carla仿真平台API

仿真平台API

Ego车辆

车辆物理数据

• 车辆尺寸
• 车辆自身坐标系

车辆控制

• 油门
• 转向
• 刹车
• 手刹
• 倒车

车辆状态参数

• 速度
• 加速度
• 偏转
• 位置坐标

车辆动力学控制

• 扭矩
• max rpm
• 车辆瞬时惯性
• 最大油门阻尼
• 空油门阻尼
• ……

传感器

传感器监听

listen（self, callback）
该函数可以在每次传感器获取到数据后，将其传输到callback中。

传感器数据

所有传感器数据有以下属性：

• frame（int）产生数据时的帧数
• timestamp（float）产生数据时的仿真器时间
• transform（carla.transform）产生数据时传感器的位置信息（包含坐标信息和rotation信息

Depth camera

该传感器提供了视野中每个像素点的距离的深度地图。
图像通过记录每个像素点在三个频道（R、G、B）的色域，实际的距离（单位米）可以通过一下解码获得：

normalized = (R + G * 256 + B * 256 * 256) / (256 * 256 * 256 - 1)
in_meters = 1000 * normalized

基础的摄像头属性

Blueprint attribute	Type	Default	Description
image_size_x	int	800	Image width in pixels.
image_size_y	int	600	Image height in pixels.
fov	float	90.0	Horizontal field of view in degrees.
sensor_tick	float	0.0	Simulation seconds between sensor captures (ticks).

像头镜头属性

Blueprint attribute	Type	Default	Description
lens_circle_falloff	float	5.0	Range: [0.0, 10.0]
lens_circle_multiplier	float	0.0	Range: [0.0, 10.0]
lens_k	float	-1.0	Range: [-inf, inf]
lens_kcube	float	0.0	Range: [-inf, inf]
lens_x_size	float	0.08	Range: [0.0, 1.0]
lens_y_size	float	0.08	Range: [0.0, 1.0]

输出属性

Sensor data attribute	Type	Description
frame	int	Frame number when the measurement took place.
timestamp	double	Simulation time of the measurement in seconds since the beginning of the episode.
transform	carla.Transform	Location and rotation in world coordinates of the sensor at the time of the measurement.
width	int	Image width in pixels.
height	int	Image height in pixels.
fov	float	Horizontal field of view in degrees.
raw_data	bytes	Array of BGRA 32-bit pixels.

---

GNSS传感器

GNSS 属性

Blueprint attribute	Type	Default	Description
noise_alt_bias	float	0.0	Mean parameter in the noise model for altitude.
noise_alt_stddev	float	0.0	Standard deviation parameter in the noise model for altitude.
noise_lat_bias	float	0.0	Mean parameter in the noise model for latitude.
noise_lat_stddev	float	0.0	Standard deviation parameter in the noise model for latitude.
noise_lon_bias	float	0.0	Mean parameter in the noise model for longitude.
noise_lon_stddev	float	0.0	Standard deviation parameter in the noise model for longitude.
noise_seed	int	0	Initializer for a pseudorandom number generator.
sensor_tick	float	0.0	Simulation seconds between sensor captures (ticks).

输出属性

Sensor data attribute	Type	Description
frame	int	Frame number when the measurement took place.
timestamp	double	Simulation time of the measurement in seconds since the beginning of the episode.
transform	carla.Transform	Location and rotation in world coordinates of the sensor at the time of the measurement.
latitude	double	Latitude of the actor.
longitude	double	Longitude of the actor.
altitude	double	Altitude of the actor.

---

IMU传感器

IMU attributes

Blueprint attribute	Type	Default	Description
noise_accel_stddev_x	float	0.0	Standard deviation parameter in the noise model for acceleration (X axis).
noise_accel_stddev_y	float	0.0	Standard deviation parameter in the noise model for acceleration (Y axis).
noise_accel_stddev_z	float	0.0	Standard deviation parameter in the noise model for acceleration (Z axis).
noise_gyro_bias_x	float	0.0	Mean parameter in the noise model for the gyroscope (X axis).
noise_gyro_bias_y	float	0.0	Mean parameter in the noise model for the gyroscope (Y axis).
noise_gyro_bias_z	float	0.0	Mean parameter in the noise model for the gyroscope (Z axis).
noise_gyro_stddev_x	float	0.0	Standard deviation parameter in the noise model for the gyroscope (X axis).
noise_gyro_stddev_y	float	0.0	Standard deviation parameter in the noise model for the gyroscope (Y axis).
noise_gyro_stddev_z	float	0.0	Standard deviation parameter in the noise model for the gyroscope (Z axis).
noise_seed	int	0	Initializer for a pseudorandom number generator.
sensor_tick	float	0.0	Simulation seconds between sensor captures (ticks).

Output attributes

Sensor data attribute	Type	Description
frame	int	Frame number when the measurement took place.
timestamp	double	Simulation time of the measurement in seconds since the beginning of the episode.
transform	carla.Transform	Transform in world.
accelerometer	carla.Vector3D	Measures linear acceleration in m/s^2.
gyroscope	carla.Vector3D	Measures angular velocity in rad/sec.
compass	float	Orientation in radians. North is (0.0, -1.0, 0.0) in UE.

---

激光雷达

激光雷达属性

Blueprint attribute	Type	Default	Description
channels	int	32	Number of lasers.
range	float	10.0	Maximum distance to measure/raycast in meters (centimeters for CARLA 0.9.6 or previous).
points_per_second	int	56000	Points generated by all lasers per second.
rotation_frequency	float	10.0	Lidar rotation frequency.
upper_fov	float	10.0	Angle in degrees of the highest laser.
lower_fov	float	-30.0	Angle in degrees of the lowest laser.
sensor_tick	float	0.0	Simulation seconds between sensor captures (ticks).

输出属性

Sensor data attribute	Type	Description
frame	int	Frame number when the measurement took place.
timestamp	double	Simulation time of the measurement in seconds since the beginning of the episode.
transform	carla.Transform	Location and rotation in world coordinates of the sensor at the time of the measurement.
horizontal_angle	float	Angle (radians) in the XY plane of the lidar this frame.
channels	int	Number of channels (lasers) of the lidar.
get_point_count(channel)	int	Number of points per channel captured this frame.
raw_data	bytes	Array of 32-bits floats (XYZ of each point).

---

障碍物检测传感器

在没有感知算法的情况下获取ego车辆前方的障碍物。

Blueprint attribute	Type	Default	Description
distance	float	5	Distance to trace.
hit_radius	float	0.5	Radius of the trace.
only_dynamics	bool	false	If true, the trace will only consider dynamic objects.
debug_linetrace	bool	false	If true, the trace will be visible.
sensor_tick	float	0.0	Simulation seconds between sensor captures (ticks).

输出属性

Sensor data attribute	Type	Description
frame	int	Frame number when the measurement took place.
timestamp	double	Simulation time of the measurement in seconds since the beginning of the episode.
transform	carla.Transform	Location and rotation in world coordinates of the sensor at the time of the measurement.
actor	carla.Actor	Actor that detected the obstacle (parent actor).
other_actor	carla.Actor	Actor detected as an obstacle.
distance	float	Distance from actor to other_actor.

---

毫米波雷达传感器

Blueprint attribute	Type	Default	Description
horizontal_fov	float	30	Horizontal field of view in degrees.
points_per_second	int	1500	Points generated by all lasers per second.
range	float	100	Maximum distance to measure/raycast in meters.
sensor_tick	float	0.0	Simulation seconds between sensor captures (ticks).
vertical_fov	float	30	Vertical field of view in degrees.

Output attributes

Sensor data attribute	Type	Description
raw_data	list(carla.RadarDetection)	The list of points detected

RadarDetection attributes	Type	Description
altitude	float	Altitude angle in radians.
azimuth	float	Azimuth angle in radians.
depth	float	Distance in meters.
velocity	float	Velocity towards the sensor.

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RGB摄像头

基本摄像头属性

Blueprint attribute	Type	Default	Description
fov	float	90.0	Horizontal field of view in degrees.
fstop	float	1.4	Opening of the camera lens. Aperture is 1 / fstop with typical lens going down to f / 1.2 (larger opening). Larger numbers will reduce the Depth of Field effect.
image_size_x	int	800	Image width in pixels.
image_size_y	int	600	Image height in pixels.
iso	float	1200.0	The camera sensor sensitivity.
gamma	float	2.2	Target gamma value of the camera.
sensor_tick	float	0.0	Simulation seconds between sensor captures (ticks).
shutter_speed	float	60.0	The camera shutter speed in seconds (1.0 / s).

摄像头镜头属性

Blueprint attribute	Type	Default	Description
lens_circle_falloff	float	5.0	Range: [0.0, 10.0]
lens_circle_multiplier	float	0.0	Range: [0.0, 10.0]
lens_k	float	-1.0	Range: [-inf, inf]
lens_kcube	float	0.0	Range: [-inf, inf]
lens_x_size	float	0.08	Range: [0.0, 1.0]
lens_y_size	float	0.08	Range: [0.0, 1.0]

高级摄像头属性

Blueprint attribute	Type	Default	Description
min_fstop	float	1.2	Maximum aperture.
blade_count	int	5	Number of blades that make up the diaphragm mechanism.
exposure_mode	str	"manual"	Can be "manual" or "histogram". More in [UE4 docs][AutomaticExposure.gamesetting].
exposure_compensation	float	3.0	Logarithmic adjustment for the exposure. 0: no adjustment, -1:2x darker, -2:4 darker, 1:2x brighter, 2:4x brighter.
exposure_min_bright	float	0.1	In exposure_mode: "histogram". Minimum brightness for auto exposure. The lowest the eye can adapt within. Must be greater than 0 and less than or equal to exposure_max_bright.
exposure_max_bright	float	2.0	In exposure_mode: "histogram". Maximum brightness for auto exposure. The highestthe eye can adapt within. Must be greater than 0 and greater than or equal to exposure_min_bright.
exposure_speed_up	float	3.0	In exposure_mode: "histogram". Speed at which the adaptation occurs from dark to bright environment.
exposure_speed_down	float	1.0	In exposure_mode: "histogram". Speed at which the adaptation occurs from bright to dark environment.
calibration_constant	float	16.0	Calibration constant for 18% albedo.
focal_distance	float	1000.0	Distance at which the depth of field effect should be sharp. Measured in cm (UE units).
blur_amount	float	1.0	Strength/intensity of motion blur.
blur_radius	float	0.0	Radius in pixels at 1080p resolution to emulate atmospheric scattering according to distance from camera.
motion_blur_intensity	float	0.45	Strength of motion blur [0,1].
motion_blur_max_distortion	float	0.35	Max distortion caused by motion blur. Percentage of screen width.
motion_blur_min_object_screen_size	float	0.1	Percentage of screen width objects must have for motion blur, lower value means less draw calls.
slope	float	0.88	Steepness of the S-curve for the tonemapper. Larger values make the slope steeper (darker) [0.0, 1.0].
toe	float	0.55	Adjusts dark color in the tonemapper [0.0, 1.0]
shoulder	float	0.26	Adjusts bright color in the tonemapper [0.0, 1.0]
black_clip	float	0.0	This should NOT be adjusted. Sets where the crossover happens and black tones start to cut off their value [0.0, 1.0].
white_clip	float	0.04	Set where the crossover happens and white tones start to cut off their value. Subtle change in most cases [0.0, 1.0].
temp	float	6500.0	White balance in relation to the temperature of the light in the scene. White light: when this matches light temperature. Warm light: When higher than the light in the scene, it is a yellowish color. Cool light: When lower than the light. Blueish color.
tint	float	0.0	White balance temperature tint. Adjusts cyan and magenta color ranges. This should be used along with the white balance Temp property to get accurate colors. Under some light temperatures, the colors may appear to be more yellow or blue. This can be used to balance the resulting color to look more natural.
chromatic_aberration_intensity	float	0.0	Scaling factor to control color shifting, more noticeable on the screen borders.
chromatic_aberration_offset	float	0.0	Normalized distance to the center of the image where the effect takes place.
enable_postprocess_effects	bool	True	Post-process effects activation.

输出属性

Sensor data attribute	Type	Description
frame	int	Frame number when the measurement took place.
timestamp	double	Simulation time of the measurement in seconds since the beginning of the episode.
transform	carla.Transform	Location and rotation in world coordinates of the sensor at the time of the measurement.
width	int	Image width in pixels.
height	int	Image height in pixels.
fov	float	Horizontal field of view in degrees.
raw_data	bytes	Array of BGRA 32-bit pixels.

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语义分割摄像头

Value	Tag	Converted color
0	Unlabeled	( 0, 0, 0)
1	Building	( 70, 70, 70)
2	Fence	(190, 153, 153)
3	Other	(250, 170, 160)
4	Pedestrian	(220, 20, 60)
5	Pole	(153, 153, 153)
6	Road line	(157, 234, 50)
7	Road	(128, 64, 128)
8	Sidewalk	(244, 35, 232)
9	Vegetation	(107, 142, 35)
10	Car	( 0, 0, 142)
11	Wall	(102, 102, 156)
12	Traffic sign	(220, 220, 0)

基本摄像头属性

Blueprint attribute	Type	Default	Description
fov	float	90.0	Horizontal field of view in degrees.
image_size_x	int	800	Image width in pixels.
image_size_y	int	600	Image height in pixels.
sensor_tick	float	0.0	Simulation seconds between sensor captures (ticks).

摄像头镜头属性

Blueprint attribute	Type	Default	Description
lens_circle_falloff	float	5.0	Range: [0.0, 10.0]
lens_circle_multiplier	float	0.0	Range: [0.0, 10.0]
lens_k	float	-1.0	Range: [-inf, inf]
lens_kcube	float	0.0	Range: [-inf, inf]
lens_x_size	float	0.08	Range: [0.0, 1.0]
lens_y_size	float	0.08	Range: [0.0, 1.0]

输出属性

Sensor data attribute	Type	Description
fov	float	Horizontal field of view in degrees.
frame	int	Frame number when the measurement took place.
height	int	Image height in pixels.
raw_data	bytes	Array of BGRA 32-bit pixels.
timestamp	double	Simulation time of the measurement in seconds since the beginning of the episode.
transform	carla.Transform	Location and rotation in world coordinates of the sensor at the time of the measurement.
width	int	Image width in pixels.

运动轨迹控制

沿着航点行进，需要自己根据车辆的控制属性来进行算法的编写。

道路参数

• road ID carla.Waypoint.road_id
• section ID carla.Waypoint.section_id
• lane ID carla.Waypoint.lane_id
• s carla.Waypoint.s
• is junction(bool)
• lane width carla.Waypoint.lane_width
• lane type carla.Waypoint.lane_type