Sensor and HDM Models in SHIFT

SHIFT Info

• UC Berkeley/PATH SHIFT page

• SHIFT download page
• SHIFT people

• Local (CMU VASC) user info

Smart-AHS

• UC Berkeley/PATH Smart-AHS page
  

• Coordinate frames in Smart-AHS
  

• Examples in Smart-AHS:
  
  • Circular Highway
  • Racetrack

• Information on adding animation windows to TkShift for above simulations.

Sensor Modeling

SHIFT source files:

• rangesensor.hs: Simple COG-to-COG calculations
• rangesensor2.hs: COG-to-COG calculations with sensor orientation and field-of-view definitions
• rangesensor_pv.hs: Range sensor with "pseudo-vertex calculations"
• rangesensor_r.hs: Sensor with ray definitions
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• rangesensor2_rate.hs: Similar to rangesensor2.hs above; rates of change of the distance and the azimuth angle are also returned.
  
• rangesensor2_grid.hs: Same as rangesensor2.hs above, except the use of grid for evaluating subset of vehicles.
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• ext-func.c: External C functions arcsin, dist5, dist6, eucdist, min_of_array, natlog, sign2.

NOTE: Some of the models above use external C functions extensively; another set of subroutines that carry out most of the calculations in SHIFT are also written. (Local files: /IUS/bos_usr0/sensor2/{test,result}/rangesensor*.hs)

• frontsensor.hs, backsensor.hs: Simple headway and tailway sensors returning the distance to the closest vehicle; used with human driver models
• leftsensor.hs, rightsensor.hs: Side sensors returning longitudinal distance to closest vehicles in the left/right lane; used with human driver models
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• frontsensor2.hs, backsensor2.hs, leftsensor2.hs, rightsensor2.hs: Similar to those above; additionally, the second closest vehicle is also returned.
• frontsensor_rate.hs: Similar to frontsensor.hs; rate of change in the distance is also returned.

• personal.hs: Simple sensor model using GPS
• encoder.hs: Simple dead-reckoning sensor model
• speed.hs: Simple speed sensor model
• clock.hs: Global timer
• noise.hs: Gaussian noise generator

• roadsidesensor.hs: Simple vehicle detection using COG information.
• roadsidesensor2.hs: Simple vehicle detection using COG information; also returns the azimuth angle from the sensor normal.
• roadsidesensor2_grid.hs: Same as roadsidesensor2.hs above, except the use of grid for evaluating subset of vehicles.

• cell.hs: Global grid cell definition for geometric hashing
• sep.hs: Sensor environment processor used with the grid/cell definitions.
• grid.hs: A global grid to faciliate vehicle detection.
• grid_simpler.hs: Another approach to cell definition. This file defines the grid shown in racetrack definition.
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• source_gird.hs: Source description with additional cell definitions

Documentation:

• C. Ünsal,"Sensor Models for AHS Simulations," Technical Report CMU-RI-TR-98-01, Carnegie Mellon University, Pittsburgh, PA, February 1998.
  
  
  
• C. Ünsal, R. Sukthankar, C. Thorpe, "Functional Sensor Models for AHS Simulations,"
  

Human Driver Models

SHIFT source files:

• Human Driver Model A: Type DriverA; keeps predefined headway, takes random actions
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• Human Driver Model B: Type DriverB; complex headway keeping algorithm, lane-change decision based on the headway.
  
  
• Human Driver Model C: Type DriverC; complex headway keeping algorithm, lane-change decisions based on time flags.

All three models above are given in humandrivers.hs.

• pursuit.hs: Pure-pursuit point definition

Documentation:

• C. Ünsal, "Human Driver Models for AHS Simulations," Technical Report CMU-RI-TR-98-02, Carnegie Mellon University, Pittsburgh, PA, February 1998.
  

Additional Simulation Files

• ExVehicle.hs: Example template for Vehicle description file (including some of the models on this page).
• ExVehicle2.hs: Example template for Vehicle description file (including some of the models on this page).
  
  
• 2dkineveh.hs: 2-D kinematic vehicle model (bicycle)
• 2dkinectrl.hs: 2-D vehicle controller
  
  
• humandrivers.hs: This file also includes a simple driver models following predefined accelaration profile (Driver0).
  
  
• source_grid.hs: A new version of Smart-AHS file source.hs adapted for grid/cell defitions.
  
  
• 3section.hs: Highway description file, straight road with 3 sections, 9 segments, 3 lanes.
• circular.hs: Highway description file, circular road with 4 sections, 12 segments, 3 lanes.
• racetrack.hs: Highway description file, racetrack with 4 sections, 4 + 1 + 4 + 3 = 12 segments, 3 lanes.
  
  
• CONDITIONS
• UCBCOPY

See documentation above for information on additional simulation files.

All files compatible with:

• SHIFT ver. 2.12
• Smart-AHS ver. 0.65

Web tools you may need for documents:

Back to Cem Ünsal's homepage

Typos? Problem? Questions? Mail to unsal@ri.cmu.edu

Last updated on February 2, 1998