Highly automated or autonomous driving relies on sensor technologies such as lidar, radar, camera, ultrasonic or GPS to interpret the vehicle surrounding and locate itself in the environment. The trend towards shorter development cycles in the automotive industry requires hardware benchmarking and vehicle packaging as well as model, software and hardware in the loop early in the development cycle.
The Tronis® sensor package provides all the means for vehicle and sensor simulation early in the development cycle. It gives you real-time access to raw data being generated close to the analog digital interface of each sensor and thus allows evaluating and prototyping of post processing and control algorithms.
The Tronis® Camera module acts as a virtual camera attached to the vehicle. You can precisely adjust the position of the monocular or stereo multiple camera and parameterize them according to your needs, e.g. in terms of camera resolution, view ankle etc. The virtual camera generates raw data of image flows and makes it available to the control module in real-time. Likewise, you will be able to evaluate the performance of the camera in various scenarios as e.g. in night drives, adverse weather conditions, glazing sunlight or further critical visual situations. An additional post processing also extends the camera model to provide desired lens effects, e.g. vignetting or distortions.
In contrast to a stereo camera or a laser scanner, a lidar sensor does not perceive the environment from one snapshot, but instead scans the topology of the environment point by point. The movement of the vehicle must be updated at high frequencies, whereby the update frequency of the classic rendering pipeline of the gaming engine is not high enough. In order to guarantee high-frequency data acquisition, the efficient rayshooting technology is used.
Tronis® Radar gives a virtual representation of a flow of raw data images. It is based on 3D-raytracing working in real-time. In the same way as the camera module, you can precisely adjust the position and parameterize the virtual sensor according to your hardware configuration. You can adjust path lengths, signal amplitudes and frequency shifts. As is a real radar, ghosting effects resulting from multiple reflection are taken into account, too. Tronis® Radar provides a C++ interface for accessing the data.
Modern 3D-Engine like the Unreal Engine can be very complex and overwhelming on the get go for first time users. The Tronis® Graphical User Interface allows the user to easily access important and relevant features for creating a complex automotive simulation environment. Specifically tailored to the day to day engineer, the Tronis® Graphical User Interface furthermore has modulare place and design utilities to quickly generate vast 3D-landscapes and environments using one-click imports or automatic tools. This not only saves significant time but also extends the functionallity of the editing environment.
Tronis® SDK provides a variety of examples for different use cases that will help you hook the simulation to your target application. As an example, you can take a look at a software-in-the-loop test of an autonomous emergency braking system. In addition to many predefined data types for actuators and sensors, you can specify custom data types based on JSON or CBOR. Many examples explain the coupling of your simulations with Tronis® in a co-simulation as state-of-the-art research suggests.
Connect the Tronis® simulation with many tools of your choice. Attach your application - from a point cloud visualization to a full-fledged ADAS device which injects its actions back into Tronis® as part of hardware-in-the-loop-tests. A collection of C++ libraries offers data type definitions and synchronization, coordinate transformations, serialization, file input/output and streaming via network sockets. Besides, Tronis® Connect supports many types of image formats, including HDR images, multiple compression algorithms and additional informations like depth or stencil buffers.
With the Tronis® Importer package complex described scenarios and environments ranging from vehicle behaviour to road networks can automatically be imported. Using our 1-click import, Tronis® Importers allow you to automatically import road networks, landscapes, vehicle behavior, vehicle maneuvers or road conditions with just one click. They support a number of different standards to map real driving situations and scenarios between independent applications.
- Driver assistance systems
- Localization and mapping
- Training of neural networks for e.g. object recognition
- OpenCRG® (in development)
- OpenStreetMap (in development)
In order to create realistic, detailed landscapes and scenarios, you may need a large selection of different and detailed 3D objects. The Tronis® Assets Module provides you with a set of different photorealistic easy-to-use 3D objects specifically tailored to automotive environments. The selection contains new environments, pedestrians, animations, textures, fully rigged vehicle models, props, static- and active objects, visual effects, add-on tools and full starter kits. Use the Tronis® GUI to import, search and filter project assets within the Tronis® Editor. Drag and drop assets directly into your scene and build out your world.
With Tronis® even complex effects, e.g. shadows of wind-blown foliage, reflections of a wet road or rain, are considered. When looking at a road sign, in contrast to the first-generation simulation environments, not only textures are visible, but also the fine reflection honeycombs, which can increase the visibility of the sign depending on the light conditions.
The use of large 3D worlds also enables virtual trips within mountain, forest, city and lake areas.
TRONIS® MOTION CONTROL
Control the movement of your dynamic objects (vehicles, pedestrians, ...) with the help of the Tronis® Motion Controller. Deterministic and reliable simulations require complex and detailed setting options regarding driving behavior, vehicle dynamics or vehicle visualization. A wide selection of different vehicles, vehicle types and pedestrians can be configured and set as desired. In combination with the Tronis® Sensor Package, complex and multi-faceted vehicle simulations can be created. Create repeatable test sequences for parking, overtaking and lane change maneuvers and much more. Based on this, real driving situations and traffic scenarios can be efficiently mapped and used for testing, e.g. for camera- and radar-based environment detection. This can significantly accelerate the development of such systems and reduce the need for real prototypes.
You have your sensors configured, your environment built and your scenarios defined? Get ready for running your own individual simulation! Use our interfaces to the Unreal engine to test and prototype your own control or signal processing algorithms implemented on Matlab/Simulink. Use signal data from different sensor sources to test your virtual vehicle in different environmental conditions or track corner cases in which your vehicle behavior deviates!
Customization: Tronis® provides all the means for building your own environment for prototyping highly automated driving systems. However, much is the same way any given environment, scenario and sensor will help you to build your own simulation, customization may be required to match the environment perfectly with your needs. We may build your environment, we have visualized your scenario and we may build your sensor model and a lot more. Tronis® combines a prototyping environment with given assets with the possibility of project-driven customization.