AutonomousVehicle

Description:

Autonomous Vehicle Simulator, including driving along pre made route, object detection, and monitor logging all the detected objects details.

Setup

Requirements:

• Unity 2022.3.13f1 (other versions are not tested)

Steps:

• git clone https://github.com/MarcherGA/AutonomousVehicle.git
• Run Unity Editor and open AutonomousVehicle folder as a project
• In Assets folder open Scenes/Simulation.scene file
• Modify config.json for your own configuration
• Press Play

Build (Simulation):

• Create Build folder In inside the project folder, If not already created
• Create Simulation folder inside Build folder
• In Unity Editor, Select File -> Build Settings
• In Platforms window, Select Windows, Mac, Linux (tested on Windows only) from Platforms
• Select your platform on Target Platform Dropdown list
• Check Scenes/Simulation in Scenes In Build and uncheck other scenes
• Press Build And Run and select Simulation folder
• The build will be inside Build/Simulation, and will run automatically

Build (Monitor):

• Create Build folder In inside the project folder, If not already created
• Create Monitor folder inside Build folder
• In Unity Editor, Select File -> Build Settings
• In Platforms window, Select Windows, Mac, Linux (tested on Windows only) from Platforms
• Select your platform on Target Platform Dropdown list
• Check Scenes/Monitor in Scenes In Build and uncheck other scenes
• Press Build And Run and select Monitor folder
• The build will be inside Build/Monitor, and will run automatically

Code Design

Simulation

• SimulationManager - Manages the simulation, manipulating the simulation components according to user input
• SimulationManagerUI - Manages the user interface for the simulation
• AutonomousVehicle - Conrols the movement of the test car, moving it along a set of waypoints
• ObjectDetector - Attached to a camera, detecting entities visible and within the camera's frustum. Requires detectable entities to have a collider, and be on a selected Detection Layer, using their tag for categorizing
• DetectionObserver - Observes an ObjectDetector and sends detection data via UDP

Monitor

• MessageDisplay - Manages the display of messages in a scroll view.
• UDPDetectedEntityObserver - Inherits UDPMessageObserver, checks if message is Detected Entity message, and displays it using MessageDisplay if so

UDP Communication

• UDPSender - Sends UDP messages to a remote endpoint, getting the target IP address and Port from config
• UDPReciever - Receives UDP messages and invokes an event when data is received, getting the target Port from config
• UDPMessageObserver - Abstract class representing observer which listenes to UDP messages, and use it

Config

• ConfigLoader - Loads configuration data from a JSON file
• ConfigData - Respresents Config structure

Attributions

"SimplePoly City" package - https://assetstore.unity.com/packages/3d/environments/simplepoly-city-low-poly-assets-58899