• 1. Welcome!
• 2. Ansys AVxcelerate Sensors Simulator Overview
• 3. Asset Data Preparation
  • 3.1. Asset Data Preparation Highlights
    • 3.1.1. 3D Geometries Requirements
    • 3.1.2. AVX Axis System and Reference Point
    • 3.1.3. Tags
  • 3.2. Importing a Geometry
  • 3.3. Preparing a Track
  • 3.4. Preparing a Vehicle
    • 3.4.1. Preparing the Vehicle
    • 3.4.2. Preparing the Wheels
    • 3.4.3. Preparing the Steering Wheel
    • 3.4.4. Preparing the Sensor Referential
    • 3.4.5. Preparing the Lighting System Referential
    • 3.4.6. Preparing the Lighting
    • 3.4.7. Exporting a Vehicle
  • 3.5. Preparing a Static Asset
  • 3.6. Preparing an Animated Pedestrian for a Camera Simulation
  • 3.7. Asset Data Preparation for CarMaker
    • 3.7.1. CarMaker Road to AVX Track Conversion
      • 3.7.1.1. Requirements for CarMaker Roads to AVX Track Conversion
      • 3.7.1.2. Streaming an AVX Track From CarMaker
      • 3.7.1.3. Exporting a CarMaker Road as AVX Track File
    • 3.7.2. CarMaker to AVX Axis System Conversion
    • 3.7.3. Requirements for Static Assets
    • 3.7.4. Requirements for Dynamic Assets
    • 3.7.5. Requirements for Traffic Signs
  • 3.8. Asset Data Preparation for SCANeR
    • 3.8.1. SCANeR to AVX Axis System Conversion
    • 3.8.2. Creating and Exporting a SCANeR Terrain
  • 3.9. Mapping AVX to CarMaker Track and Assets
  • 3.10. Mapping AVX to SCANeR Assets
• 4. Lighting System
  • 4.1. Advanced Lighting System
  • 4.2. Creating a Lighting System
• 5. Sensors
  • 5.1. Sensors Overview
  • 5.2. Sensor Models
    • 5.2.1. Sensor Modeler
      • 5.2.1.1. Creating or Editing a Sensor
      • 5.2.1.2. Activating IP Protection [Beta Feature]
      • 5.2.1.3. Disabling IP Protection [Beta Feature]
    • 5.2.2. Physics-Based Camera
      • 5.2.2.1. Camera Model Overview
        • 5.2.2.1.1. Lens System
          • 5.2.2.1.1.1. Computing Brown Coefficients
          • 5.2.2.1.1.2. Computing Fisheye Radial Coefficients
        • 5.2.2.1.2. Imager
        • 5.2.2.1.3. Custom Post Processing
      • 5.2.2.2. Camera Parameters
      • 5.2.2.3. Fisheye Camera Parameters
      • 5.2.2.4. Activating the Injection Mode
      • 5.2.2.5. Spectrum Files Requirements
    • 5.2.3. Physics-Based LiDAR
      • 5.2.3.1. LiDAR Model Overview
        • 5.2.3.1.1. LiDAR Emitter
        • 5.2.3.1.2. LiDAR Receiver
        • 5.2.3.1.3. LiDAR Opto-electronical Components
        • 5.2.3.1.4. LiDAR Default Processing
      • 5.2.3.2. LiDAR Parameters
        • 5.2.3.2.1. Flashing LiDAR Parameters
        • 5.2.3.2.2. Rotating LiDAR Parameters
        • 5.2.3.2.3. Firing Sequence File
    • 5.2.4. Physics-Based Radar
      • 5.2.4.1. Radar Model Overview
        • 5.2.4.1.1. Radar Waveforms
        • 5.2.4.1.2. Radar Signal Mixing, A/D Conversion and Processing
        • 5.2.4.1.3. Radar Mode Gain and Noise
      • 5.2.4.2. Radar Modes
        • 5.2.4.2.1. Simple Mode
        • 5.2.4.2.2. Interleaved Mode
        • 5.2.4.2.3. Simultaneous Mode [Beta Feature]
      • 5.2.4.3. Radar Parameters
        • 5.2.4.3.1. Antenna Parameters
        • 5.2.4.3.2. Mode Configuration Parameters
    • 5.2.5. FLIR Thermal Camera
      • 5.2.5.1. Thermal Imaging
      • 5.2.5.2. FLIR Thermal Camera Simulation
      • 5.2.5.3. Editing FLIR Thermal Camera Parameters
  • 5.3. Sensor Layout
    • 5.3.1. Sensor Referential
    • 5.3.2. Sensor Layout
    • 5.3.3. Adding a FLIR Thermal Camera to a Sensor Layout
• 6. Simulation
  • 6.1. Simulation Highlights
    • 6.1.1. Simulation Actors
    • 6.1.2. Simulation Configuration and Resources
    • 6.1.3. Execution Modes for co-simulation with CarMaker
    • 6.1.4. Update Frequency and Sensor Production Period
  • 6.2. Simulation Process Arguments
  • 6.3. Multi-GPU and Multi-Machine Simulation
    • 6.3.1. Multi-Machine Simulation - Deploy Overview
    • 6.3.2. Multi-GPU Simulation - GPU Assignment Overview
    • 6.3.3. Deploy Parameters
    • 6.3.4. Setting up a Multi-GPU or Multi-machine Simulation
  • 6.4. Ansys AVxcelerate Sensors Simulator Simulation Parameters
    • 6.4.1. Reading a Sensor Configuration
    • 6.4.2. Simulation Parameters
      • 6.4.2.1. Camera Simulation Parameters
      • 6.4.2.2. LiDAR Simulation Parameters
      • 6.4.2.3. Radar Simulation Parameters
      • 6.4.2.4. Sensors Execution Batching
      • 6.4.2.5. Pixel Segmentation Mapping Parameter
      • 6.4.2.6. Thermal Camera Simulation Parameters
      • 6.4.2.7. Lighting System Simulation Parameter
    • 6.4.3. Setting the Ansys AVxcelerate Sensors Simulator Simulation Parameters
      • 6.4.3.1. Setting Simulation Parameters for a Camera
      • 6.4.3.2. Setting Simulation Parameters for a LiDAR
      • 6.4.3.3. Setting Simulation Parameters for a Radar
      • 6.4.3.4. Setting Simulation Parameters for a Thermal Camera
  • 6.5. Configuring a Sensors Simulation with CarMaker
    • 6.5.1. Opening CarMaker
    • 6.5.2. Opening a Sample Project and a TestRun
    • 6.5.3. Creating a Project and TestRun
    • 6.5.4. Configuring CarMaker Application
    • 6.5.5. Configuring the Real-time System Setup for CarMaker HiL
    • 6.5.6. Connecting to Xpack4 via Telnet
    • 6.5.7. Setting the AVXConnector Parameters
      • 6.5.7.1. Setting the AVXConnector General Parameters
      • 6.5.7.2. Setting the AVXConnector TestRun, Vehicle and Road Parameters
  • 6.6. Configuring a Sensors Simulation with SCANeR
    • 6.6.1. Setting the Simulation Process Arguments in SCANeR
    • 6.6.2. Setting the Frequency with the OFFLINE SCHEDULER
    • 6.6.3. Creating a Scenario
    • 6.6.4. Applying the Ansys AVxcelerate Sensors Simulator Configuration Files to a SCANeR Scenario
  • 6.7. Running an Ansys AVxcelerate Sensors Simulator Simulation
    • 6.7.1. Running a Simulation in CarMaker
    • 6.7.2. Running a simulation in CarMaker HiL
    • 6.7.3. Running a Simulation in SCANeR
    • 6.7.4. Running a Multi-machine Simulation
      • 6.7.4.1. Multi-Machine Simulation - Process States and Watcher Mechanism
• 7. Results
  • 7.1. Results Locations
    • 7.1.1. Data Retention Strategy
    • 7.1.2. Configuring the Data Retention Strategy
  • 7.2. Camera Sensor Output Data
    • 7.2.1. Lens Output (Light) Data
    • 7.2.2. Imager Output (Injection) Data
    • 7.2.3. Camera Output (Image) Data
    • 7.2.4. Camera Ground Truth Output Data
  • 7.3. LiDAR Output Data
    • 7.3.1. Lens Output (Radiant Flux)
    • 7.3.2. ADC Output (Digital Waveform)
    • 7.3.3. LiDAR Output (Point Cloud)
    • 7.3.4. Contribution List Output
  • 7.4. Radar Sensor Output Data
    • 7.4.1. Radar Output Data
      • 7.4.1.1. Radar Raw Response Output Data
      • 7.4.1.2. Radar Range Doppler Map Output Data
    • 7.4.2. Radar Tx Waveform Report
    • 7.4.3. Radar Debug View Images
  • 7.5. Thermal Camera Output Data
• 8. AVxcelerate APIs
  • 8.1. AVxcelerate Sensors Simulator APIs
  • 8.2. AVxcelerate Asset Preparation APIs
  • 8.3. REST APIs
• 9. Files Location
• 10. Mathematical Notations and Symbols
• 11. Troubleshooting
  • 11.1. Known Issues
  • 11.2. Opening the Logs
  • 11.3. Asset Data Preparation
    • 11.3.1. AVxcelerate Asset Preparation Does not Start
    • 11.3.2. Issues with AVX Track Exporter
      • 11.3.2.1. Issues with AVX Track Exporter - No testRun Selected
      • 11.3.2.2. Issues with AVX Track Exporter - Port in use
  • 11.4. Sensor Labs
    • 11.4.1. Issues while Launching/Using AVxcelerate Sensor Labs Application
    • 11.4.2. Sensor Labs Migration Issue
  • 11.5. Simulation and Performance
    • 11.5.1. Sensor Simulation doesn't Start - Address already in use
    • 11.5.2. Running a Simulation Fails - Timeout Issue
    • 11.5.3. Running a Sensor Simulation in CarMaker Fails - Grpc Connection Failed
    • 11.5.4. AVX Stops During LOAD with Simulation Control APIs
    • 11.5.5. TDR Detected when Running a Simulation
    • 11.5.6. Multi-machine Simulation Latency Due to Firewall
  • 11.6. Sensor Outputs
    • 11.6.1. Road Lanes Disappear
    • 11.6.2. Opening an xmp File Fails
    • 11.6.3. Missing Frames in Shared Memory
• i. Copyright and Trademark Information