Release Date

2022/06/29 15:00 PM (GMT +9)

Simulator

MORAI SIM: Drive ST

Version

22.R2.0

Updates

Map and environment updates

  • V_RHT_Suburb_02, V_RHT_Suburb_03

    • Added visual details (poles for traffic lights and signs, inclined planes along sidewalks)

  • V_RHT_Suburb_04

    • New in version 22.R2.0

    • New virtual map complete with building assets and a mixture of signed and unsigned intersections.

  • R_KR_PR_SejongBRT0

    • Added a new region to the original SejongBRT0 map.

Vehicles

  • Removing the ego-vehicle requirement

    • Added a new vehicle type Empty_Vehicle, which allows the user to use MORAI SIM: Drive without a selected ego-vehicle.

Networks

  • CAN interface support

    • Added support for Kvaser CAN signals.

    • Rx, Tx enabled between the user and the ego-vehicle.

    • Supported features include channel selection, configurable bus speeds, and dynamic editing of CAN DBC.

  • Changes to NPC Ghost Mode

    • Changes have been made to the NPC Ghost Controller’s UDP protocol.

Sensors

  • New radar sensors

    • A new probabilistic radar sensor model that simulates signal noise has been added. The current version of this model only accounts for object size when determining the RCS values.

  • Configurable sensor data rates

    • The output data rate of all sensors can be configured with a minimum and maximum value.

Scenarios

  • Removed restrictions on vehicle placement

    • When placing vehicles, MORAI SIM: Drive would require each vehicle to be placed on MGeo links, which were fixed along roads for each map. By enabling the snap to MGeo off option

  • A new vehicle kinematics model

    • A more lightweight kinematics model can be enabled when first placing NPC vehicles.

    • Cannot be used with the multi-ego function

  • Added a parameter to control NPC collision prevention

    • The NPC vehicle driver model built into MORAI SIM: Drive would automatically prevent NPC vehicles from colliding with objects or vehicles.

    • This feature has now been extracted as a user-configurable parameter Auto Safety Distance and can be accessed through the NPC parameter UI.

  • Introducing Re-Sim

    • Re-Sim enables the recording and replaying of entire simulation workloads and is intended to be used for regression testing.

    • Simulations are saved in a .dat file, which can then be called with different scenario .json files - which can then be compared within the simulation.

  • New default scenarios

  • Added a pause system when loading scenarios

Others

  • Added simulation start options

    • Users can now configure where the ego-vehicle will be placed for each map upon simulation start.

Bug fixes

  • Fixed a naming bug where the ego-vehicle would be added to the NPC vehicle naming pool.

  • Fixed a bug where the Object Setting UI window would just disappear when selecting a destination point for an NPC vehicle.

  • Fixed a model orientation error that would skew the yaw rotation value of VLP-16 sensors when placed into the simulation scene.

  • Fixed a bug where loading a scenario with ego-vehicle cruise enabled would leave the ego stuck in cruise mode.

  • Fixed a bug where obstacle objects would not print their bounding box values.

  • Entering the Map and Vehicle screen would initialize the ego-vehicle state, but instances where users would mistakenly enter the Map and Vehicle screen highlighted the need to maintain the ego-vehicle’s most recent state.