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VirtualTestDrive(VTD)用户使用手册（英文）.pdf
TM
Project:
Virtual Test Drive
Title:
User Manual
Date:
Issuing Party:
Distribution List:
October 31st, 2015
VIRES Simulationstechnologie GmbH
3rd party:
VIRES:
VTD Users
any
Document No.
Issue:
VI2008.076
no. of pages:
N
157
issued by
VIRES Simulationstechnologie GmbH
Grassinger Strasse 8
83043 Bad Aibling
Germany
phone +49.8061.939093-0
fax +49.8061.939093-13
e-mail supportVTD@vires.com
web www.vires.com
Date: Oct. 31st, 2015
Name: Marius Dupuis e.a.
Title:
VIRES Virtual Test Drive – User Manual
Document No.:
VI2008.076
Issue:
N
Refer to protection notice DIN ISO 16016
Page:
1 of 157
TM
Version Control:
Issue
Date
Author
Description
N
M
L
K
J
J
I
31.10.2015 Dupuis
adaptation to VTD 2.0
12.06.2014 Dupuis
adaptation to VTD 1.4
03.09.2012 Dupuis
minor typos
23.03.2012 Dupuis
new explanation of patch ids etc.
adaptation to VTD 1.1.2
27.12.2011 Dupuis
adaptation to VTD 1.1
27.12.2011 Dupuis
adaptation to VTD 1.1
11.08.2010 Dupuis
Karl
deleted SCP command table (it is now available as
HTML document)
harmonization with VTD 1.0
finished translation to English language
various extensions (e.g. SCP),
harmonization with VTD 1.0
partial translation to English language
various extensions (e.g. SCP),
adaptation to new file structure, removed description
of VIRES internal interfaces
Any new contents are in English language; the
remaining chapters will be "upgraded" during the
next releases.
Descriptions of GUI and binary record format are out
of date and will be reviewed with the next release
H
19.07.2010 Dupuis
G
09.03.2010 Dupuis
affected
chapters
all
all
all
2.1
2.2
12
all
all
8.2.1
all
8.2.1
all
Date: Oct. 31st, 2015
Name: Marius Dupuis e.a.
Title:
VIRES Virtual Test Drive – User Manual
Document No.:
VI2008.076
Issue:
N
Refer to protection notice DIN ISO 16016
Page:
2 of 157
TM
Table of Contents
1
2.3.1
2.3.2
2.3.3
2.3.4
2.2.1
2.2.2
2.2.3
2.2.4
2.2.5
Introduction ....................................................................................................................................... 7
1.1 Overview ................................................................................................................................... 7
1.2 References ................................................................................................................................ 7
1.3
Trouble-shooting ....................................................................................................................... 7
2 Resources und Installation (quick-start) ........................................................................................... 8
2.1 Resources ................................................................................................................................. 8
Installation ................................................................................................................................. 9
2.2
System Requirements ....................................................................................................... 9
New Installation .................................................................................................................. 9
AddOns ............................................................................................................................ 10
Patches ............................................................................................................................ 11
Ad-hoc Updates ............................................................................................................... 11
2.3 Configuration ........................................................................................................................... 12
Basic Concept .................................................................................................................. 12
Distributions ..................................................................................................................... 12
Setups .............................................................................................................................. 12
Projects ............................................................................................................................ 13
2.4 Getting Started ........................................................................................................................ 13
2.4.1 Operation Stages – Overview .......................................................................................... 13
Starting with GUI – Quick Version ................................................................................... 14
2.4.2
2.4.3
Starting with GUI – Slow Version (Configure – Start – Reconfigure...) ........................... 16
Terminating the Simulation .............................................................................................. 21
2.4.4
Saving / Loading Configuration Data ............................................................................... 22
2.4.5
2.4.6
Starting from Command Prompt ...................................................................................... 25
3 Common Definitions ....................................................................................................................... 26
3.1 Units ........................................................................................................................................ 26
3.2 Co-ordinate Systems ............................................................................................................... 26
Inertial Co-ordinates......................................................................................................... 26
3.2.1
Vehicle Co-ordinates ....................................................................................................... 27
3.2.2
Screen Co-ordinates ........................................................................................................ 28
3.2.3
3.2.4 Other Co-ordinate Systems ............................................................................................. 28
4 System Design and Components ................................................................................................... 29
System Design ........................................................................................................................ 29
Runtime Environments .................................................................................................... 29
Layout .............................................................................................................................. 30
4.2 Components ............................................................................................................................ 33
4.2.1 Overview .......................................................................................................................... 33
4.2.2
Interfaces ......................................................................................................................... 35
4.3 Workflow ................................................................................................................................. 36
4.3.1 Overview .......................................................................................................................... 36
Design Phase ................................................................................................................... 37
4.3.2
4.3.3
Runtime Phase ................................................................................................................ 38
5 File Management ............................................................................................................................ 39
5.1 Configuration Files .................................................................................................................. 40
5.2
Simulation Files ....................................................................................................................... 41
5.3 Dependencies of Configuration and Simulation Files ............................................................. 41
5.4
File Finding .............................................................................................................................. 42
5.5 Directory Structure .................................................................................................................. 43
5.5.1 Main Directories ............................................................................................................... 43
Directories in "Data" ........................................................................................................ 44
5.5.2
Directories in "Runtime" ................................................................................................... 46
5.5.3
5.5.4
Directory "Develop" .......................................................................................................... 47
4.1
4.1.1
4.1.2
Date: Oct. 31st, 2015
Name: Marius Dupuis e.a.
Title:
VIRES Virtual Test Drive – User Manual
Document No.:
VI2008.076
Issue:
N
Refer to protection notice DIN ISO 16016
Page:
3 of 157
TM
6.4
6.5
6.1.1
6.1.2
6.2
6.3
6.4.1
6.4.2
6.4.3
6.4.4
6.4.5
6 Components in Detail ..................................................................................................................... 49
6.1 Component Management........................................................................................................ 49
Single- and Multi-Host Operation ..................................................................................... 49
SimServer ........................................................................................................................ 50
Adding Custom Components .................................................................................................. 52
VT-GUI .................................................................................................................................... 53
6.3.1 GUI Layout ....................................................................................................................... 53
6.3.2
Project Files ..................................................................................................................... 56
6.3.3 Operating Modes ............................................................................................................. 57
6.3.4
Toolbar Functionality ....................................................................................................... 58
6.3.5
Project Configuration ....................................................................................................... 59
6.3.6 Message Widget .............................................................................................................. 67
Parameter Window .......................................................................................................... 68
6.3.7
6.3.8
VIL Monitoring Window .................................................................................................... 69
6.3.9
Preferences Window ........................................................................................................ 71
6.3.10 Configuration Database ................................................................................................... 72
6.3.11 Files and File Formats ..................................................................................................... 72
6.3.12 Communication ................................................................................................................ 72
6.3.13
Installation / Options ........................................................................................................ 73
6.3.14 Start Procedure ................................................................................................................ 73
ScenarioEditor ......................................................................................................................... 74
Actions for the Simulation System ................................................................................... 74
Files and File Formats ..................................................................................................... 75
Communication ................................................................................................................ 75
Installation / Options ........................................................................................................ 76
Start Procedure ................................................................................................................ 76
Image Generator (IG) .............................................................................................................. 77
Preface ............................................................................................................................. 77
6.5.1
Hardware ......................................................................................................................... 77
6.5.2
Image Generation ............................................................................................................ 77
6.5.3
Databases ........................................................................................................................ 77
6.5.4
Animations ....................................................................................................................... 77
6.5.5
6.5.6 Overlays and Symbols ..................................................................................................... 78
6.5.7 Weather ........................................................................................................................... 78
Illumination of the Scene ................................................................................................. 78
6.5.8
6.5.9
Camera Frustum .............................................................................................................. 79
6.5.10 Operation ......................................................................................................................... 80
6.5.11 Files and File Formats ..................................................................................................... 81
6.5.12 Communication ................................................................................................................ 95
6.5.13
Installation / Options ........................................................................................................ 95
6.5.14 Launch Procedure............................................................................................................ 96
TaskControl (TC) ..................................................................................................................... 96
6.6.1 Overview .......................................................................................................................... 96
Configuration .................................................................................................................... 97
6.6.2
6.6.3
Simulation Control............................................................................................................ 97
Interfaces ......................................................................................................................... 99
6.6.4
Extended Configuration ................................................................................................... 99
6.6.5
Record / Playback .......................................................................................................... 101
6.6.6
Image Transfer / Video Generation ............................................................................... 102
6.6.7
6.6.8
Camera Settings ............................................................................................................ 105
6.6.9
Export Formats .............................................................................................................. 105
6.6.10 Files and File Formats ................................................................................................... 105
6.6.11 Communication .............................................................................................................. 106
6.6.12
Installation / Options ...................................................................................................... 106
6.6
Date: Oct. 31st, 2015
Name: Marius Dupuis e.a.
Title:
VIRES Virtual Test Drive – User Manual
Document No.:
VI2008.076
Issue:
N
Refer to protection notice DIN ISO 16016
Page:
4 of 157
TM
6.7
6.10
6.11
6.9.1
6.9.2
6.9.3
6.9.4
6.7.1
6.7.2
6.7.3
6.7.4
6.6.13 Start Procedure .............................................................................................................. 107
Traffic Simulation .................................................................................................................. 108
Files and File Formats ................................................................................................... 108
Communication .............................................................................................................. 108
Installation / Options ...................................................................................................... 109
Start Procedure .............................................................................................................. 109
6.8 Dynamics and Driver Model of the Ego Vehicle ................................................................... 110
Sound .................................................................................................................................... 111
6.9
Files and File Formats ................................................................................................... 111
Communication .............................................................................................................. 111
Installation / Options ...................................................................................................... 112
Start Procedure .............................................................................................................. 112
ModuleManager ................................................................................................................. 113
6.10.1 Preface ........................................................................................................................... 113
6.10.2
Implementation .............................................................................................................. 114
6.10.3 Run-time Behavior ......................................................................................................... 114
6.10.4 Configuration .................................................................................................................. 114
6.10.5 Sensor Plug-ins .............................................................................................................. 115
6.10.6 Dynamics Plug-ins ......................................................................................................... 118
6.10.7 Files and File Formats ................................................................................................... 119
6.10.8 Communication .............................................................................................................. 120
Installation / Options ...................................................................................................... 120
6.10.9
Start Procedure .......................................................................................................... 120
6.10.10
SCP-Generator .................................................................................................................. 121
6.11.1
Installation / Options ...................................................................................................... 121
6.11.2 Examples ....................................................................................................................... 121
RDB-Sniffer ....................................................................................................................... 122
Installation / Options ...................................................................................................... 122
Databases ......................................................................................................................... 123
Road Designer (ROD) ....................................................................................................... 124
6.14.1 Preface ........................................................................................................................... 124
6.14.2 Overview ........................................................................................................................ 124
6.14.3 Extensions ..................................................................................................................... 124
6.14.4 Operation ....................................................................................................................... 125
6.14.5 Files and File Formats ................................................................................................... 126
6.14.6
Installation / Options ...................................................................................................... 126
6.14.7 Starting ROD .................................................................................................................. 126
Interfaces ...................................................................................................................................... 127
7.1 Data Flows ............................................................................................................................ 127
Road Designer Road Library ..................................................................................... 127
7.1.1
Road Designer ScenarioEditor .................................................................................. 127
7.1.2
7.1.3 Operator Station TaskControl ................................................................................... 127
TaskControl Runtime Data Bus ............................................................................... 128
7.1.4
TaskControl Runtime Data Bus ............................................................................... 130
7.1.5
7.1.6
ImageGenerator Runtime Data Bus ........................................................................ 132
7.2 Resources ............................................................................................................................. 138
Ports ............................................................................................................................... 138
Environment Variables ................................................................................................... 139
8 Message Formats ......................................................................................................................... 140
Binary Messages According to VIRES Standard .................................................................. 140
Special Message Formats..................................................................................................... 140
Simulation Control Protocol (SCP) ................................................................................ 140
Runtime Data Bus (TC -> any) ...................................................................................... 143
Shared Memory for VIL .................................................................................................. 145
8.2.1
8.2.2
8.2.3
6.12.1
6.12
6.13
6.14
7.2.1
7.2.2
8.1
8.2
7
Date: Oct. 31st, 2015
Name: Marius Dupuis e.a.
Title:
VIRES Virtual Test Drive – User Manual
Document No.:
VI2008.076
Issue:
N
Refer to protection notice DIN ISO 16016
Page:
5 of 157
TM
9.3.1
9.3.2
9.3
9.4
9.5
9.1.1
9.2
9.2.1
9.2.2
9.2.3
9 File Formats ................................................................................................................................. 146
9.1 Road Designer ...................................................................................................................... 146
Road Description ........................................................................................................... 146
ScenarioEditor ....................................................................................................................... 148
Configuration Files ......................................................................................................... 148
Road Description ........................................................................................................... 148
Scenario Description ...................................................................................................... 148
VT-GUI (IOS) ........................................................................................................................ 149
Configuration File ........................................................................................................... 149
Project File ..................................................................................................................... 149
Image Genarator ................................................................................................................... 150
TaskControl ........................................................................................................................... 150
Data Recording (binary) ................................................................................................. 150
Data Recording (CSV) ................................................................................................... 151
9.6
Batch File of the SCP-Generator .......................................................................................... 152
9.7 Module Plug-Ins .................................................................................................................... 153
Abbreviations ............................................................................................................................ 154
Tips 'n Tricks ............................................................................................................................. 155
Initialization ........................................................................................................................ 155
11.1.1 Triggering Initialization ................................................................................................... 155
Initialization Involving 3rd Party Components ................................................................. 155
11.1.2
Frame Synchronization ..................................................................................................... 156
11.2.1 Preface ........................................................................................................................... 156
11.2.2 Single Sync Source with Explicit Step Width ................................................................. 156
11.2.3 Multiple Sync Dependencies ......................................................................................... 157
FAQs ......................................................................................................................................... 157
9.5.1
9.5.2
10
11
11.1
11.2
12
Date: Oct. 31st, 2015
Name: Marius Dupuis e.a.
Title:
VIRES Virtual Test Drive – User Manual
Document No.:
VI2008.076
Issue:
N
Refer to protection notice DIN ISO 16016
Page:
6 of 157
TM
1
Introduction
1.1 Overview
“VIRES Virtual Test Drive” (VTD) is a tool-chain and modular framework for the provision of virtual
environments in engineering simulations for the automotive and railroad industry. This document
provides an introduction to installing and operating VTD.
The manual starts with a short installation instruction (chapter 2), followed by a system overview
(chapter 4), general definitions (chapter 3) and a detailed description of all components (starting from
chapter 6). For a quick start, please read chapter 2 first.
Some Tips 'n Tricks can be found in chapter 11. Frequently asked questions can be found in
chapter 12. Since paper (even in electronic format) tends to be up-to-date only on the day of printing,
we have established an extensive Wiki on our support website which addresses the most recent
questions and instructions as well as a lot of configuration info. The URL is:
It is highly recommended that you become registered user of this valuable resource. For details
about the access, please see the chapter “Trouble-shooting” below.
http://tracking.vires.com
1.2 References
[1] not for public
[2] not for public
[3] "Scenario Editor, User Manual", VI2008.027, VIRES GmbH
[4] "ROD, Tutorial", VIRES GmbH
[5] obsolete
[6] Virtual_Test_Drive_Dokumentation.pdf, 29.10.2008, TESIS DYNAware GmbH
[7] RDB_HTML, documentation of the RDB, created with doxygen, 2014, VIRES GmbH
[8] SCP_HTML, documentation of the SCP syntax, Issue W, 2014, VIRES GmbH
[9] VTD Wiki, http://tracking.vires.com, 2014, VIRES GmbH
1.3 Trouble-shooting
If you have technical questions or if you are experiencing any kind of trouble, please use the following
means in the indicated order:
1)
Website:
http://tracking.vires.com
Note: if you are not yet registered, do the following:
go to the indicated website
wait for approval of your account; we reserve the right to refuse aproval without further
you will be forwarded to the bug / feature reporting tool
click "register" in the top right corner
create your own login and password
explanation; usually, we will send you an e-mail and ask for further references within
your company so that we can also provide you with access to relevant sub-projects.
The tracking website provides a bug / feature reporting and monitoring tool as well as a Wiki
with FAQs, installation instructions etc. For technical issues, please consult the Wiki first.
Date: Oct. 31st, 2015
Name: Marius Dupuis e.a.
Title:
VIRES Virtual Test Drive – User Manual
Document No.:
VI2008.076
Issue:
N
Refer to protection notice DIN ISO 16016
Page:
7 of 157
2)
3)
TM
If you're reporting a bug, want to propose an improvement or a new feature, please select
"New Issue" and fill in / select all fields you're familiar with. Please leave all other fields blank.
They will be filled in by VIRES staff.
Important note: most customers have their private areas within our reporting system (typically
called "Virtual Test Drive - "). If you have access to a private area you will
also have access to the common area (called "Virtual Test Drive"). When reporting new
issues, make sure you report them within the private area. Otherwise ALL registered users
of VTD will be able to read your report. Only if you are really sure, you have no objections to
all users knowing your issue, please feel free to report it in the common area.
E-Mail:
supportVTD@vires.com
You may contact the developers of VTD via e-mail if you can't find the solution in our Wiki or
bug- and feature-tracking system.
+49.8061.939093-0
Telephone:
Points of Contact:
Please use the telephone only for urgent problems and questions or any other issues that
might be too complex to describe in one of the above systems.
Marius Dupuis / Wunibald Karl / Esther Hekele
2 Resources und Installation (quick-start)
2.1 Resources
The components of Virtual Test Drive are provided for authorized / licensed users in the following way:
download: https://secure28.securewebsession.com/vires.com/workgroups/vtd/
(or a specific address you have been given by VIRES staff)
Login and password for the download area are available from VIRES or from your
company’s co-ordinator for VTD. The files on the server are encrypted. The key for
decryption is also available from your co-ordinator.
The repository's structure is as follows:
vtd/
vtd/Patches/
ReleaseNotes.txt
vtd.x.y.[date].tgz
vtd.x.y.[PatchId].[date].tgz
notes concerning the current release
package with complete current distribution
(x = major revision, y = minor revision)
patch for release (candidate n) x.y
PatchId is an integer number
vtd/Adhoc/
ad-hoc fixes, test versions, preliminary versions etc. which will usually become part of the next
patch or release. Only use the files in this directory after you have been instructed to do so by
the developers.
Date: Oct. 31st, 2015
Name: Marius Dupuis e.a.
Title:
VIRES Virtual Test Drive – User Manual
Document No.:
VI2008.076
Issue:
N
Refer to protection notice DIN ISO 16016
Page:
8 of 157
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