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1. param dimFactor the factor of dimming between 0 and 1 double setLampLIDDataBlock double idx double iw double il sets the data block of the xD LID of the idx th lamp return true if successful param idx index of lamp ranging from 0 to getNumLamps param iw the index of the 3 th dimension of the xD LID param il the index of the 4 th dimension of the xD LID e double setLampOnOffState double idx double setOn sets the on off state of the idx th lamp to setOn i e when setOn is true the lamp is switched on and when it is false the lamp is switched off return true if successful param idx index of lamp ranging from 0 to getNumLamps param setOn the lamp on off state 40 Plug in Script Interface 6 2 Vehicle functions These functions allow to get the state ofthe vehicle in LucidDrive In the automatic mode you have access to the drive curve In the manual mode which is available in LucidDrive Manualand LucidDrive ServerClient only you have access to the steering wheel and gas and brake pedals of an external input device You have to set the vehicle axis system and the speed this is needed to show the speed in LucidDrive The following functions are listed in alphabetical order double getBrakePedal returns the brake pedal from an input pedal It is in the range 0 1 with O being not pressed and 1 being fully pressed return brake pedal e double getCurrentTime returns current time in
2. m OpenGL driver vendor ATI Technologies Inc oo OpenGL driver renderer RADEON X866 PRO x86 MMX 3DNowt SSE2 A OpenGL driver version 2 8 6598 WinXP Release od pixel format index 5 24 driver type FullHardware shared display lists OFF use hardware accelerator ON max texture size width height 2048 max 3D texture size width height depth 2048 max texture units 8 max texture image units 16 max combined texture image units 16 max texture coords 8 max varying floats 44 max vertex attribs 32 max vertex uniform components 4696 max vertex uniform components 4696 max fragment uniform components 4096 max of clipping planes 6 Extension GL_ARB_shader_objects supportedt Extension GL_ARB_texture_float supported Extension GL RTI fragment shader supported Extension GL RTI texture Float supported OpenGL driver type informations end R aM ESQ execute main for NON DIALOG execute startHaint loading file 3D Roads deFault tex lug environment sensors on Found 493 terrain surfacest read existing File C Lucid samples automotiveLighting ece_highw lid for LIDFile object total light Flux in LID emitter A 979 087 use previous LID object for file ece_highw lid total light flux in LID emitter B 979 087 read existing File C Lucid sanples automotiveLighting ece lid for LIDFile object total light flux in LID emitter C 458 809 use previous LI
3. output directory for captured Exactly that files x frames per second fps The frame rate equalsthe number of pictures created per second start record Startsthe recording ofthe simulation The recording is only active during driving Therefore Start Record and Drive have to be pressed both to start the record stop record Stops the recording of the driving simulation 3 9 Cameras Performs the general camera settings of LucidDrive The different views driver view 20m view bird s eye view and pedestrian view refer to the center ofthe same coordinate system The driving direction is set to the x axis the left and side movement on the street perpendicular to the driving direction is in y direction and the upper and lower positioning is achieved along the z axis While driving the road is moving not the car If one is going to alter the driver s height for example one has to change the z value in the driver view position dialog box entry Target defines the distance on the road the driver is looking at 25 26 The Menu Items in LucidDrive View Type Camera Position C Upper View U Driver View Position is determined by Vehicle in Scene C Bird s Eye View T Pedestrian View P front clip back clip C Drive By View Y Os 800 C Free View F ay view rotation 5 deg steps 1 deg steps view rotation angles w uf 60 un por fo vee t 9 rl of nj om mj oj om n oj oa Monitor Settings
4. which are described in the following sections of this chapter Load Config File Save Config File Default Various Low Beams AFS Swivel AFS with 3D LID AFS Dimmed High Beam AFS Shuttered High Beam AFS Lowbeam LED Array AFS Marker Light Color Beam Comparison PCS Color Shift Snow drive Stationary lamps Motorcyle Motorcyle AFS Motorcyle AFS with 3D LID Add Customer Menu Exit Alt F4 Figure 3 1 The Configuration pull down menu 13 14 The Menu Items in LucidDrive 3 1 1 Load Config File Loads a configuration file into LucidDrive The different files contain different parameter Following configurations can be loaded 20 m view in false color AFS advanced front lighting system cockpit driver view bird s eye view from above default driver view driver view cockpit driver view cockpit road with high resolution driver view cockpit sky and motorcycle view In the sky or skyline view a scenery is added besides the road the motorcycle view enables an inclined view The inclination is controlled by the road curvature 3 1 2 Save Config File After you have changed the setup to meet your individual needs with different parameter you can save the parameter of this new setup in a file To load this file click Load Config File 3 1 3 Predefined Config Files Predefined configurations for various viewing situations are available Default The default scene when Lucid Drive is started It is a si
5. Roads 16 The first entry Load Roads offers the possibility to load a road from a file selection dialog box In contrast to the configuration files the setup remains the same besides the different road Hint stop the night drive simulation in case you load a new huge road if you don t use the latest PC Furthermore various road types both for left and right hand traffic can directly be selected from the drop down menu The following roads are included in LucidDrive and can be found in the roads folder in the installation path LucidDrive share roads The Menu Items in LucidDrive airfield tex lug altDefault RHT lug bridges tex sky lug bridgesLHT tex lug bridgesRHT tex lug CItyRHT lug ConsumerReportsRoad tex lug countryLHT tex lug countryLHT tex sky lug countryMixed tex lug countryMixed tex sky lug countryRHT tex lug countryRHT tex sky lug CountryRHT4L_tex lug Crossing RHT lug crossing tex lug Crossing2 RHT lug default no drive tex lug default streetLights tex lug default tex lug defaultLHT tex lug defaultRHT tex lug Y defaultRHT tex new lug WW defaultRHT tex retro lug defaultRHT tex wreck lug Y DownTownRHT lug eightLHT tex lug eightRHT tex lug W endlessLeftCurveL HT tex lug endlessLeftCurveRHT tex lug endlessRightCurveL HT tex lug endlessRightCurveRHT tex lug endlessStraightLHT_tex lug endlessStraightRHT tex lug flight lug ForestR
6. o causes a shift to the right and vice versa shift in v Determines an optional inclination of the lamps in vertical direc tion a value o causes a shift upwards and vice versa 19 The Menu Items in LucidDrive scale Attaches a scale factor onto this lamp e g to take losses into account 3 4 Lamp Switch In the lamps selection dialog the specification of the sets done in the dialog Headlamps are now available to quickly turn this sets on off This can be done either exclusively or more than one simultaneously Switching the flag select exclusive toggles the selection between radio buttons and flag buttons IV select exclusive low high low high fog set4 select exclusive low high low M high M fog set4 Figure 3 7 Lamp Selection Dialog The use and setup of headlamp sets when using more than one vehicle is described in detail in the next chapter 3 5 Visual Properties 20 In this dialog among other the intensity mapping and coloring properties of the road can be mod ified In addition some graphical help like isolux lines can be activated luminance range Sets the min and max values for the luminance range in cd m button update min max Applies the current settings to the geometry view flag fix range If unchecked the button update min max replaces the current values with the default ones This can be used e g to compare lamp sets with different light fluxes background color Sets the c
7. EO ERE Y E PERS 35 5 5 Signal Slot Mechanism irent varo See nS Ne Sev vas ue nee se EN See vas Ve niea NE See vase see sese vo 36 6 Plug in Script Interface een en 39 63 Lamp f lictiOTis iii eerie erit eere er iot esee ree da be eve eae e e ee baee vel ie eo eve do eeu eue Fe aee adu eeu n PE e dins 39 6 2 Vehicle f fictlOris eise eei eraot eae FPe ni eh actae vert eee nen phe gU EE Teens EC TR NEES 41 7 Plug ins provided in LucidDrive u ae anne 45 7A AFS A 45 72 Auxiliary SCH Dicta di 47 8 Physics on Geometry BRDF Monitor LUMINANCE etc euunsnssssesnnnnnnnsnnnnnnnnnnnnnnnsnnnnnnnnennennnsnsnnnonnennennenn 49 CEBMCIINDEU L 49 8 2 BRDF er 50 LucidDrive Manual 8 2 1 Hoffmann amp Nakata cccccccssssssssrsecececsesesssscesecececsessnsncusesececsesessneeesecececsesensearseseceeess 50 82 2 lLommel Seeliger iiiiiei iiie thee E Eure ns Due NERVES Ee AREE UE ee ERES Pe MEUS UR ni 51 8 3 Illumination amp Luminance Parameters ccccoconononononononononononononononononononononononononononononononenenenenenenos 52 8 4 Monitor and Luminance cccccccccncncnonononononononononononononononononononnnnnnnnnnnnnnnnnnnnnnnnnonononononnnnnonononononanoss 53 9 L cidDrive Keyboard Shortcuts 0080er 55 9 1 LucidDrive Shortcuts desee tet rere isis 55 9 2 LucidDriveManual and LucidDriveServerClient Extr
8. LucidDrive The driving direction is the x axis red the left or right position on the street is controlled by different y values y axis in green and the z axis blue points in the upper direction Chapter 2 Getting Started with LucidDrive 2 1 The Setup of LucidDrive 2 1 1 Installation After having received the installation file SetupLucidDrive exe of LucidDrive via download you are ready to install LucidDrive Execute this file and follow the instructions displayed by the install shield program Next click onto l Agree to accept the terms of agreement Please review the license terms before installing LucidDrive 1 5 0 Press Page Down to see the rest of the agreement 3y installing copying or otherwise using this LucidShape version agree to be bound by the terms of the following END USER LICENSE AGREEMENT EULA If you do not agree to the terms of this EULA do not install or use this LucidShape E version This Brandenburg GmbH EULA is a legal agreement between you either an individual or a single entity and Brandenburg GmbH for this LucidShape version which indudes computer software and may indude associated media printed materials and online or electronic documentation LucidShape is owned by Brandenburg GmbH LucidShape is protected by copyright laws and international copyright treaties as well as other intellectual property laws and treaties LucidShape is licensed not sold If you accept the te
9. applied 3 7 Scripts Plug ins Vehicle Dynamics AFS Aux Plug ins Trigger Points LucidDrive provides several predefined scripts sorted into four different groups These plug ins can be used to modify the driving behaviour the handling of some or all LIDs orientation behaviour like e g dimming activate additional plug ins or to trigger certain events while driving along the track Each of the next four menu items will open the corresponding dialog box so select among the scripts The scripts can be activated by just clicking on the respective entry in the list and deactivated by pressing remove Pressing show will open a small dialog here some options and parameters can be altered depending on the respective plug in For further information about the concept of plug ins and trigger points in LucidDrive including their syntax data exchange the respective dialogs etc please also refer to Chapter 5 Scripts AFS and Vehicle Dynamics Plug ins or Chapter 7 Plug ins provided in LucidDrive 3 8 Video 24 Allows to make a video from the driving simulation Specify an output directory for the single pictures to be saved at a frame rate and select the output file format These pictures later can be used to make e g an avi movie The Menu Items in LucidDrive output directory for capture files a Frames per second m Output File Format 25 C bmp jpg png Start Record Stop Record Figure 3 11 The Video Dialog
10. default in LucidDrive 8 2 1 Hoffmann amp Nakata Nakata and Hoffmann are two empirical models which are characterised in von Hoffmanns disser tation see also 2 Both of them already contain the reflection rate of the measured street therefore they appear darker then the default BRDF does The default BRDF model for rough surfaces in LucidDrive is f 8 R rrcos The motivation behind this choice is to take the most simple function which looks realistic and is not dependentto the view direction The models of Hoffmann and Nakata are measurement models used for backward scattering Both have the form f z A z B where z is the distance from the illuminated area to the light source in horizontal direction Hoffmann A 0 02279 B 0 029722 Nakata A 0 07578 B 0 0331 So both of them are linear fittings to the measurement results of backward scattering on real streets thus they already contain the reflexivity ofthe road surface For the Lambert model in contrary this is not taken into account Here the reflexivity is included via the parameter reflection index in the appearance dialog in LucidDrive by default m If you achieve good results using the Nakata BRDF model the reflexivity ofthe street in the luminance measurements are similar to Nakata To obtain the reflexivity for our default BRDF one can do it by equating coefficients R in i A z B Z tan T cos i cos 9 gt R 7 costi A z B
11. given distance from the car position return true if successful param t time in seconds param ds distance along the drive curve param out time time the point at the given distance will be reached param out pos position on the drive curve param out dir tangent on the drive curve e double getPosAndDirAtTime double t object out pos object out dir returns the position and direction of the car as it travels along the drive curve at a given time return true if successful param t time in seconds param out pos position on the drive curve param out dir tangent on the drive curve double getSpeedAtTime double t double out speed returns the speed of the car at a given time return true if successful param t time in seconds param out speed speed of the car e double getSpeedinKmh returns the speed of the vehicle in kilometer per hour return the speed of the vehicle in kilometer per hour e double getSpeedInMps returns the speed of the vehicle in meter per second return the speed of the vehicle in meter per second double getSteeringAngle returns the steering angle from an input wheel It is in the range 1 1 with O being the straight ahead position return steering angle e double getTotalLengthOfDriveCurve returns the total length of the drive curve return length of the drive curve e double getTotalTimeOfDriveCurveQ returns the total time of traveling the whole
12. respect ive car on the track in m thus effecting the starting distance between the single cars If choosing different speed limits these distances of course are not fixed during the simulation The three buttons apply create and delete will apply the settings create a new vehicle or delete the marked one The options and parameters in the lower part are again identical for all vehicles on the track the usage is the same as already described in chapter 3 above 31 32 Chapter 5 Scripts AFS and Vehicle Dynamics Plug ins This chapter describes the script architecture in LucidDrive this can be used for implementing custom plug ins like e g AFS behavior and Vehicle Dynamics for semiautomatic and manual driving It consists ofa mechanism to load plug in scripts written in LucidScript which implementthis beha vior and an APIthat the scripts can use to get specific LucidDrive data necessary for their calculations Furthermore the possibility to call external code through a COM interface is described so scripts can delegate their work to in house developed or already existing applications 5 1 Introduction In the version 1 2 1 of LucidDrive user scripting of vehicle dynamics and adaptive lighting behaviour was introduced With this feature users can implement their own solutions tailored to their needs and products In order to fully utilize the potential of this script plug in architecture one has to understand the interface of
13. scene and can be seen on the monitor Scripts AFS and Vehicle Dynamics Plug ins 4 The group auxiliary plug ins contains any further active plug in The possible duties can cover a wide range of functions e g to control trigger points add an audio output basic simulation of the engine noise logging certain parameters etc 5 4 Plug in Architecture 1 2 Among other things the Dynamic plug in contains function calls like updateDynamics setVehicleAxis setSpeed When the forces have been computed the acceleration the velocity and distance can be calculated aa IJ dv a di Vna vn adt ev a At 5 1 s vatzv at 3 The two default plug ins which are provided in LucidDrive are modifyLight for the automatic driving mode and modifyLightManual for the manual driving mode 4 One group of possible auxiliary plug ins are the so called trigger points When reaching a certain position on the track a predefined action is started More precise there is a trigger circle around the place the animation will take place the default radius is 10m this can be specified in the trigger plug in This is to ensure the car hits the trigger even in the manual driving mode in the automatic driving mode the trigger point is a one dimensional coordinate on the driving lane The triggered action e g can be a person on a cross walk a wild animal appearing at the street or in general any person animal object crossing
14. show the parameters and achieve geometrical motivated approaches for some different BRDF models The light comes from the left intersects with the road surface middle and is detected by the observer right hi o are the heights of the light source and the observer z are the horizontal distances along the road surface N is the normal of the road surface at the intersection point and O are the vectors pointing towards the light source and the observer respectively 9 are the respective included angles BSDF default BSDF Lommel Seeliger Figure 8 1 A sketch of the scattering process dL cor f f dE gt f L O 9 00 R 1 R 1 f I 6 2 O Te LN gt 7t Cos 9 8 1 X R 1 R 1 Ty OS Saas cosh cos 9 More precise the differential ratio in the first equation has to be determined pixel by pixel for each point on the road surface 49 Physics on Geometry BRDF Monitor Luminance etc 8 2 BRDF In general a BRDF determines the ratio of the incoming luminance radiance and the outgoing illu minance irradiance The first approach is to assume an isotropic behaviour of the scattering process about y the angle inside the road surface plane This leads to the BRDF model of Lommel Seeliger The next approach is to assume that z is approx 1 and Z h so for the limes of 9 gt 90 we can neglect this summand in the fraction and obtain the BRDF used as by
15. the road To prevent this object from permanently crossing the road which will look very unrealistic and safe calculation time this wanted action is only released via this trigger point Other possible groups are plug ins to add graphical or acoustical elements to enhance the feeling ofthe speed during the driving simulation Furthermore there can be plug ins to log some or all options parameters to the HDD every few seconds this gives the possibility to do further analysis on the data especially after a non deterministic manual drive 35 Scripts AFS and Vehicle Dynamics Plug ins 5 5 Signal Slot Mechanism With the help of two short exemplary program routines an AFS plug in and a Logger plug in the data exchange in LucidDrive will be explained The data exchange will not be done by the plug ins themselves but will be provided by LucidDrive Each single plug in has a list of function calls and variables When starting the simulation LucidDrive is comparing these lists if there is an identical function variable in two or more plug ins LucidDrive will provide the data exchange according to the request or allocation calls of these data Due to this concept the correct spelling of these functions variables is quite important To prevent the user from being asked every time two objects in different plug ins have similar but not identical names there are no checks about similar spellings and thus no error messages will occur AFS Plu
16. D object for file ece lid total light Flux in LID emitter D 458 809 read existing File C Lucid sanples automotiveLighting highw lid For LIDFile object total light flux in LID emitter E 520 279 use previous LID object For File highw lid total light flux in LID emitter F 520 279 read existing file C Lucid samples automotiveLighting fog lid For LIDFile object total light flux in LID emitter G 506 108 use previous LID object for file fog 1id total light Flux in LID emitter H 506 108 Mith shader code Mith server client code execute startMain DONE execute main for NON DIALOG DONE Bini xi Frame Rate Offs Figure 2 5 The message view 12 Chapter 3 The Menu Items in LucidDrive This chapter describes all commands in LucidDrive by their order of appearance in the pull down menus 3 1 Configurations Configurations or config files are files in the native LucidShape format lug files with a set of parameters Within these files different configurations or layouts are stored e g different viewing positions different color mapping or different roads One can load and save configuration files with LucidDrive Therefore it is easy to create a new track with different settings and save it as a config uration file Apart from loading and saving configuration files the pull down menu Configurations offers various predefined configurations see Figure 3 1 The Configuration pull down menu
17. HT lug hillsLHT tex lug hillsRHT_tex lug jp_defaultLHT_tex lug jp_ForestLHT_tex lug WG mixedRoadBigLHT tex lug mixedRoadBigRHT tex lug W mixedRoadSmallLHT tex lug W mixedRoadSmallRHT tex lug W motorwayLHT tex lug W motorwayRHT tex lug WS NewDefault RHT lug pedestrianRHT tex lug W plaitLHT tex lug W plaitRHT_tex lug retroRHT_tex lug Seat tex highresgrid lug SeatLHT tex lug W SeatRHT tex lug serpentinesLHT tex lug serpentinesRHT tex lug slopesLHT tex lug slopesRHT tex lug snowLHT tex lug d snowRHT tex lug W stakeRoadLHT tex lug W amp stakeRoadRHT tex lug standard LHT lug twoCrossingsS lug W USA bridges lug W USA country lug W USA crossing lug W USA default lug USA hills lug USA villageRoad lug videoRoadLHT tex lug videoRoadRHT tex lug villageAndTunnelRHT tex nightskyS lug villageAndTunnelRHT tex nightsky lug villageRoadLHT tex lug villageRoadRHT tex lug Figure 3 4 File selection box for roads 3 3 Headlamps This section contains the description of the used options and parameters in the headlamps dialog In the first subsection the used axis system is explained the other three handle the three dialog parts in detail Here one can choose different lamp types combine two or more lamps to a set for a direct access in the running simulation specify the position and the aiming of a lamp or a set 3 3 1 Main Dialog This Headlamp Dialog does the
18. Load Contis F IG o eorr ED ERE aia its 14 3 1 2 Save Config SIC 14 3 1 3 Predefined Confis Files sccscsacisscsassecdensectdecsadecdsevenstchessasisdenussecneczasnsendunsdcseransvaduedesdiacaseaness 14 AP o E EA E E E a Pn e e E AA E ER S 16 3 3 Headlatfips ninia aia deidad did 17 E A 17 3 3 2 Headlamp Advanced Options and Parameters esee enn 19 ETT LAMP SWITCH IOOOPECI OOO sirere ku sire veki siteres reveki stereos ctesia 20 3 5 Visual Properties invite 20 306 DIVING E AA E A E E A E E E E E 23 3 7 Scripts Plug ins Vehicle Dynamics AFS Aux Plug ins Trigger Points eere 24 A 24 ECC DIIICHE Uu 25 O 27 SONS ronda 29 3 12 Miscellaneous Menu Commands cccccoccnononononononononononononononononononononononononononononononononononcncanocanonoss 30 Az MUNI DIE Cars m PP nn 31 4 4 Other Settings iier eese estere deve lestesveseceveve le Ere Pee Pee se Ue pepe Ye PEE tevesecevevesese veceeevesecedeveteceseses 31 5 Scripts AFS and Vehicle Dynamics Plug ins ii 33 DOS I INTrOUCtION ERREUR OTRTRTTTERORELIEEOLNEECTROERCDRTIRERDEELRERC 33 5 2 LucidDrive Conventions t eer Ee Po ee EE ER ER REN Ek RSEN ENTER RS FUE E ihn P TOR ru EE DE EE E Dra 33 5 3 Plug in Classification and Pipeline ssssssccccccessesssssesececessesesscsnsesecececsessnsneusesececeesessnsneesecss 33 5 4 Plug in Architecture En Y EX P OX A E
19. LucidDrive Night Driving Simulation User s Manual d brandenburg gmbh software solutions for the product development LucidDrive Manual LucidDrive Manual Version 1 6 0 Published September 12 2013 Table of Contents 1 OVEIVIEW en anio 5 1 1 How to use the Documentation cccccccecececececececececececececececececececececececececececececececececececececeseseseses 5 1 2 What 1S LUCIA DriVe ainia iria 5 1 3 Road Scenes eerie eter tede oet oe eee seu dee PY RES sea SEE nee Se eye Ete be ko aea e enden nern ek e eese te sue dee aou 5 1 4 Beam Pattern Analysis oce te nun EED EELEE OEKE ein nen 6 1 5 Advanced Front Lighting Systems AFS nie nie 6 1 6 Texture Based GraphitS sore rn A ia 6 1 7 The LucidDrive Coordinates Systems uses 6 2 Getting Started with LucidDrive eeseasnssessessennnnnsnnnnnsnsnnnsnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnssnsnnnnnnnsnnnsssnsnnnnnnnnnnnns 9 241 The Setup of LucidDrive uses O 9 A oeste STERNE aeae ERBEN SEE ELLI PIRERER rete bv OE NER EYES ERE EE eed eT Ert Pie Ure Ee ERE PEE S ES 9 2 1 2 License File Handling eerie erepti tor ie etian eae ee eeu tain oe deoa eR ga nern 10 2 2 Tool Bar Symbols uch a ran 11 2 3 Geo View and Message View eeensassessnsssnnnnnnnsnnnnnnnnnnnnnnnsnnnnnnnnnnnsnnnsnsnnnnnnnnnsnnnsnsnsnnnsnnsnnsssssnsnnnnnnn 12 3 The Men Items in LucidDrive econ 13 3 1 CInICcubiES E 13 3 31 34
20. Use MonitorCoords field of view angle G Use 37 85 Apply view type position and target DriveBy parameters free view view rotation view rotation angles radio button monitor settings monitor start end x y Figure 3 12 The Camera Dialog One can toggle between six different views either by selecting by a mouse click oder by pressing the respective letter on the key board All changes done to the parameters will be performed when pressing Apply All position values are given in m Specifies the respective view and the target position all given in m Sets the drive by parameter as the number of positions during a loop and the offset i e the distance to the car Here the camera position is fixed specified by the entered position and orientation The view rotation can be performed by pressing some predefined buttons steps of 5 or 1 can be chosen The two values show the current angles in horizontal and vertical direction respectively These angles can either be entered directly or changed via the just above described buttons Switches the monitor settings to either monitor coordinates or field of view Specifies the starting ending coordinates of the monitor this resizes the view of the scene The Menu Items in LucidDrive field of view angle Specifies the used angle of vision the smaller the angle the 3 10 Scene closer the look onto the road and fewer objects in the outside Includes scene ele
21. a Shortcuts scsssessscccecessessssreesecececeesenes 55 Chapter 1 Overview 1 1 How to use the Documentation This documentation has two purposes it introduces you to the use of LucidDrive and it serves as a reference handbook in your daily work It is assumed that you know about optics and lighting and its terminology Unique definitions of the terminology used in this handbook are given in the glossary It is also assumed that you are acquainted with the standard Microsoft Windows dialogs like File Open Save etc The installation of LucidDrive is described in Section 2 1 The Setup of LucidDrive Chapter 3 The Menu Items in LucidDrive describes all menu items of LucidDrive in detail 1 2 What is LucidDrive LucidDrive is a tool to evaluate beam patterns and to develop desired headlamp motion in dynamic driving simulations LucidDrive complements the design tools by allowing an analysis of automotive headlamps with various road scenes It is a software tool to provide the virtual reality simulation prior to expensive fabrication and testing It runs in an automatic driving mode without a need for interactive control like steering accelerating and breaking The primary function of LucidDrive is to evaluate the beam pattern under conditions as realistic as possible One can switch quickly between different lamps viewing positions road types and scenes during a simulation thus receiving an immediate interactive feedbac
22. ack one time step i e skips the car s position one step in backward direction Similar to Back in the driving control dialog box a Driver view sets the scene to the position of the driver 2 20 m view sets the scene to the 20 m view A Bird s eye view sets the scene to bird s eye view i e from top down onto the road 11 Getting Started with LucidDrive a Cascades all open views within the LucidDrive window m Tiles all open views within the LucidDrive window vertically Tiles all open views within the LucidDrive window horizontally LucidDrive tool bar symbols 2 3 Geo View and Message View The night drive simulation is performed in the so called Geo View geometry view If you close or minimize this window by using the standard Windows commands you can see the message box along with the menu items and the tool bar The message view displays various system messages like loaded textures files or error messages and warnings LucidDrive Night drive simulation leix Configurations Roads Headlamps LampSwitch RoadProperties Driving Video Cameras Scene Setting NewView Window Help messe __ ________ 101 xl execute init Function lucidDrive initFunction loadLucidbriveModel for master view Load default menu script defaultHodeli Read shell file defaultModel1 time Fri Jun 27 17 03 41 2008 used tine Osec e a LM UU i y 1 F o OpenGL driver type informations
23. as the scenery trees roadside markers and traffic signs into account The photo realistic appearance is then accomplished by using textures The software uses a graphic OpenGL lib and makes use of graphic accelerator hardware The full functionality can be achieved by employing the latest graphic hardware 1 7 The LucidDrive Coordinates Systems The main axis system within LucidDrive can be seen as a reference system The driving direction is set to the x axis the left and right movements on the street perpendicularto the driving direction have been performed in y direction positive values to the left negative to the right the upper and lower position is set along the z axis the resulting axis system is the usual right handed co ordinate system If one is going to alter the lamp position one changes the coordinates with respect to the origin of this axis system Again x points in driving position the left or right position of the lamp can be changed with different y values and the height of the lamps is controlled via the z values Please note the following points While driving the road is moving not the car All distances in LucidDrive e g a mounting position or an offset are given in m In contrast to the vehicle axis system the LIDs the single beams are implemented in the usual lighting axis system with z being the main light propagation direction Overview Figure 1 1 This figure shows the axis system of
24. cidshape info gt After having received the activated license copy it back onto your HDD overwriting the existing one The LucidDrive license key for night drive simulation is invalid Can not execute this LucidShape application To obtain missing license keys please e mail the system file C Users Lucid LucidDrive V1 5 0 LucidDrive license to info LucidShape info Figure 2 3 The license check failed Dialog 10 Getting Started with LucidDrive After having replaced the license file start LucidDrive again You should see an initial screen similar to that in Figure 2 4 The initial LucidDrive screen MEM 2s E a 33 9 DIS TERES NUR ar Figure 2 4 The initial LucidDrive screen 2 2 Tool Bar Symbols In the left upper corner you can find the tool bar symbols for important shortcuts within LucidDrive These are m Starts a night driving simulation from the beginning Similar to Drive in the driving control dialog box Stops the driving simulation Similar to Halt in the driving control dialog box Continues the night driving simulation from the recent position Similarto Continue in the driving control dialog box Resets the driving scene to the initial start position Similar to Reset in the driving control dialog box Proceeds one time step i e skips the car s position one step in forward direction Similar to Next in the driving control dialog box Skips b
25. complete lamp setup in LucidDrive Each line in this dialog represents asingle headlamp function each block defines a group which can be used in the lamp switch dialog In the picture just below one block is enfolded by a red line this block contains three single lamps In the following a single lamp always stands for a line in this dialog containing either one lamp or a pair of lamps The amount and names of the existing vehicles are adopted automatically and are shown in the upper left window of the dialog 17 The Menu Items in LucidDrive Mounting Position LID Left LID Right 2 h 0625 ece highwid ece highwlid ha ih 0625 highWidelid je high Wide lid E 12 m 0925 Mid high id low w 1 2 h 0625 eceid ceid Opt LX add lamps fog w 12 h 0 625 ffoglid M foid Opt X add lamps Add new set Update Mounting Postions lt feld size gt Show Path Opt for all Delete all Apply Change Dialog Layout Figure 3 5 The Headlamps Main Dialog name button add lamps mounting position LID left right button advanced button delete button add new set button update mountings posi tions field size flag show path button options for all The name of the lamp set this string appears in the lamp switch dialog This will add a line to this set e g to create a combination of lamp functi
26. d select one of the wav files in LucidDriveManual Lucid DriveAudioPackage soundBankExample the script will automatically load all available audio files in this directory Logger do This is a tool which is not working by itself it is working but the output is kind of dummy inform ation how it could work The main idea is to use the signal slot mechanism to gather data e g from an AFS script This script also can be coupled with a trigger point to only save data on a specific part along the track Speedometer do 47 Plug ins provided in LucidDrive 48 Additional to the text only display in the status bar the current speed can be shown graphically to enhance the realistic view during the running simulation The rpm revolutions per minute can only be activated in the manual driving mode in the automatic mode it is not shown The size and the position of both graphics can be changed independently The respective first para meter determines the radius of the display i e the arc the second is the x coordinate x o is the centre of the car the third is the y coordinate with y o being the centre of the driving view Chapter 8 Physics on Geometry BRDF Monitor Luminance etc In this new chapter some basics about the physics and made approaches are described as well as the used angles some reflection and scattering models etc 8 1 Geometry The following sketch visualizes the used geometry this is intended to
27. derstood as examples not to adopt them 100 but to give a first sketch how to program and implement the wanted measurements The single plug ins can be modified upgraded and re placed to fit the customers own agenda e Some points concerning AFS in general When using an AFS script all headlamps are involved until they are divided in the script into single groups AFS look ahead entry exit This determines the point the script tries to illuminate The script al ways scans the road in advance following the driving curve and points the light onto the look ahead coordinates of course with constrictions due to the maximal possible swivel angle It does not e g consider the magnitude of a curvature so the light may illuminate the roadside if there is a sharp turn to come Four of the scripts having Demo in their respective file names are new demonstrations how to build up an AFS for different types of lamps high beam low beam and purposes they can be used independently and thus together too e afs3DLidScript do This is a more complex version of the usual AFS system The main difference is that this script contains standard LID in each layer but having a third coordinate thus building up a three di mensional LID roughly there is a analogy to the volume sensor in LucidShape Beside u and v the third coordinate is e g the curvature of the road a roll angle etc allowing LucidDrive to switch between the single 2D LIDs in depende
28. double idx returns the lamps of the idx th lamp set return the lamps of the lamp set as a list param idx index of lamp set ranging from 0 to getNumLampSets double getNumLampLids returns the number of loaded light distributions return number of loaded light distributions double getNumLamps returns the number of loaded lamps return number of loaded lamps 39 Plug in Script Interface e double getNumLampSets returns the number of lamp sets i e collections of lamps to be switched simultaneously return number of lamp sets double isLampOn double idx returns true if the idx th lamp is activated return true if lamp is activated param idx index of lamp ranging from 0 to getNumLamps double isLampStationary double idx returns true if the i th lamp is stationary i e the axis is not relative to the car axis system but to the global axis system return true if lamp is stationary param idx index of lamp ranging from 0 to getNumLamps double setLampAxis double idx object axis sets the axis of the idx th lamp return true if successful param idx index of lamp ranging from 0 to getNumLamps param axis the new axis to be set double setLampDimming double idx double dimFactor sets the dimming of the idx th lamp to dimFactor i e the intensity of the lamp is multiplied with this factor return true if successful param idx index of lamp ranging from 0 to getNumLamps
29. drive curve return total time 42 Plug in Script Interface double getUAtDistance double s double getTimeAtDistance double s double getDistanceAtTime double s returns parameter of the drive curve at a given distance return the u parameter of the drive curve at a given time param distance in meter double getUAtTime double t returns parameter of the drive curve at a given time return the u parameter of the drive curve at a given time param t time in seconds e object getVehicleAxis returns the axis system of the vehicle return the axis system of the vehicle double intersectRoad object pos object isec shoots a ray into the scene from pos in the direction 0 0 1 and returns the point of the first intersection return true if scene was intersected param pos origin of ray param isec returned intersection point e double manualDriving returns true if the manual driving mode is on return true if manual driving mode is active and false if automatic mode if is active e double setDriverRolllnDeg double deg sets the driver roll angle in degree return true if successful param deg roll angle in degree e double setDriverRollinRad double radians sets the driver roll angle in radians return true if successful param radians roll angle in radians double setSpeedInKmh double speed sets the vehicle speed in kilometer per hour return true if successful param spe
30. ecified relative to this system The origin of the VCS does not need to be in the center of gravity ofthe car in the LucidDrive examples it lies in the centre between the headlamps The lamp position and orientation is specified using a right handed lamp coordinate system LCS which follows the convention in LucidShape The angular coordinates of the light distribution are mapped to this coordinate system This system is relative to the VCS 5 3 Plug in Classification and Pipeline The scripts are written in the script language of LucidShape respectively LucidDrive Each one can implement a dialog for manipulating parameters of the script The simulation of LucidDrive operates in single steps the simulation intervals of these steps are determined by the given increment this can be either in time or in space The calculation sequence of the single parts is always the same 33 Scripts AFS and Vehicle Dynamics Plug ins 34 Figure 5 1 Car coordinates used in LucidDrive 1 Update Inputs 2 Calculation of Vehicle Dynamics 3 AFS Plug ins gt 4 Auxiliary Plug ins Next the order ofthe calculation steps and the steps itself are explained in the next but one section the architecture of the plug ins is explained 1 At first all inputs to the vehicle are taken into account This can be both deterministic in the automatic driving mode the driving lane and the speed are pre given and user defined in the manual driv
31. ecified via the upper three coordinates spot target x y z look ahead thus not being restricted to a target directly on the road Using e g the spot target distance values 50 100 every 100m along the driving curve a separate beam spot points to the coordinates specified following it 50m before and 50m after passing this point Not really used as a usual AFS but e g to route working headlights afsHighDim do This shows another possibility to avoid glaring other road users Here the light is not bent away but dimmed down to e g 1096 of the full intensity e afsSkeleton do This script shows a basic setup how to exchange data with Matlab e g to have the AFS in Lucid Drive being controlled by an external script 7 2 Auxiliary Scripts Additionally there are some auxiliary scripts provided by LucidDrive or LucidDriveManual e Audio do LucidDriveManual is not restricted on graphic presentation this script allows additional sound only available in the manual driving mode It is grabbed from a real car and changing in real time during a running simulation in dependency on the state of the motor engine The script can downloaded from our website at http www brandenburg gmbh de products lucidshape down loads tools Download and unpack it into your LucidDrive folder When activating the script the executable file LucidAudioServer exe and the directory containing the audio files name have to selected Press the button an
32. ed new speed in kilometer per hour double setSpeedInMps double speed sets the vehicle speed in meter per second return true if successful param speed new speed in meter per second 43 Plug in Script Interface double setVehicleAxis object axis sets the vehicle axis return true if successful param axis new axis to be set e double setVehicleRolllnDeg double deg sets the vehicle roll angle in degrees return true if successful param deg roll angle in degrees e double setVehicleRollInRad double radians sets the vehicle roll angle in radians return true if successful param radians roll angle in radians 44 Chapter 7 Plug ins provided in LucidDrive The main agenda of the use of plug ins in LucidDrive is a modular concept It is not meant to have one plug in for every single task setup and thereby having a lot of quite similar plug ins but to have several smaller ones each responsible for a part of the whole problem To ensure that every single plug in can be activated or deactivated via the plug in menu independently furthermore the single plug ins communicate among themselves more precise they supply and retrieve the data among each other the chosen options and values ofthe parameters These points together ensure the modularity of the plug in system in LucidDrive 7 1 AFS Scripts Below some of the provided plug ins are listed in alphabetical order and shortly explained They haveto be un
33. ere the maximal luminance Lmax iS involved L L Lmax The light intensity function for Munsell is an approximation to the light intensity component of the Munsell Color Order System The following listing contains a cor responding source code 51 Physics on Geometry BRDF Monitor Luminance etc float munsell float Ln const float c1 0 11913 const float c2 0 22533 const float c3 2 3352 const float c4 2 0484 const float c5 0 8194 const float d2 0 45066 const float d3 4 6704 const float d4 4 0968 const float d5 1 6388 float r pow Ln 0 45 float f r c1 r C2 r c3 r c4 r c5 float df 2 c1 r d2 r d3 r d4 r d5 r2r f Ln df return r 8 3 Illumination amp Luminance Parameters 52 The following table lists some of the parameters involved with a short description in alphabetical order The nomenclature of course is not stringent but tries to use descriptive names shortcuts A A P Amb B BM LN BRDF X Y E 1 N L r 1 I L P L L P X E R BRDF L A L L P n Es Laa SIN LN LRGB N N P P P x y gt LN 1 R RGB RGB B SRGB RGB SRGB B LRGB Amb r2 r2 P L SRGB SRGB x y X Y Direction from P to the eye Ambient intensity setting in LucidDrive Value of the brightness after brightness mapping BM from 0 1 gt 0 1 BRDF of the plane when light comes from X and goes to Y Sum fo
34. g in double swivelangle modifyLight double swivel signal return swivelangle object getSignals return swivel object log_signal return swivel z Logger Plug in double sa update cout void log slot object content void swivel slot double angle sa angle swivelangle is swivel Most important are the three underlined objects in this case swivel in general they can be vari ables function calls etc if they are identical LucidDrive will detect that and will provide the data exchange 36 Scripts AFS and Vehicle Dynamics Plug ins Second example for a logger Plug in include lt windows winresrc hdo gt object gs keyObserver ObserverTrigger observer for key events KeyEvent key clicked onKeyPressed double onKeyPressed object event double downUp key repeatCount event getKeyData downUp key repeatCount cout key key pressed endl return 0 0 not handled 1 handled do not propagate This last code can be integrated directly into the logger do plug in to call appendToLog there or into any other plug in In a visualized vision each plug in has to be seen as a box with certain sockets on it if two boxes have a pair of identical sockets i e the name of an object LucidDrive provides a connection between those boxes in the specified direction depending on allocation or
35. gether Figure 7 1 A sketch of the concept of this AFS script A minor disadvantage is the fact that due to the parallax effect it is not possible to reduce the gap between the two parts completely to zero afsDemoTilt do The script afsDemoTilt do shows an example how to implement a tilt or pitch i e a rotation around the y axis This tries to illuminate the road in regard to dips and cambers and preventing the car from glaring the opposing traffic afsDemoCurveLight do This script allows to control a special set of lamps too Here additional curve light cl either on the left or on the right side of the car may be activated when approaching a turn not changing the pointing of all other lamps The de activation of the respective cl lamp is determined by the minimum and maximum curve angle respectively afsDynamicPencil do Plug ins provided in LucidDrive This script controls multiple LEDs in a kind of array optional arranged in groups Curve light is realised by temporary activated additional lamps at the front side ofthe car The only part ofthe light being swiveled is the asymmetric part 15 finger the part lying below the cutoff line is kept straight forward afsDynamicSpot do Implements a kind of marker mainly used in static situations e g to test a lamp or a texture afsEquimpmentSpot do This script is kind ofa tracking system it lights up certain points along the track The coordinates to point at are sp
36. hape Technical Reference for a more detailed discussion The two parameters mean roughness and normal fresnel do not overwrite the already assigned values to a surface if e g already done in RoadEditor 3 6 Driving The driving control dialog box sets the driving properties starts and stops the car resets the driving scene and controls the velocity It also sets the rotation of the driver view and enables the possib ility to record the simulation The software uses a smart numerical algorithm to perform its drive simulation where the vehicle s speed depends on the actual road curvature With different look ahead values the actual speed can be altered i e the velocity will be reduced before the curve and the acceleration will start before the curve ends But not only the speed depends on the curvature of the road also the optional automatic rotate view the automatic roll angle the roll lamps angle and the dynamic beam patterns AFS Driving Control Drive Curves min speed max speed km h show revert spine 30 100 m m Reset Next Back Drive Halt Continue Rotate driver view to the side manual automatic goto Cameras tab for rotation Roll vehicle like motorcycle manualroll automatic roll manual roll angle 0 set Roll driver view manualroll automatic roll manual roll angle 0 set Figure 3 10 The Driving Dialog drive curve This switch sets the driving curve to either center of the
37. here different beam patterns e g low beam fog and high beam are shown with different colors PCS Color Shift This configuration is not an example for AFS but a colored light distribution It makes use of a spectral calculated LID furthermore the shutter inside the PCS module is slightly moved for and backwards to alter move the color fringe The Menu Items in LucidDrive Snow Drive A predefined configuration file with a snow covered landscape seen from a driver s view position Stationary Lamps A predefined configuration which shows light distributions on the street as caused by stationary lamps Motorcycle A predefined configuration file in motorcycle view The motorcycle view supports an inclined view which is typical for a motorcycle ride Motorcycle AFS A predefined configuration file in motorcycle view as above The difference is that the software will dynamically select and adapt the beam pattern according to the current road curvature in a variable look ahead time window Motorcycle AFS with 3D LID A predefined configuration file in motorcycle view as above The difference is that a 3D LID is used It shows a 15 degree finger dynamically following the lane curvature Add Customer Menu This enables one to load a custom made menu e g with only the most used entries or with new options Exit Alt F4 Quits Lucid Drive Figure 3 2 Driver s view 15 The Menu Items in LucidDrive Figure 3 3 Motorcycle view 3 2
38. hsin 8 8 2 T cos XQ A B cos 9 mAhsin nB cos 9 lim R 7hA 0 15 using A 0 07578 B 0 0331 190 When having a street with a reflection index of 0 15 for road surface and side green Nakata fits quite good to the default BRDF model 50 Physics on Geometry BRDF Monitor Luminance etc uns Figure 8 2 A sketch of a view along the street The figure right above shows the measurement method done by Hoffmann and Nakata independ ently of each other Both of them set a car on the road with two lamps attached and a sensor between them Then they have measured the light being scattered back from the measuring points on the surface white dots the LID is oversimplified just to illuminate the measuring zone on the road This method of measurement leads both to a good simplification but to a large restriction of the validity area too This type of BRDF does only work when observing the scattering process from a position very close to the driver view The corresponding parameters and used values in von Hoffmanns dissertation in chapter 6 are h hs 0 65m and h ha 1 13m 8 2 2 Lommel Seeliger The Lommel Seeliger is aBRDF mostly used in astronomical tasks for description of planet surfaces It has the form f 8 9 R m cos0 cosd Please refer also to http orca phys uvic ca tatum plphot plphoto1 pdf For the intensity mapping at first the normalised luminance is calculated h
39. ing mode the received inputs come from the steering angle of the wheel and the position of the two pedals LucidDrive does not have a perfect physical model but it calculates the on the vehicle acting forces quite detailed The input parameters are the actual gear the rpm of the engine the incline of the road the mass of the car and the position of the two pedals Also implemented is a model that calculates an incline of the car due to the actual positive or negative acceleration via the pedals gt pitch this gives the possibility to test an optional dip or dim control of the lamps 2 With the actual VCS and the dynamic inputs the next simulation step is calculated temporal or spatial It is very important that the chosen interval is small enough to ensure a smooth motion of the car both for the view of the light and the motion and the VCS of the car itself please see also Section 3 11 Settings After computing the simulation step both the VCS and LCS are updated the car drives forward now the static light is calculated without any dynamical effects like AFS 3 The next step in the pipeline is the AFS plug in This plug in receives the wanted data from Lu cidDrive among other things there are the actual position on the driving lane and its bending the yaw angle of the car and the speed to compute the swivelling angle of the AFS attached beams The complete light both statical and dynamical parts is projected into the
40. ion Cook Torrance BRDF parameters diffuse ratio 0 75 mean roughness 0 15 only used if not set by Material normal reflectance 0 9 only used if not set by Material Figure 3 8 Visual Properties Dialog I the amount of scattered light relative to the ideal reflected light thus the road appears rain wet Specifies the roughness of the surface thus the reflection of the light and thus the amount of light being scattered back to the driver A perfect specular plane would reflect no light back to the driver the road would appear almost completely dark When perpendicularly illuminating a surface this values gives the amount of light which is reflected back to the source without any scattering For a more detailed description regarding the different BRDF types please refer also to Section 8 2 BRDF 21 The Menu Items in LucidDrive illuminance Iv show isolux lines radial illuminance linewidth 1 1 10 20 50 100 200 500 1000 ux coloration C false color particular color gradient rgb b ps b p b m map function C linear log Munsell Custom coloring false color lamp color custom color custom shader luciddrive shader custom frag Load Apply flag show isolux lines input window line width colorations radio button map function 22 Figure 3 9 Visual Properties Dialog Il If checked the below entered isolines are shown in the different views after pressi
41. is used to evaluate not only the effect of the own lamps onto the geometry but to have an impression of the own headlamps when sitting in another vehicle or being a pedestrian In case there are more than one vehicle on the road at any time only one car is active i e marked in the vehicle list in the scene elements dialog This active car can be controlled directly both the headlamps and the driving either manually or automatically driving The remaining vehicles are set as passive i e they are controlled by LucidDrive directly When switching to another vehicle the at last used lamp set stays active until we switch back to this vehicle 4 1 Other Settings Beside the headlamp set s some other parameters of the cars can be specified The speed is not controllable for each passive car separately but for each lane this can be done in the usual driver dialog Further options can be set in the scene elements dialog all of the options in the upper part of the dialog are independent from each other so e g one geometry file can be used for more than one vehicle etc The vehicles can be named and a geometry can be assigned to This geometry can be switched on and off by checking the flag show The flag lit only controls the visibility of the car itself it has no influence to the headlamps Furthermore the driving curve and the view position inside the car can be specified The parameter offset controls the starting position for the
42. k Additionally it enables direct comparison of different headlamp setups and the resulting quality of their beam patterns in different road configurations The software uses a smart numerical algorithm to perform its drive simulation where the vehicle s speed depends on the actual road curvature With the automatic driving mode the car always stays on the right or left driving path allowing the user to concentrate on the beam pattern not on the steering of the car During a simulation one can switch between the different viewing positions Driver s View 20m View from behind and Bird s Eye View which can be selected dynamically during the simulation drive But not only the car s speed during the simulation is a function of road curvature but also the driver s view direction and view inclination The inclined view is typical for simulation of a motorcycle ride One can also enable or disable the automatic view rotation and inclination Any general viewing position can be set to accommodate any desired point of view and the simulation can be adapted to left or right hand traffic 1 3 Road Scenes LucidDrive comes with a large selection of road scenes and the ability to create new courses with the Road Editor tool by simply editing the road as a sequence of points From such a polygonal sequence and additional road information e g four lane highway or country side road to be selected from a broad variety of road types the software wi
43. ll create a continuous curved road The created curves adhere to the mathematical form of a clothoid curve During the drive simulation all video frames can be automatically exported as bitmaps and in a subsequent process merged into a movie The user can control the rate and size of the video frame Overview 1 4 Beam Pattern Analysis As mentioned previously the main function of LucidDrive is the beam pattern analysis The user can switch between various sets of headlamps to verify the differences in resulting beam patterns For example the headlamp sets can be a combination of left and right aimed low beam lamps Any number of headlamps with different aiming positions can be combined and mounted on the car Distance marker lines on the road are included to provide visibility targets for benchmarking 1 5 Advanced Front Lighting Systems AFS LucidDrive supports dynamic beam patterns such as those in AFS Adaptive Front Lighting Systems The software will dynamically select and adapt the beam pattern according to the current road curvature or radius in a variable look ahead time window 1 6 Texture Based Graphics LucidDrive comes with high photo realistic and texture based graphics The realistic physical model is represented graphically which means that the road scene luminance in cd m is converted into graphics via a complex mathematical model The model takes surface properties e g reflectivity ofthe street pavement as well
44. ments for the driving view e g an aiming wall or a grid on the road vehicles Vehicles name Vehicle 1 Motorcycle geometry VWGolf4lug _ M show drive curve Right Lane offset 0 view pos Y z target 22 0 37 118 20 Apply Create Delete aiming wall Wall Wall Lines show iv V MH Iv SAE MECE W Fog Distance 10 Lamp Mounting Positions Bax Auto C Custom height left right 0 625 0 6 0 6 Apply Wall show annotations C off width 12 C marker front 18 gid back fO spacing 3 Figure 3 13 The Scene Dialog This dialog part enables one to select load create and modify vehicle geometries One can give unique names choose a provided model to be shown in the driving view and specify the driving curve via a pull down menu e g left lane left passing lane center The offset determines the starting position on the road in m e g if more than one car is on the track 27 The Menu Items in LucidDrive viewing position Sets the coordinates for the driver view Changing the sign of the y value will switch between RHD and LHD right left hand driv ing the z value maybe needs to be verified for different cars gt seat height The target is the point on the road the driver is looking at distance in m relative to the driver s position flag aiming wall An aiming wall may be shown which is defined by a distance car to wall and the reflection scale again a value is pos
45. mple road with one car and a low beam headlamp Various Low Beams A predefined configuration with different lousy low beam pat tern for left and right hand traffic AFS Swivel A predefined configuration file which is typical in an adaptive front lighting system The software will dynamically select and adapt the beam pattern according to the current road curvature in a variable look ahead time window AFS with 3D LID The difference to a usual LID is a 3D LID is used It shows a 15 degree finger dynamically following the lane curvature The technique is used here for simulating a car with two headlamps AFS Dimmed High Beam In this example the high beam is connected to a sensor When an opposing vehicle is approaching the intensity of the high beam is dimmed down to avoid dazzling the oncoming traffic AFS Shuttered High Beam This example makes use of the plug in afsDemoHigh do When approaching oncoming traffic the two high beam lamps are swiveled to create a gap between the beam patterns on the road AFS Low Beam LED Array A predefined configuration with a low beam LID It is composed of several LID modules each representing a LED It also shows a dynamic 15 degree finger following the lane curvature AFS Marker Light This example makes use ofthe plug in afsDynamicSpot do When reaching a trigger point a spot beam is illuminating a person or an animal just entering the road Color Beam Comparison A predefined configuration file w
46. ncy on the road This switching allows a better light on the road but of course it consumes some calculation power The single LIDs have to be computed and saved separately in order to build up a 3D LID in LucidShape The main usage for this type of AFS is to simulate more complex vehicular headlamp systems e afsDefault do This is a very basic example of implementing an AFS It only swivels the light i e there is only a rotation around the z axis and no rotation about the y axis pitch e afsDemoLow do This script allows to swivel a user defined lamp or set only This is done by the parameters to be entered in the respective dialogs In this case if the string for lowbeam set prefix is identical 45 Plug ins provided in LucidDrive 46 to the string entered in the headlamps dialog this AFS script only swivels the respective set of lamps e g to keep all other lamps headed straight forward onto the road afsDemoHigh do This script uses a different approach it controls the left and the right high beam part independ ently If e g an opposing car is approaching on a straight road the right high beam is unaltered The left high beam starts to swivel to the left until it reaches a limit then it will be turned off After the car has driven past the left high beam is activated again The main advantage is not to resign to the right high beam during the passing GO d Left High Beam Right High Beam CO Cx both parts to
47. ng Apply Please note radial means that the normal on the measuring device always points directly to the driver in difference to horizontal and vertical Here one may enter a set of values for the wanted isolines in lux Determines the width of the isolines The color of the isolines can be chosen among four types false color The color coding of the isolines goes from red highest intensity over yellow and green to blue lowest intens ity particular color All isolines are drawn in the specified color gradient Analogue to the case of false color but here one can define both the starting and the ending color again in the order highest gt lowest intensity e RGB The isoline with the lowest intensity is drawn in red the second lowest in green all other in blue Sets the intensity mapping function to either linear logarithmic Munsell or custom the appearance of Munsell is something between linear and logarithmic this is almost the way it is sensed by the human eyes The latter allows the user to use a self defined display mode For this purpose the custom files in the folder samples automotiveLighting shader have to be modified The Menu Items in LucidDrive radio button coloring Sets the road coloring properties to either false lamp or custom color button Apply Performs the changes of the intensity mapping and coloring properties Concerning the intensity mapping function please refer to the LucidS
48. o the left Rolls the view to the left Rolls the view to the right Resets the rotation of the view Switches exclusively between the lamp sets Switches to the next lamp set Switches to the previous lamp set Toggles the full screen viewing mode on off 9 2 LucidDriveManual and LucidDriveServerClient Extra Shortcuts e a arrow keys Bibliography Exit LucidDrive and all connected clients Reset LucidDrive and all clients Drive manually up down is gas brake left right is steering wheel input only if no external steering wheel is connected 1 TECHNICAL COMMITTEE ISO TC29 SC9 Road vehicles Vehicle dynamics and road holding ability Vocabulary 2 ALEXANDER VON HOFFMANN Lichttechnische Anforderungen an adaptive Kraftfahrzeug f r trockene und nasse Fahrbahnen Dissertation TU Ilmenau 55 56
49. olor of the background i e the sky ambient light color Sets the color of the ambient light this can be set independent to the background color luminance cd m Determines the amount of the ambient light brightening factor old This parameter was used in older versions of LucidDrive to brighten up everything on the screen radio button diffuse BRDF type Sets the type of the diffuse BRDF Bidirectional Reflectance Dis tribution Function to either Lambertian Hoffmann Nakata or Lommel Seeliger Lambertian is the basic type the other three use special empiric models for the calculation In the file lucid drive shader custom frag the more skilled users can modify the used parameters and equations radio button specular BRDF Sets the specular part of the BRDF behaviour to either none or type Cook Torrance alternative name Torrance Sparrow This is in dependent from the diffuse BRDF setting diffuse ratio Determines the ratio of diffuse to specular BRDF If e g a value of 0 15 is assigned onto the road surface this strongly reduces mean roughness normal reflectance The Menu Items in LucidDrive luminance range min max cd m 2 fix range 0 47 8661 update range ambient light background colr 50 o feo ambient light color 255 255 s lumnance cd m 2 2 brightening factor old J0 Diffuse BRDF type Default Hoffmann Nakata Lommel Seeliger Specular BRDFtype no specular reflect
50. ons low high The width w determines the distance between the left and the right beam If creating a lamp e g for a motorcycle and thus using only one beam the width has to be setto zero and one ofthe LIDs either left or right has to be deactivated The height h determines the mounting height ofthe respective lamp Pressing the button opens a file selection dialog here the LID to be assigned to this lamp has to be chosen When not using both left and right LID you can disable one by unchecking one of the two check boxes Pressing this button opens a dialog with additional options and parameters for this single lamp these will be explained further down this subsection Pressing this button will delete this line i e this single lamp or pair of lamps A set is deleted when deleting the last line of it This will add a new block i e lamp set including a set name one or more lamps mounting positions and LIDs Updates the changes made for the mounting positions to the currently selected vehicle The two arrows allows to enlarge or narrow the input fields If unchecked the paths of he LID files are hidden This opens the same dialog as for the single advanced options but the options and parameters will be applied onto all lamps for the currently selected vehicle 18 The Menu Items in LucidDrive button delete all This will delete all lamps sets assigned to the currently selected vehicle button apply Pre
51. r all light sources Intensity of the i th PLS in direction L P Luminance at P in direction of X Direction from P to the i th point light source PLS Maximal luminance setting in LucidDrive Normalised luminance Color of the light source Normal of the surface at P Next intersection of the ray from the eye camera through the pixel x y with the scene reflection rate of the surface Output value of the RGB Square of the distance from P to i th PLS Value of the RGB on the surface at pixel x y Inner product of X Y if both are vectors i e directions with IXl 1 X Y cos Z X Y Physics on Geometry BRDF Monitor Luminance etc What then after all the calculations have been done happens while displaying these RGB values on the screen gamma curve is beyond our control because this strongly depends on the respective monitor But this should be adjustable using a special brightness mapping Changeable parameters are BRDF reflection rate brightness mapping and Lmax 8 4 Monitor and Luminance Most Monitor Calibration Tools adjust the color appearance but not the luminance of the display If you wantto get a decent color appearance just use any ofthe systems on the market e g EyeOne or ColorSpyder In order to match the luminance levels to the actual monitor luminance you should find out what luminance your monitor produces with all pixels set to white it should be about 80 130 cd m with a brightness se
52. request 37 38 Chapter 6 Plug in Script Interface 6 1 Lamp functions These functions allow to get the state of the lamps which are loaded in LucidDrive It is possible to modify the axis system of a lamp or the 3th and 4th parameter of a 4D light distribution At least one of them has to be modified in order to manipulate the lamps The following functions are listed in alphabetical order object getLamp double idx returns the idx th lamp as an object of type PointLight return the idx th lamp param idx index of lamp ranging from 0 to getNumLamps object getLamplIndicesOfSet double idx returns the lamp indices of the idx th lamp set so they can be fetched with getLamp return the lamp indices of the lamp set as a list param idx index of lamp set ranging from 0 to getNumLampSets object getLampLID double idx returns the light distribution of the i th lamp as an object of type LIDEmitter return the light distribution of the idx th lamp param idx index of lamp ranging from 0 to getNumLamps object getLampRelativeAxis double idx returns the axis system of the i th lamp as an object of type AxisSystem return the axis system of the idx th lamp param idx index of lamp ranging from 0 to getNumLamps string getLampSetName double idx returns the name of the idx th lamp set return the name of the lamp set param idx index of lamp set ranging from 0 to getNumLampSets object getLampsOfSet
53. rmine the length of a single simulation step Increasing this value too much will lead to kind of hopping stuttering of the vehicle along the road If checked some informations may be shown in the status bar left lower corner on the screen If checked the actual frame rate is shown in the status bar If checked the actual speed is shown in the status bar If checked the actual radius is shown in the status bar If checked the current memory status ofthe GPU is shown in the status bar This is the rate i e frames per second the informations in the status bar are updated Switches the use of all textures on off Switches the use of a shade on off buttons reload Shader Plug in If something went wrong i e an error occurs these two buttons Manager give the possibility to completely reload the respective object 29 30 The Menu Items in LucidDrive 3 12 Miscellaneous Menu Commands Some windows related command new view Creates a new driving view with the default settings a windows cascade Arranges all open windows in a cascade windows gt tile vertical Arranges all open windows in vertical tiles windows tile horizontal Arranges all open windows in horizontal tiles windows gt arrange icons Arranges the icons Chapter 4 Multiple Cars Beside the simulation of one car and its headlamps one further main task of LucidDrive is to have multiple vehicles on the track to have some opposing traffic This
54. rms of the agreement dick I Agree to continue You must accept the agreement to install LucidDrive 1 5 0 Figure 2 1 The License Agreement Dialog Itis highly recommended to install a new version of LucidDrive into a new folder i e to not overwrite an already existing installation and to not install it into one of the program files folders Spaces dots and digits can be used so a possible path is C LucidDrive v1 5 0 this also indicates the version in this installation path Getting Started with LucidDrive Choose Install Location Choose the folder in which to install LucidDrive 1 5 0 Setup will install LucidDrive 1 5 0 in the following folder To install in a different folder dick Browse and select another folder Click Install to start the installation Destination Folder C LucidDrive v 1 5 0 Space required 1 1GB Space available 12 6GB Figure 2 2 The installation location Dialog Click install to install LucidDrive in the chosen directory After the installation is complete press Finish to close the installation wizard 2 1 2 License File Handling In case you have used your username and password to receive the setup file the license file auto matically is retrieved from our website If this do not work e g because your computer is located somewhere behind a firewall or similar please send the license file LucidDrive license located at USERPROFILE Lucid LucidDrive to lt info lu
55. road or spine driving lane min max speed Specifies the minimum and maximum speed in km h 23 The Menu Items in LucidDrive flag show Shows hides a specific driving lane on the road For each one has its own flag more than one line can be shown e g to compare the driving curves flag revert If checked the driving curve is reversed the car is driving back wards button apply Applies the changes made on both the velocity and the two flags button reset Resets the driving scene to the initial start position button next Applies the next time step button back Applies the previous time step i e the simulation makes one step back button drive Starts the driving simulation from the initial starting pint button halt Interrupts but not ends the driving simulation button continue Continues the simulation from the last time stamp radio button roll vehicle Sets the rolling behaviour to either manual with a fixed angle or automatic If set to automatic roll the lamps are vertically inclined which is typical for a motorcycle ride the roll angle de pends on the road curvature If set to manual a fix lamp roll angle is applied radio button roll driver view lf set to automatic the driver view is vertically inclined auto matically The inclined view is typical for a simulation of a motor cycle ride The actual inclination depends on the road curvature If set to manual a fixed driver roll angle is
56. sible flag wall lines Checking unchecking the single flags will show hide the re spective lines on the wall radio button lamp mounting f set to custom the mounting position of the lamp can be positions changed radio button show annotations Here one can specify whether markers shall be shown or not and the type of Off shows no marker at all marker shows several differently colored distance lines Grid shows the driving lane and some marker lines specified through the entered parameters The grid is calculated as quadratic in order to show distance lines the width has to be at least twice as spacing flag aiming axis If checked an usual right handed axis system is shown Figure 3 14 Driver view with the aiming wall and the lines for different beam pattern regulations SAE VOL ECE and FOG lamp 3 11 Settings The Menu Items in LucidDrive Performs some general settings simulation step time distance time step s 0 2 status bar v enable Y frame rate radius V speed GPU memory status update rate frames 20 advanced use textures iv Shader Reload Plugin Manager Reload Apply Help Figure 3 15 The Settings Dialog radio button simulation step Depending on the choice made by the radio button either a time flag status bar frame rate speed radius GPU memory update rate frames flag use texture flag use shader in s or a distance in m can be entered to dete
57. ssingthis button will apply all changes done in this dialog and create the lamps button change dialog layout If pressed a small additional dialogs opens Deactivating one of the three flags will include the respective parameters into the main dialog 3 3 2 Headlamp Advanced Options and Parameters Position offset In drive direction backward forward 0 From center Jeft ight 0 Orientation Tit 10 Rot 10 Roll 10 Color Settings colortemperature SPDfitfunction SPD control curve color temperature K 3360 Shift and Scale Shift inu v Scale fo op hn Figure 3 6 The Advanced Options and Parameters of the Headlamps position offset Per default the lamps are mounted at x 0 and symmetrical to y 0 more precise at y width and y width here an offset to x and or y can be specified tilt The tilt angle in degree of the lamps in vertical direction a positive value points upwards rotation The rotation angle in degree ofthe lamps in horizontal direction a positive value points to the left roll The roll angle in degree e g the inclination of the lamps due to the inclination of a motor cycle in curves color Allows to specify the color of the lamp Available are color temper ature in K a manual SPD step function in a given interval from Amin tO Amax or a SPD control curve which is defined in a file shift in u Determines an optional inclination of the lamps in horizontal dir ection a value
58. the plug in scripts to LucidDrive and the possibilities to interface from the script to external code In the version 1 4 0 the concept of plug ins in LucidDrive was expanded and redesigned Now there is a kind of distinguish between primary plug ins like e g AFS and auxiliary secondary plug ins like e g graphical elements tachometer and rotation speed indicator or a data logger Also there are now so called Trigger Points available when crossing these points on the track during the simulation predefined actions will be released Furthermore there is now the possibility of data exchange between different plug ins to ensure the modularity of the plug in system First we describe the necessary conventions used in LucidDrive for defining the car and lamp position and orientation Then we give an overall picture of how script plug ins are loaded and when they are executed in the LucidDrive pipeline Next the interface functions are listed In the end the ex ample scripts provided in the LucidDrive installation are listed and shortly described to give the reader an impression of their capabilities 5 2 LucidDrive Conventions For describing the vehicle position and orientation LucidDrive uses a vehicle coordinate system VCS which follows the conventions described in 1 and which is shown in Figure 5 1 Car coordin ates used in LucidDrive The geometry ofthe car is transformed to it and the position and orientation ofthe lamps are sp
59. the simulation return current time in seconds e double getCurvatureAtTime double t double out curvature returns the curvature of the drive curve at a given time return true if successful param t time in seconds param out curvature Gaussian curvature of the drive curve double getDriverRotAngleAtDistance double t double ds double out angle returns the rotation angle of the head of a driver when she would look at a point on the drive curve at a given distance return true if successful param t time in seconds param ds distance along the drive curve param out angle angle of head rotation e double getFrameTime returns time from last frame up to now return frame time in seconds double getGasPedal returns the gas pedal from an input pedal It is in the range 0 1 with O being not pressed and 1 being fully pressed return gas pedal e double getMotorcycleRollAngleAtTime double t double out rollangle returns rollangle of the vehicle assuming it is a bicycle and travels around a curve with curvature and speed given by the functions above return true if successful param t time in seconds param out rollangle roll angle of the bicycle 41 Plug in Script Interface e double getPosAndDirAtDistanceAtTime double t double ds double out time object out pos object out dir returns the position and direction of the car as it travels along the drive curve at a given time and a
60. tting at 3096 on recent monitors Then you can insertthis luminance as the maximum value for the luminance range in the RoadProp erties dialog in LucidDrive see the picture below The luminance response of a monitor for equal RGB values X from o to 1 roughly follows a X curve The brightness mapping is the inverse of this curve and is in this case a Square Root function You can switch to such a setting with the brightness mapping function Custom in the RoadProp erties dialog see picture below Then the actual monitor output matches quite well the calculated luminance values from LucidDrive You can also go further and measure the response curve of the monitor and we could implement a special brightness mapping curve from that luminance range min max cd m 2 Figure 8 3 The Dialog parts with the Settings explained above 53 54 Chapter 9 LucidDrive Keyboard Shortcuts 9 1 LucidDrive Shortcuts EE yo SAS Ses ISI BO K o o o F12 Resets the driving simulation and go back to the start Starts the driving simulation Halts the running driving simulation Goes to the next time step in the simulation Goes to the previous time step in the simulation Toggles between manual automatic driving Switches to driver s view Switches to the 20m view Switches to the bird s eye view Switches to the pedestrian s view Switches to the drive by view Rotates the view to the right Rotates the view t

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