cAR Simulator
Synthetic data generation tool built using existing open-source simulator CARLA designed to support internal teams that require synthetically generated sensor data (image) and car data (Position, Orientation, Acceleration) recorded through user-defined custom simulations.
Built using Unreal Engine 4.18, C++/Blueprint scripting.
Features
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Data Recording System
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Placement of sensor(s) around the vehicle to gather sensor data (images stored in PNG format).
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Log files generated in CSV format for each sensor.
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User Interface (UI) Layer (Unreal Engine Widget Component)
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Simulation recording configuration
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Simulation appearance or Carla setting configuration
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2D Navigation Map for waypoint selection with save/load waypoint feature
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Mini Map (Aerial Map View)
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Pause Menu
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Navigation System
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Supported Waypoint based Routing system
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Settings Override
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Command line-based launch with the option to override the existing simulation settings in a hierarchical order using INI configuration files.
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Command line used to override for windows
-carla-settings=CarlaABC.ini -override=OverrideA.ini, OverrideB.ini -
Settings available for overriding – Vehicles, Pedestrians, Weather, Custom Route
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Packaging
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Packaged for Windows and Mac (x64)
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Optimizations applied for reducing package size, additional asset packaging, asset cooking
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Patching system deployed
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Additional Features​​
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AR-HUD Simulation
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Car simulator on top of existing open-source simulator CARLA to emulate the behavior of an Augmented Reality Heads Up Display (AR-HUD) unit placed inside a car to assist the driver with navigation instructions and warnings in the form of 3D projections to improve driver safety and awareness. Built using Unreal Engine 4.18, C++, SteamVR Plugin
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Overlaying 3D projections on HUD screen achieved through an off-screen rendering of
3D projections. -
Eye-box based clipping of the HUD with user head movement.
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Dashboard overlay on HUD screen to provide current speed info and live compass
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Configuration file to alter the physical aspects of the AR-HUD (Position, Eyebox limits,
HUD screen dimensions)
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Simulator Modes
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Non-VR mode builds for Windows and Mac.
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VR mode is a seated driver view experience that was built for HTC Vive on Windows
using the Unreal Engine 4.18 and SteamVR SDK. -
Option to switch between VR and Non-VR mode at runtime.
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Projection Type
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Navigation Instruction – Straight, Left, Right
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Safety Instruction – Pedestrian, Car or Unknown object​
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Scenario system
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Building multiple scenarios to exhibit the various use cases of AR-HUD
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