自動運転AIにおけるUE4を用いたシミュレーション環境の構築【2019】

ઌਐӡసࢧԉγεςϜͷ‫͚͓ʹূݕ‬ΔԾ૝‫ڥ؀‬ͷඞཁੑ ‫ࡏݱ‬ͷࣗಈं͸ɺʮ૸Δɺࢭ·Δɺ‫͕ۂ‬ΔʯҎ֎ʹɺӡసऀ͕൑அͨ͜͠ͱΛઌਐӡసࢧԉγεςϜ ( ADAS : Advanced Driving Assist System ) ͕ࢧԉ͢Δ͜ͱͰɺΑΓ҆৺ɾ҆શͳ৐Γ෺ͱͳΓ·͢ɻ ͜ͷࢧԉγεςϜ͸ʮ‫ݟ‬ΔɺଌΔʯΛंࡌΧϝϥ΍Ϩʔμʔ౳Λ͸͡Ίͱͨ͠ɺ֤छηϯαΛ༻͍Δࣄ ʹΑͬͯߴ౓ͳ҆৺ɾ҆શΛՄೳʹ͍ͯ͠·͢ɻ ͦͷͨΊγεςϜ։ൃऀ͸ͦΕΒͷηϯγϯάσόΠεʹରͯ͠ө૾΍ۭؒσʔλΛ༻͍ͨγεςϜ‫ݕ‬ ূΛߦ͏ඞཁ͕͋Γ·͢ɻ ๲େͳ૸ߦө૾΍ۭؒσʔλΛ࢖༻ Copy Right by VERTechs, Inc. 7&35FDIT
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ઌਐӡసࢧԉγεςϜͷ‫͚͓ʹূݕ‬ΔԾ૝‫ڥ؀‬ͷඞཁੑ ࣮ࡏͷγϡνϡΤʔγϣϯͰ๲େͳ૸ߦө૾΍ۭؒσʔλΛॴಘ͠‫ূݕ‬Λߦ͏͜ͱ͸ඇৗʹࠔ೉Ͱ͋Δ ఱީͳͲͷίϯτϩʔϧͰ͖ͳ͍‫ڥ؀‬Λ࣮ࡍʹ‫ͨ͏࢖ʹূݕ‬Ίʹ͸๲େͳ࣌ؒͱίετ͕͔͔Δ ςετΛ͍ͨ͠γνϡΤʔγϣϯ͸ͦ΋ͦ΋‫͍͓ͯʹ࣮ݱ‬ϨΞͳ͜ͱ͕ଟ͍ɻී௨ʹ͸‫͍ͳ͖ى‬ ඞཁͳ‫ূݕ‬ө૾ͷείʔϓ͕๲େͰ͋Δ ੍‫݁ޚ‬ՌΛ൓өͨ͠ಈతͳ‫͕ূݕ‬ඞཁͰ͋Δ ίϯτϩʔϧՄೳͳԾ૝‫͕ڥ؀‬ඞཁͰ͋Δ Copy Right by VERTechs, Inc. 7&35FDIT
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Ծ૝‫ʹڥ؀‬ΑΔ‫ূݕ‬ͷͨΊͷϓϩηε Ծ૝‫ڥ؀‬Λ࢖༻ֶ͠शσʔλͷ࡞੒΍‫ূݕ‬Λߦ͏ͨΊʹ͸ଟ͘ͷϓϩηε͕͋Δɻͦͷશͯͷϓϩηε͕࿈ ಈ࢝͠Ίͯ౷߹తͳ‫͑ߦ͕ূݕ‬Δͱ‫͑ݴ‬Δ Ծ૝‫ڥ؀‬ͷߏங Ծ૝‫ڥ؀‬ͷ࢖༻ ۭؒσʔλߏங ֶशσʔλͷ࡞੒ ̏DϞσϦϯά ‫ূݕ‬γφϦΦͷ࡞੒ ಈ࡞‫ڥ؀‬ͷߏங Copy Right by VERTechs, Inc. 7&35FDIT
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ΧϝϥɾΠϯɾβɾϧʔϓΛ࣮‫͢ݱ‬ΔԾ૝‫ྫڥ؀‬ ʹΑΔϑϡʔδϣϯηϯγϯάͷ4*-4ྫ Ծ૝‫( ڥ؀‬UE4ɾAUTO City) AUTO City Χϝ ࣗಈӡస‫( ڥ؀‬ex Autoware) image_rawʢVideo captureʣ ৴߸ॲཧ ը૾ॲཧ LiDAR Plugin ೝࣝॲཧ Velodyne Protocol(UDP) ෺ମ‫ݕ‬ग़ Point Cloud MAP (data convert) ं྆Ϟσϧ ‫ڥ؀‬ ADAS MAP (data convert) ঢ়‫گ‬൑அɹߦಈܾఆ ੍‫ॲޚ‬ཧ ं੍྆‫ޚ‬৘ใ(UDP) VCAR ‫ڍ‬ಈγϛϡϨʔλʔ ࠲ඪ৘ใʢUDP) (ex CarSim) Copy Right by VERTechs, Inc. 7&35FDIT
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Ծ૝‫ߏڥ؀‬ஙϓϩηε Ծ૝‫ڥ؀‬Λߏங͢Δ̏ͭͷ޻ఔ ۭؒσʔλߏங ̏DϞσϦϯά ಈ࡞‫ڥ؀‬ͷߏங Copy Right by VERTechs, Inc. 7&35FDIT
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Ծ૝‫΁ڥ؀‬ͷೖྗ ߏங͞Εۭͨؒσʔλ͸ଟछʹΘͨΔͨΊήʔϜΤϯδϯΛ͸͡Ίͱͨ͠Ծ૝‫ڥ؀‬Λߏங͢Δϓϥο τϑΥʔϜ্Ͱಈ࡞͢Δσʔλʹ࠷దԽ͢Δඞཁ͕͋Δ Ծ૝‫( ڥ؀‬UE4ɾAUTO City) ۭؒσʔλ AUTO City Χϝ σʔλϕʔε‫༻׆‬ LiDAR Plugin 3DϚοϐϯά 3D modeling ं྆Ϟσϧ Սۭͷ‫ڥ؀‬Λઃ‫͢ܭ‬Δ VCAR Copy Right by VERTechs, Inc. 7&35FDIT
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̏%γʔϯ͔Βͷग़ྗ ߏங͞Εͨ̏Dσʔλ಺Λ૸Δं྆Ϟσϧʢόʔνϟϧηϯαʔʣ͔ΒσʔλΛग़ྗ Ծ૝‫( ڥ؀‬UE4ɾAUTO City) ࣗಈӡస‫( ڥ؀‬ex Autoware) ‫ڞ‬௨ͷ‫ڥ؀‬Ϟσϧ͔ΒσʔλΛੜ੒ AUTO City Χϝ image_rawʢVideo captureʣ image_raw ηϯαʔσʔλ ৴߸ॲཧ ը૾ॲཧ LiDAR Plugin ೝࣝॲཧ ஍ਤDB Velodyne Protocol(UDP) ෺ମ‫ݕ‬ग़ Velodyne Protocol ं྆Ϟσϧ ‫ڥ؀‬ Point Cloud MAP (data convert) ঢ়‫گ‬൑அɹߦಈܾఆ PointCloud MAP ADAS MAP (data convert) ੍‫ॲޚ‬ཧ ADAS MAP ं੍྆‫ޚ‬৘ใ(UDP) VCAR ࠲ඪ৘ใʢUDP) ‫ڍ‬ಈγϛϡϨʔλʔ (ex CarSim) Copy Right by VERTechs, Inc. 7&35FDIT
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ଞͷγϛϡϨʔγϣϯ‫ͱڥ؀‬ͷ‫ࠐ͗ܨ‬Έ ηϯαʔγϛϡϨʔγϣϯͱଞͷγϛϡϨʔγϣϯΛ߹ΘͤΔ͜ͱʹΑͬͯਫ਼౓ͷߴ͍‫ূݕ‬Λߦ͏ Ծ૝‫( ڥ؀‬UE4ɾAUTO City) ࣗಈӡస‫( ڥ؀‬ex Autoware) ϋʔυ΢ΤΞ‫ܥ‬γϛϡϨʔλʔ AUTO City Χϝ image_rawʢVideo captureʣ ं੍྆‫ޚ‬৘ใ(UDP) ৴߸ॲཧ ը૾ॲཧ LiDAR Plugin ೝࣝॲཧ Velodyne Protocol(UDP) ෺ମ‫ݕ‬ग़ Real-time PC‫ܥ‬ (dSPACE or ETAS) Steering, Brake, Accel. Point Cloud MAP (data convert) ं྆Ϟσϧ ‫ڥ؀‬ ADAS MAP (data convert) ঢ়‫گ‬൑அɹߦಈܾఆ ੍‫ॲޚ‬ཧ VCAR Copy Right by VERTechs, Inc. ࠲ඪ৘ใʢUDP) 7&35FDIT
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Ծ૝‫༻࢖ڥ؀‬ύΠϓϥΠϯ Ծ૝‫ڥ؀‬Λ࢖༻ʹͯ͠࡞੒͢Δ̎ͭσʔλ ֶशσʔλͷ࡞੒ ‫ূݕ‬γφϦΦͷ࡞੒ Copy Right by VERTechs, Inc. 7&35FDIT
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แ‫ׅ‬తͳ‫ڥ؀ূݕ‬ ‫ݸ‬ผͷ‫ڥ؀ূݕ‬Λ౷Ұ͍ͯ͘͜͠ͱͰแ‫ׅ‬తͳ‫ূݕ‬Λߦ͏͜ͱ͕Ͱ͖Δ ৘ใೖྗ ೝ஌ ൑அɾߦಈܾఆ ग़ྗ ं੍྆‫ޚ‬ Ϩʔμʔηϯα LiDAR Sensor ৴߸ॲཧ ύϫʔτϨΠϯ ৘ใ౷߹ ঢ়‫گ‬൑அ ը૾ॲཧ Χϝϥηϯα ʢηϯαʔ৘ใ ೝࣝॲཧ ੍‫ॲޚ‬ཧ ߦಈܾఆ ֎෦σʔλʣ ෺ମ‫ݕ‬ग़ ϘσΟʔ γϟʔγ etc…… ‫׳‬ੑηϯα ηϯαʔॲཧ ੍‫ޚ‬ECU AIʹΑΔॲཧྖҬ V2X / GPSɾ MAP ֎෦͔Βͷ৘ใ ˙ೖྗηϯαͷ܏޲‫ূݕ‬ ˙֤ηϯαʔ͔Βͷ৘ใೖྗʹΑΔ
˙ਖ਼֬ͳঢ়‫گ‬൑அΛߦ͏‫ূݕ‬ ˙੍‫͞ޚ‬Εͨ‫ڍ‬ಈʹର͢Δ
ɹঢ়‫گ‬ೝ஌ͷ‫ূݕ‬ ˙ߦಈܾఆΞϧΰϦζϜ ɹಈత‫ূݕ‬ ˙ηϯαʔϑϡʔδϣϯͷ‫ূݕ‬ ˙੍‫ॲޚ‬ཧͷ܏޲‫ূݕ‬ แ‫ׅ‬తͳ‫ڥ؀ূݕ‬ Copy Right by VERTechs, Inc. 7&35FDIT
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