. - Preprocess Lane Detections for Scenario Generation
Format lane detection data to update lane specifications for scenario generation. - Smooth GPS Waypoints for Ego Localization
Create jitter-limited ego trajectory by smoothing GPS and IMU sensor data. - Generate Scenario from Actor Track Data and GPS Data
Generate ASAM OpenSCENARIO® v1.0 file using recorded actor tracklist and GPS data. - Extract Vehicle Track List from Recorded Camera Data for Scenario Generation
Extract actor track list from raw camera data for scenario generation. - Extract 3D Vehicle Information from Recorded Monocular Camera Data for Scenario Generation
Extract 3D vehicle information from recorded monocular camera data for scenario generation. - Synchronize GPS, Camera, and Actor Track Data for Scenario Generation
Synchronize multiple recorded sensor data for scenario generation. (R2025a 이후)