仿真平台API
Ego车辆
车辆物理数据
- 车辆尺寸
- 车辆自身坐标系
车辆控制
- 油门
- 转向
- 刹车
- 手刹
- 倒车
车辆状态参数
- 速度
- 加速度
- 偏转
- 位置坐标
车辆动力学控制
- 扭矩
- max rpm
- 车辆瞬时惯性
- 最大油门阻尼
- 空油门阻尼
- ……
传感器
传感器监听
listen（self, callback）
该函数可以在每次传感器获取到数据后，将其传输到callback中。
传感器数据
所有传感器数据有以下属性：
- frame（int）产生数据时的帧数
- timestamp（float）产生数据时的仿真器时间
- transform（carla.transform）产生数据时传感器的位置信息（包含坐标信息和rotation信息
Depth camera
该传感器提供了视野中每个像素点的距离的深度地图。
图像通过记录每个像素点在三个频道（R、G、B）的色域，实际的距离（单位米）可以通过一下解码获得：
normalized = (R + G * 256 + B * 256 * 256) / (256 * 256 * 256 - 1)
in_meters = 1000 * normalized
基础的摄像头属性
| Blueprint attribute | Type | Default | Description |
|---|---|---|---|
image_size_x |
int | 800 | Image width in pixels. |
image_size_y |
int | 600 | Image height in pixels. |
fov |
float | 90.0 | Horizontal field of view in degrees. |
sensor_tick |
float | 0.0 | Simulation seconds between sensor captures (ticks). |
像头镜头属性
| Blueprint attribute | Type | Default | Description |
|---|---|---|---|
lens_circle_falloff |
float | 5.0 | Range: [0.0, 10.0] |
lens_circle_multiplier |
float | 0.0 | Range: [0.0, 10.0] |
lens_k |
float | -1.0 | Range: [-inf, inf] |
lens_kcube |
float | 0.0 | Range: [-inf, inf] |
lens_x_size |
float | 0.08 | Range: [0.0, 1.0] |
lens_y_size |
float | 0.08 | Range: [0.0, 1.0] |
输出属性
| Sensor data attribute | Type | Description |
|---|---|---|
frame |
int | Frame number when the measurement took place. |
timestamp |
double | Simulation time of the measurement in seconds since the beginning of the episode. |
transform |
carla.Transform | Location and rotation in world coordinates of the sensor at the time of the measurement. |
width |
int | Image width in pixels. |
height |
int | Image height in pixels. |
fov |
float | Horizontal field of view in degrees. |
raw_data |
bytes | Array of BGRA 32-bit pixels. |
GNSS传感器
GNSS 属性
| Blueprint attribute | Type | Default | Description |
|---|---|---|---|
noise_alt_bias |
float | 0.0 | Mean parameter in the noise model for altitude. |
noise_alt_stddev |
float | 0.0 | Standard deviation parameter in the noise model for altitude. |
noise_lat_bias |
float | 0.0 | Mean parameter in the noise model for latitude. |
noise_lat_stddev |
float | 0.0 | Standard deviation parameter in the noise model for latitude. |
noise_lon_bias |
float | 0.0 | Mean parameter in the noise model for longitude. |
noise_lon_stddev |
float | 0.0 | Standard deviation parameter in the noise model for longitude. |
noise_seed |
int | 0 | Initializer for a pseudorandom number generator. |
sensor_tick |
float | 0.0 | Simulation seconds between sensor captures (ticks). |
输出属性
| Sensor data attribute | Type | Description |
|---|---|---|
frame |
int | Frame number when the measurement took place. |
timestamp |
double | Simulation time of the measurement in seconds since the beginning of the episode. |
transform |
carla.Transform | Location and rotation in world coordinates of the sensor at the time of the measurement. |
latitude |
double | Latitude of the actor. |
longitude |
double | Longitude of the actor. |
altitude |
double | Altitude of the actor. |
IMU传感器
IMU attributes
| Blueprint attribute | Type | Default | Description |
|---|---|---|---|
noise_accel_stddev_x |
float | 0.0 | Standard deviation parameter in the noise model for acceleration (X axis). |
noise_accel_stddev_y |
float | 0.0 | Standard deviation parameter in the noise model for acceleration (Y axis). |
noise_accel_stddev_z |
float | 0.0 | Standard deviation parameter in the noise model for acceleration (Z axis). |
noise_gyro_bias_x |
float | 0.0 | Mean parameter in the noise model for the gyroscope (X axis). |
noise_gyro_bias_y |
float | 0.0 | Mean parameter in the noise model for the gyroscope (Y axis). |
noise_gyro_bias_z |
float | 0.0 | Mean parameter in the noise model for the gyroscope (Z axis). |
noise_gyro_stddev_x |
float | 0.0 | Standard deviation parameter in the noise model for the gyroscope (X axis). |
noise_gyro_stddev_y |
float | 0.0 | Standard deviation parameter in the noise model for the gyroscope (Y axis). |
noise_gyro_stddev_z |
float | 0.0 | Standard deviation parameter in the noise model for the gyroscope (Z axis). |
noise_seed |
int | 0 | Initializer for a pseudorandom number generator. |
sensor_tick |
float | 0.0 | Simulation seconds between sensor captures (ticks). |
Output attributes
| Sensor data attribute | Type | Description |
|---|---|---|
frame |
int | Frame number when the measurement took place. |
timestamp |
double | Simulation time of the measurement in seconds since the beginning of the episode. |
transform |
carla.Transform | Transform in world. |
accelerometer |
carla.Vector3D | Measures linear acceleration in m/s^2. |
gyroscope |
carla.Vector3D | Measures angular velocity in rad/sec. |
compass |
float | Orientation in radians. North is (0.0, -1.0, 0.0) in UE. |
激光雷达
激光雷达属性
| Blueprint attribute | Type | Default | Description |
|---|---|---|---|
channels |
int | 32 | Number of lasers. |
range |
float | 10.0 | Maximum distance to measure/raycast in meters (centimeters for CARLA 0.9.6 or previous). |
points_per_second |
int | 56000 | Points generated by all lasers per second. |
rotation_frequency |
float | 10.0 | Lidar rotation frequency. |
upper_fov |
float | 10.0 | Angle in degrees of the highest laser. |
lower_fov |
float | -30.0 | Angle in degrees of the lowest laser. |
sensor_tick |
float | 0.0 | Simulation seconds between sensor captures (ticks). |
输出属性
| Sensor data attribute | Type | Description |
|---|---|---|
frame |
int | Frame number when the measurement took place. |
timestamp |
double | Simulation time of the measurement in seconds since the beginning of the episode. |
transform |
carla.Transform | Location and rotation in world coordinates of the sensor at the time of the measurement. |
horizontal_angle |
float | Angle (radians) in the XY plane of the lidar this frame. |
channels |
int | Number of channels (lasers) of the lidar. |
get_point_count(channel) |
int | Number of points per channel captured this frame. |
raw_data |
bytes | Array of 32-bits floats (XYZ of each point). |
障碍物检测传感器
在没有感知算法的情况下获取ego车辆前方的障碍物。
| Blueprint attribute | Type | Default | Description |
|---|---|---|---|
distance |
float | 5 | Distance to trace. |
hit_radius |
float | 0.5 | Radius of the trace. |
only_dynamics |
bool | false | If true, the trace will only consider dynamic objects. |
debug_linetrace |
bool | false | If true, the trace will be visible. |
sensor_tick |
float | 0.0 | Simulation seconds between sensor captures (ticks). |
输出属性
| Sensor data attribute | Type | Description |
|---|---|---|
frame |
int | Frame number when the measurement took place. |
timestamp |
double | Simulation time of the measurement in seconds since the beginning of the episode. |
transform |
carla.Transform | Location and rotation in world coordinates of the sensor at the time of the measurement. |
actor |
carla.Actor | Actor that detected the obstacle (parent actor). |
other_actor |
carla.Actor | Actor detected as an obstacle. |
distance |
float | Distance from actor to other_actor. |
毫米波雷达传感器
| Blueprint attribute | Type | Default | Description |
|---|---|---|---|
horizontal_fov |
float | 30 | Horizontal field of view in degrees. |
points_per_second |
int | 1500 | Points generated by all lasers per second. |
range |
float | 100 | Maximum distance to measure/raycast in meters. |
sensor_tick |
float | 0.0 | Simulation seconds between sensor captures (ticks). |
vertical_fov |
float | 30 | Vertical field of view in degrees. |
Output attributes
| Sensor data attribute | Type | Description |
|---|---|---|
| raw_data | list(carla.RadarDetection) | The list of points detected |
| RadarDetection attributes | Type | Description |
|---|---|---|
altitude |
float | Altitude angle in radians. |
azimuth |
float | Azimuth angle in radians. |
depth |
float | Distance in meters. |
velocity |
float | Velocity towards the sensor. |
RGB摄像头
基本摄像头属性
| Blueprint attribute | Type | Default | Description |
|---|---|---|---|
fov |
float | 90.0 | Horizontal field of view in degrees. |
fstop |
float | 1.4 | Opening of the camera lens. Aperture is 1 / fstop with typical lens going down to f / 1.2 (larger opening). Larger numbers will reduce the Depth of Field effect. |
image_size_x |
int | 800 | Image width in pixels. |
image_size_y |
int | 600 | Image height in pixels. |
iso |
float | 1200.0 | The camera sensor sensitivity. |
gamma |
float | 2.2 | Target gamma value of the camera. |
sensor_tick |
float | 0.0 | Simulation seconds between sensor captures (ticks). |
shutter_speed |
float | 60.0 | The camera shutter speed in seconds (1.0 / s). |
摄像头镜头属性
| Blueprint attribute | Type | Default | Description |
|---|---|---|---|
lens_circle_falloff |
float | 5.0 | Range: [0.0, 10.0] |
lens_circle_multiplier |
float | 0.0 | Range: [0.0, 10.0] |
lens_k |
float | -1.0 | Range: [-inf, inf] |
lens_kcube |
float | 0.0 | Range: [-inf, inf] |
lens_x_size |
float | 0.08 | Range: [0.0, 1.0] |
lens_y_size |
float | 0.08 | Range: [0.0, 1.0] |
高级摄像头属性
| Blueprint attribute | Type | Default | Description |
|---|---|---|---|
min_fstop |
float | 1.2 | Maximum aperture. |
blade_count |
int | 5 | Number of blades that make up the diaphragm mechanism. |
exposure_mode |
str | "manual" |
Can be "manual" or "histogram". More in [UE4 docs][AutomaticExposure.gamesetting]. |
exposure_compensation |
float | 3.0 | Logarithmic adjustment for the exposure. 0: no adjustment, -1:2x darker, -2:4 darker, 1:2x brighter, 2:4x brighter. |
exposure_min_bright |
float | 0.1 | In exposure_mode: "histogram". Minimum brightness for auto exposure. The lowest the eye can adapt within. Must be greater than 0 and less than or equal to exposure_max_bright. |
exposure_max_bright |
float | 2.0 | In exposure_mode: "histogram". Maximum brightness for auto exposure. The highestthe eye can adapt within. Must be greater than 0 and greater than or equal to exposure_min_bright. |
exposure_speed_up |
float | 3.0 | In exposure_mode: "histogram". Speed at which the adaptation occurs from dark to bright environment. |
exposure_speed_down |
float | 1.0 | In exposure_mode: "histogram". Speed at which the adaptation occurs from bright to dark environment. |
calibration_constant |
float | 16.0 | Calibration constant for 18% albedo. |
focal_distance |
float | 1000.0 | Distance at which the depth of field effect should be sharp. Measured in cm (UE units). |
blur_amount |
float | 1.0 | Strength/intensity of motion blur. |
blur_radius |
float | 0.0 | Radius in pixels at 1080p resolution to emulate atmospheric scattering according to distance from camera. |
motion_blur_intensity |
float | 0.45 | Strength of motion blur [0,1]. |
motion_blur_max_distortion |
float | 0.35 | Max distortion caused by motion blur. Percentage of screen width. |
motion_blur_min_object_screen_size |
float | 0.1 | Percentage of screen width objects must have for motion blur, lower value means less draw calls. |
slope |
float | 0.88 | Steepness of the S-curve for the tonemapper. Larger values make the slope steeper (darker) [0.0, 1.0]. |
toe |
float | 0.55 | Adjusts dark color in the tonemapper [0.0, 1.0] |
shoulder |
float | 0.26 | Adjusts bright color in the tonemapper [0.0, 1.0] |
black_clip |
float | 0.0 | This should NOT be adjusted. Sets where the crossover happens and black tones start to cut off their value [0.0, 1.0]. |
white_clip |
float | 0.04 | Set where the crossover happens and white tones start to cut off their value. Subtle change in most cases [0.0, 1.0]. |
temp |
float | 6500.0 | White balance in relation to the temperature of the light in the scene. White light: when this matches light temperature. Warm light: When higher than the light in the scene, it is a yellowish color. Cool light: When lower than the light. Blueish color. |
tint |
float | 0.0 | White balance temperature tint. Adjusts cyan and magenta color ranges. This should be used along with the white balance Temp property to get accurate colors. Under some light temperatures, the colors may appear to be more yellow or blue. This can be used to balance the resulting color to look more natural. |
chromatic_aberration_intensity |
float | 0.0 | Scaling factor to control color shifting, more noticeable on the screen borders. |
chromatic_aberration_offset |
float | 0.0 | Normalized distance to the center of the image where the effect takes place. |
enable_postprocess_effects |
bool | True | Post-process effects activation. |
输出属性
| Sensor data attribute | Type | Description |
|---|---|---|
frame |
int | Frame number when the measurement took place. |
timestamp |
double | Simulation time of the measurement in seconds since the beginning of the episode. |
transform |
carla.Transform | Location and rotation in world coordinates of the sensor at the time of the measurement. |
width |
int | Image width in pixels. |
height |
int | Image height in pixels. |
fov |
float | Horizontal field of view in degrees. |
raw_data |
bytes | Array of BGRA 32-bit pixels. |
语义分割摄像头
| Value | Tag | Converted color |
|---|---|---|
| 0 | Unlabeled | ( 0, 0, 0) |
| 1 | Building | ( 70, 70, 70) |
| 2 | Fence | (190, 153, 153) |
| 3 | Other | (250, 170, 160) |
| 4 | Pedestrian | (220, 20, 60) |
| 5 | Pole | (153, 153, 153) |
| 6 | Road line | (157, 234, 50) |
| 7 | Road | (128, 64, 128) |
| 8 | Sidewalk | (244, 35, 232) |
| 9 | Vegetation | (107, 142, 35) |
| 10 | Car | ( 0, 0, 142) |
| 11 | Wall | (102, 102, 156) |
| 12 | Traffic sign | (220, 220, 0) |
基本摄像头属性
| Blueprint attribute | Type | Default | Description |
|---|---|---|---|
fov |
float | 90.0 | Horizontal field of view in degrees. |
image_size_x |
int | 800 | Image width in pixels. |
image_size_y |
int | 600 | Image height in pixels. |
sensor_tick |
float | 0.0 | Simulation seconds between sensor captures (ticks). |
摄像头镜头属性
| Blueprint attribute | Type | Default | Description |
|---|---|---|---|
lens_circle_falloff |
float | 5.0 | Range: [0.0, 10.0] |
lens_circle_multiplier |
float | 0.0 | Range: [0.0, 10.0] |
lens_k |
float | -1.0 | Range: [-inf, inf] |
lens_kcube |
float | 0.0 | Range: [-inf, inf] |
lens_x_size |
float | 0.08 | Range: [0.0, 1.0] |
lens_y_size |
float | 0.08 | Range: [0.0, 1.0] |
输出属性
| Sensor data attribute | Type | Description |
|---|---|---|
fov |
float | Horizontal field of view in degrees. |
frame |
int | Frame number when the measurement took place. |
height |
int | Image height in pixels. |
raw_data |
bytes | Array of BGRA 32-bit pixels. |
timestamp |
double | Simulation time of the measurement in seconds since the beginning of the episode. |
transform |
carla.Transform | Location and rotation in world coordinates of the sensor at the time of the measurement. |
width |
int | Image width in pixels. |
运动轨迹控制
沿着航点行进，需要自己根据车辆的控制属性来进行算法的编写。
道路参数
- road ID
carla.Waypoint.road_id - section ID
carla.Waypoint.section_id - lane ID
carla.Waypoint.lane_id - s
carla.Waypoint.s - is junction(bool)
- lane width
carla.Waypoint.lane_width - lane type
carla.Waypoint.lane_type
