MORAI SIM supports multiple connections to different SUTs, i.e. the AV/AD software stacks being tested. Each SUT can be set to act as an addtional ego-vehicle, and each can be controlled through additional network connections or directly through a user’s keyboard or input device.
This mode is also known as Multi-Ego Mode
Adding an Additional Ego-vehicle
Using the Scenario Edit Mode, place a desired vehicle at any location using the process described in the Actors and Obstaclessection.
Select the placed NPC vehicle or switch focus to it using the object drop-down menu. Once selected, toggle the Ego Mode button under the Driving Info tab.
Connecting the Ego-vehicle
Clicking the Ego Mode button should immediately bring up the Network Settings window.
Use the ego-vehicle list on the left side of the Network Settings window to navigate between different ego-vehicle setups, then input network details for your target SUT.
The initial ego-vehicle is in permanent ego-mode and cannot be changed. This option only applies to vehicles that have been added using the Scenario Editor as described in Step 1.
Controlling the New Ego-vehicle
To control the newly added ego-vehicle manually, move the camera focus to the new ego. This can be done by selecting the ego-vehicle - either by clicking on the 3D model of the vehicle within the scene, or using the drop-down menu in the Vehicle Info window. Then Left Click the camera button located immediately to the right of the drop-down menu
