• Title/Summary/Keyword: autonomous simulator

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Autonomous-Driving Vehicle Learning Environments using Unity Real-time Engine and End-to-End CNN Approach (유니티 실시간 엔진과 End-to-End CNN 접근법을 이용한 자율주행차 학습환경)

  • Hossain, Sabir;Lee, Deok-Jin
    • The Journal of Korea Robotics Society
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    • v.14 no.2
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    • pp.122-130
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    • 2019
  • Collecting a rich but meaningful training data plays a key role in machine learning and deep learning researches for a self-driving vehicle. This paper introduces a detailed overview of existing open-source simulators which could be used for training self-driving vehicles. After reviewing the simulators, we propose a new effective approach to make a synthetic autonomous vehicle simulation platform suitable for learning and training artificial intelligence algorithms. Specially, we develop a synthetic simulator with various realistic situations and weather conditions which make the autonomous shuttle to learn more realistic situations and handle some unexpected events. The virtual environment is the mimics of the activity of a genuine shuttle vehicle on a physical world. Instead of doing the whole experiment of training in the real physical world, scenarios in 3D virtual worlds are made to calculate the parameters and training the model. From the simulator, the user can obtain data for the various situation and utilize it for the training purpose. Flexible options are available to choose sensors, monitor the output and implement any autonomous driving algorithm. Finally, we verify the effectiveness of the developed simulator by implementing an end-to-end CNN algorithm for training a self-driving shuttle.

Development of a Simulator for a Mobile Robot Based on iPhone (아이폰 기반의 이동로봇 시뮬레이터 개발)

  • Kim, Dong Hun
    • Journal of the Korean Institute of Intelligent Systems
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    • v.23 no.1
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    • pp.29-34
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    • 2013
  • This study presents the remote control of a mobile robot using iPhone based on ad hoc communication. Two control interfaces are proposed to control a mobile robot using iPhone : Remote control by a user and autonomous control. To evaluate the effectiveness of algorithms for trajectory following, a simulator are developed where a virtual robot follows a referenced trajectory in a monitor by iPhone interface. In the proposed simulator, some algorithms are tested how they work well or not for trajectory following of a mobile robot. Comparative results by remote user control and autonomous control are shown. Results of an experiment show that the proposed simulator can be effectively used for testing the effectiveness of autonomous tracking algorithms.

Development of Autonomous Navigation System Using Simulation Based on Unity-ROS (Unity-ROS 시뮬레이터 기반의 자율운항 시스템 개발 및 검증)

  • Kiwon Kim;Hyuntae Bang;Jeonghwa Seo;Wonkeun Youn
    • Journal of the Society of Naval Architects of Korea
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    • v.60 no.6
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    • pp.406-415
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    • 2023
  • In this study, we focused on developing and verifying ship collision avoidance algorithms using Unity simulator and ROS(Robot Operating System). ROS is used to establish an environment where communication between different operating systems is possible, and a dynamic model of a ship is constructed within Unity simulator. The Lidar data collected in Unity environment is passed to the system based on python through ROS. In the system based on python, control command values were created through the logic of the collision avoidance algorithm using data, and the values were transferred back to Unity to control the movement of the virtual ship. Through the developed simulation system, the reliability of the collision avoidance algorithm of ships with two different forms in an environment similar to the actual physical world was confirmed. As a result, it was confirmed on the simulator that it could be avoided without collision even in an environment with various types of obstacles, and that the avoidance characteristics according to the dynamics of the ship could be analyzed.

Development of Commercial Game Engine-based Low Cost Driving Simulator for Researches on Autonomous Driving Artificial Intelligent Algorithms (자율주행 인공지능 알고리즘 연구를 위한 상용 게임 엔진 기반 초저가 드라이빙 시뮬레이터 개발)

  • Im, Ji Ung;Kang, Min Su;Park, Dong Hyuk;Won, Jong hoon
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.20 no.6
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    • pp.242-263
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    • 2021
  • This paper presents a method to implement a low-cost driving simulator for developing autonomous driving algorithms. This is implemented by using GTA V, a physical engine-based commercial game software, containing a function to emulate output and data of various sensors for autonomous driving. For this, NF of Script Hook V is incorporated to acquire GT data by accessing internal data of the software engine, and then, various sensor data for autonomous driving are generated. We present an overall function of the developed driving simulator and perform a verification of individual functions. We explain the process of acquiring GT data via direct access to the internal memory of the game engine to build up an autonomous driving algorithm development environment. And, finally, an example applicable to artificial neural network training and performance evaluation by processing the emulated sensor output is included.

Interactive ADAS development and verification framework based on 3D car simulator (3D 자동차 시뮬레이터 기반 상호작용형 ADAS 개발 및 검증 프레임워크)

  • Cho, Deun-Sol;Jung, Sei-Youl;Kim, Hyeong-Su;Lee, Seung-gi;Kim, Won-Tae
    • Journal of IKEEE
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    • v.22 no.4
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    • pp.970-977
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    • 2018
  • The autonomous vehicle is based on an advanced driver assistance system (ADAS) consisting of a sensor that collects information about the surrounding environment and a control module that determines the measured data. As interest in autonomous navigation technology grows recently, an easy development framework for ADAS beginners and learners is needed. However, existing development and verification methods are based on high performance vehicle simulator, which has drawbacks such as complexity of verification method and high cost. Also, most of the schemes do not provide the sensing data required by the ADAS directly from the simulator, which limits verification reliability. In this paper, we present an interactive ADAS development and verification framework using a 3D vehicle simulator that overcomes the problems of existing methods. ADAS with image recognition based artificial intelligence was implemented as a virtual sensor in a 3D car simulator, and autonomous driving verification was performed in real scenarios.

IMU Sensor Emulator for Autonomous Driving Simulator (자율주행 드라이빙 시뮬레이터용 IMU 센서 에뮬레이터)

  • Jae-Un Lee;Dong-Hyuk Park;Jong-Hoon Won
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.23 no.1
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    • pp.167-181
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    • 2024
  • Utilization of a driving simulator in the development of autonomous driving technology allows us to perform various tests effectively in criticial environments, thereby reducing the development cost and efforts. However, there exists a serious drawback that the driving simulator has a big difference from the real environment, so a problem occurs when the autonomous driving algorithm developed using the driving simulator is applied directly to the real vehicle system. This is defined as so-called Sim2Real problem and can be classified into scenarios, sensor modeling, and vehicle dynamics. This Paper presensts on a method to solve the Sim2Real problem in autonomous driving simulator focusing on IMU sensor. In order to reduce the difference between emulated virtual IMU sensor real IMU sensor, IMU sensor emulation techniques through precision error modeling of IMU sensor are introduced. The error model of IMU sensors takes into account bias, scale factor, misalignmnet, and random walk by IMU sensor grades.

Development of Simulation Environment for Autonomous Driving Algorithm Validation based on ROS (ROS 기반 자율주행 알고리즘 성능 검증을 위한 시뮬레이션 환경 개발)

  • Kwak, Jisub;Yi, Kyongsu
    • Journal of Auto-vehicle Safety Association
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    • v.14 no.1
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    • pp.20-25
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    • 2022
  • This paper presents a development of simulation environment for validation of autonomous driving (AD) algorithm based on Robot Operating System (ROS). ROS is one of the commonly-used frameworks utilized to control autonomous vehicles. For the evaluation of AD algorithm, a 3D autonomous driving simulator has been developed based on LGSVL. Two additional sensors are implemented in the simulation vehicle. First, Lidar sensor is mounted on the ego vehicle for real-time driving environment perception. Second, GPS sensor is equipped to estimate ego vehicle's position. With the vehicle sensor configuration in the simulation, the AD algorithm can predict the local environment and determine control commands with motion planning. The simulation environment has been evaluated with lane changing and keeping scenarios. The simulation results show that the proposed 3D simulator can successfully imitate the operation of a real-world vehicle.

Selection of Evaluation Metrics for Grading Autonomous Driving Car Judgment Abilities Based on Driving Simulator (드라이빙 시뮬레이터 기반 자율주행차 판단능력 등급화를 위한 평가지표 선정)

  • Oh, Min Jong;Jin, Eun Ju;Han, Mi Seon;Park, Je Jin
    • KSCE Journal of Civil and Environmental Engineering Research
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    • v.44 no.1
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    • pp.63-73
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    • 2024
  • Autonomous vehicles at Levels 3 to 5, currently under global research and development, seek to replace the driver's perception, judgment, and control processes with various sensors integrated into the vehicle. This integration enables artificial intelligence to autonomously perform the majority of driving tasks. However, autonomous vehicles currently obtain temporary driving permits, allowing them to operate on roads if they meet minimum criteria for autonomous judgment abilities set by individual countries. When autonomous vehicles become more widespread in the future, it is anticipated that buyers may not have high confidence in the ability of these vehicles to avoid hazardous situations due to the limitations of temporary driving permits. In this study, we propose a method for grading the judgment abilities of autonomous vehicles based on a driving simulator experiment comparing and evaluating drivers' abilities to avoid hazardous situations. The goal is to derive evaluation criteria that allow for grading based on specific scenarios and to propose a framework for grading autonomous vehicles. Thirty adults (25 males and 5 females) participated in the driving simulator experiment. The analysis of the experimental results involved K-means cluster analysis and independent sample t-tests, confirming the possibility of classifying the judgment abilities of autonomous vehicles and the statistical significance of such classifications. Enhancing confidence in the risk-avoidance capabilities of autonomous vehicles in future hazardous situations could be a significant contribution of this research.

Design of Experimental Equipment for Evaluating Relaxed Passenger Postures in Autonomous Vehicle (자율주행자동차 탑승객의 편의자세 연구를 위한 실험기구 설계)

  • Seongho Kim;Seunghwan Bang;Youngju Jo;Jaeho Shin
    • Journal of Auto-vehicle Safety Association
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    • v.16 no.1
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    • pp.55-61
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    • 2024
  • The advancement of autonomous driving technology is expected to transform cars beyond mere transportation into multifunctional spaces for relaxation and entertainment. As autonomous driving technology becomes more sophisticated, with no need for direct driver control, the interior space of vehicles is anticipated to be utilized for various purposes. Consequently, the importance of car seats, the component most frequently interacted with by passengers during travel, is expected to significantly rise. However, existing car seats are designed according to a seated posture, necessitating verification for passenger safety and seat structure considerations in the context of autonomous driving, where comfortable postures may differ. For these reasons, it is anticipated that the seats of future autonomous vehicles will evolve with the incorporation of additional safety and convenience features. In this study, a three-axis car simulator was employed to investigate seat angles for comfortable postures of passengers in autonomous driving scenarios. Representative postures were identified to enhance passenger convenience. Furthermore, functional design factors contributing to passenger comfort were applied to conduct seat design, seat structure, and collision analysis, with an analysis of the interrelationships among design factors.