SIMULATION TOOL. Average person delays, vehicle delays, and stops were several important performance measures for evaluating the system. As mentioned earlier, these XXXx were not directly calculable from the field-observed data; hence, we developed simulation models to compute them. The traffic simulation software VISSIM version 4.30 was utilized to emulate traffic operations with or without the functions of the TSP system. VISSIM is a microscopic, behavior-based traffic simulation tool that can model integrated roadway networks and various modes, including general-purpose traffic, buses, high-occupancy vehicles (HOV), light rail, trucks, bicyclists, and pedestrians. VISSIM can also implement some advanced traffic systems and control strategies such as TSP systems, provide effective measures to assess their benefits and costs, and then further optimize system operations (VISSIM Users Manual 2004).
SIMULATION TOOL. In order to enable thorough testing of scene understanding and motion planning software stack, VW has prepared a simulator able to parse the map data from Work Package 5 and to provide road topology, static and moving obstacles using the interfaces from Work Package
SIMULATION TOOL. Functionality This module is responsible for the aggregation and visualization of multiple data, as well as for providing the BADGER system with the initial estimate on the optimal path that the robot must follow during the subsurface operation. It displays the surface and subsurface map, the current pose of the rover and BADGER, the detected objects and annotates their size and material type. Furthermore, it performs probabilistic detection of possible start/end locations for BADGER and creates a 3D underground path, taking into account its kinematic constraints. Figure 32: Block diagram of Simulation Tool Module‘s process The data processed in the in the Simulation Tool module is presented in the following tables: Expected loop rate Not applicable. Table 16: Inputs & Outputs of Simulation Tool Module Input Data From Module Surface Map ( Pointcloud, Octomap ) Surface Mapping Surface Rover 6D Pose ( x, y, z, roll, pitch, yaw ) Localization 3D Costmap ( Octomap ) Underground Utility Mapping Annotated Underground Map ( Pointcloud, Octomap ) Underground Utility Mapping Underground Robot 6D Pose ( x, y, z, roll, pitch, yaw ) Localization module of the underground module Output Data To Module Start / End Points of underground robot ( x, y, z ) Underground Robot Navigation 3D Underground Path ( 3D position (x, y, z) vectors ) Underground Robot Navigation Table 17:Detailed interfaces of the Simulation Tool Module’s internal components Route Initializer Input Origin of Input Output Receiver of Output Surface Map ( Pointcloud, Octomap ) Surface Mapping Start / End Points of underground robot ( x, y, z ) Underground Robot Navigation Volumetric Representation of space Sub Surface Mapping Start / End Points of underground robot ( x, y, z ) Subsurface Global Path Planning Surface Rover 6D Pose ( x, y, z, roll, pitch, yaw ) Localization 3D Costmap ( Octomap ) Underground Utility Mapping Annotated Underground Map ( Pointcloud, Octomap ) Underground Utility Mapping Underground Robot 6D Pose ( x, y, z, roll, pitch, yaw ) Localization module of the underground module Subsurface Global Path Planning Input Origin of Input Output Receiver of Output Start / End Points of underground robot ( x, y, z ) Subsurface Global Path Planning 3D Underground Path ( 3D position (x, y, z) vectors ) Underground Robot Navigation
