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sensors and traffic
Moving objects can mimic traffic vehicles for use with ADAS sensors. Click for more detail.

BikeSim, CarSim, and TruckSim use custom vehicle math models. Some VehicleSim model features exist in all three products.

This page describes Moving Objects and ADAS Sensors.

Moving Objects and ADAS Sensors

BikeSim, CarSim, and TruckSim include up to 200 objects whose locations and motions are independent of the simulated vehicle. These objects can represent other vehicles, fixed objects (trees, buildings), pedestrians, animals, paint markings, and other object of interest for applications involving advanced driver assistance systems (ADAS).

VS Math Models also support ADAS sensors (camera, ultrasound, etc.) that each detect the target objects.

Traffic and Target Objects

A VS Moving Object is something with a location and orientation that might be of interest when simulating a vehicle in a VehicleSim product. As a minimum, the object is represented by a set of variables that define a location and orientation for animation or communication with other software. When combined with ranging sensors, the object becomes a target that can be detected.

The objects can be recycled so that when they go out of a specified distance range they will disappear and then reappear in a new location; this capability raises the apparent number of objects in some scenarios to be much higher than 200.

Two screens in the VS Browser support some common forms of behavior for the objects.

Advanced users can control the motions with external models (e.g., Simulink) or VS Commands. Each object can be located in the XY plane using either X and Y global coordinates, or using a station coordinate S along with a specified Reference Path ID. Vertical information can be set directly, or based on S and L coordinate for a specified VS Road.

The sensing of object points takes occlusion (blocking) into account using rectangular or circular shapes. Click for full size.

ADAS Sensors

BikeSim, CarSim, and TruckSim support up to 99 ADAS sensors that interact with the moving objects. An extended license is needed in order to use ADAS sensors. However, moving objects are available with any license.

Each sensor has a location fixed in some part of the simulated vehicle, with a designated aiming direction and sensitivity to radiation pattern and range. The sprung mass is the default location in all VehicleSim products. Sensors in CarSim and TruckSim vehicles can alternatively be mounted in trailer sprung masses if they exist; sensors in BikeSim can alternatively be mounted on the steering head.

The main outputs of interest are variables that link a sensor to a detected object. Each possible combination of sensor and target object has an associated set of output variables that can be used in user-defined models to simulate advanced intervention controls. These include bearing angles to the left edge, right edge, and closest point; distances to the left edge, right edge, and closest point; ID of object; relative speed to the closest point; width; coordinates in the sensor X-Y-Z coordinate system; relative speeds in the sensor X and Z directions; etc.

video + plots
Moving objects (e.g., red and green spheres) are located using Reference Paths and LTARG lane definitions. Click for more detail.
traffic setup
A group of moving objects can be set up with built-in options. They are automatically linked to animation shapes, initial positions, and motion equations. Click for more detail.
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