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| <div class="section" id="pcm-simulation"> | |
| <span id="pcm-sim"></span><h1>PCM Simulation<a class="headerlink" href="#pcm-simulation" title="Permalink to this headline"></a></h1> | |
| <p>This plugin is used to configure and start a simulation based pcm data or simulation configuration sets of previous simulations.</p> | |
| <div class="section" id="simulation-input"> | |
| <h2>Simulation Input<a class="headerlink" href="#simulation-input" title="Permalink to this headline"></a></h2> | |
| <ul> | |
| <li><p><strong>UseCase: Database</strong></p> | |
| <blockquote> | |
| <div><ul class="simple"> | |
| <li><p>Select the radio button <code class="docutils literal notranslate"><span class="pre">PCM</span> <span class="pre">Database</span></code></p></li> | |
| <li><p>Select a PCM database file</p></li> | |
| </ul> | |
| </div></blockquote> | |
| </li> | |
| </ul> | |
| <img alt="../../_images/input_db.png" src="../../_images/input_db.png" /> | |
| <ul> | |
| <li><p><strong>UseCase: Resimulation</strong></p> | |
| <blockquote> | |
| <div><ul class="simple"> | |
| <li><p>Select the radio button <code class="docutils literal notranslate"><span class="pre">Simulation</span> <span class="pre">Results</span></code></p></li> | |
| <li><p>Select a folder with previous Results</p></li> | |
| </ul> | |
| <div class="admonition note"> | |
| <p class="admonition-title">Note</p> | |
| <p>The selected output folder must be different to the input folder</p> | |
| </div> | |
| <div class="admonition warning"> | |
| <p class="admonition-title">Warning</p> | |
| <p>To ensure that the previous results are correctly read, the folder structure of the results has to follow the structure the GUI itself generates when the simulation is started from a database. | |
| Only the configuration files of the default folders are loaded. No variation is loaded and taken into account at this place.</p> | |
| </div> | |
| </div></blockquote> | |
| </li> | |
| </ul> | |
| <img alt="../../_images/input_resim.png" src="../../_images/input_resim.png" /> | |
| </div> | |
| <div class="section" id="simulation-output"> | |
| <h2>Simulation Output<a class="headerlink" href="#simulation-output" title="Permalink to this headline"></a></h2> | |
| <blockquote> | |
| <div><ul> | |
| <li><p>In <code class="docutils literal notranslate"><span class="pre">Result</span> <span class="pre">Folder</span></code> you can select a folder where the output shall be written</p></li> | |
| <li><p>In <code class="docutils literal notranslate"><span class="pre">Log</span> <span class="pre">Level</span></code> you can define at what level a logging output shall be produced</p> | |
| <blockquote> | |
| <div><ul class="simple"> | |
| <li><p><code class="docutils literal notranslate"><span class="pre">Error</span></code> - Log only Errors</p></li> | |
| <li><p><code class="docutils literal notranslate"><span class="pre">Warning</span></code> - Log additionally warnings</p></li> | |
| <li><p><code class="docutils literal notranslate"><span class="pre">Info</span></code> - Log additionally information</p></li> | |
| <li><p><code class="docutils literal notranslate"><span class="pre">Debug</span></code> - Log additionally debug information</p></li> | |
| </ul> | |
| </div></blockquote> | |
| </li> | |
| </ul> | |
| </div></blockquote> | |
| <img alt="../../_images/output.png" src="../../_images/output.png" /> | |
| </div> | |
| <div class="section" id="simulation-configuration"> | |
| <h2>Simulation Configuration<a class="headerlink" href="#simulation-configuration" title="Permalink to this headline"></a></h2> | |
| <p>At this point, the User is able to choose what system configuration shall be used for each agent. | |
| The User can either select one or multiple system configuration files (comma separated). | |
| In the case of multiple files are configured, there will be unique sets of simulation configuration files generated for each possible combination, which are placed in folders named / coded like <code class="docutils literal notranslate"><span class="pre"><Car1_Index>-<Car2_Index>-<Other_Index></span></code> e.g. <code class="docutils literal notranslate"><span class="pre">1-0-2</span></code></p> | |
| <img alt="../../_images/system_config.png" src="../../_images/system_config.png" /> | |
| </div> | |
| <div class="section" id="variation"> | |
| <h2>Variation<a class="headerlink" href="#variation" title="Permalink to this headline"></a></h2> | |
| <ul> | |
| <li><p>The random seed can be set to a specific initial random seed by <code class="docutils literal notranslate"><span class="pre">using</span> <span class="pre">a</span> <span class="pre">given</span> <span class="pre">value</span></code> or just by <code class="docutils literal notranslate"><span class="pre">using</span> <span class="pre">the</span> <span class="pre">case</span> <span class="pre">number</span></code></p></li> | |
| <li><p>The number runs can with different random seed can be set by changing <code class="docutils literal notranslate"><span class="pre">Variation</span> <span class="pre">Count</span></code></p></li> | |
| <li><p>The original trajectory can be shifted randomly by setting the <code class="docutils literal notranslate"><span class="pre">Shift</span> <span class="pre">radius</span></code> for <em>Car1</em> and <em>Car2</em></p> | |
| <blockquote> | |
| <div><ul class="simple"> | |
| <li><p>Given a shift radius R for a vehicle</p></li> | |
| <li><p>For each position P in trajectory, it shifted position P’ is calculated by randomly generating a distance D (D<= R) and a relative angle in polar coordinate</p></li> | |
| </ul> | |
| <div class="math"> | |
| <p><img src="../../_images/math/483636c85068dd3159fa50e49105a8ada221aaec.png" alt="`x_{\text{new}}(t) = x(t) + \delta x` | |
| `y_{\text{new}}(t) = x(y) + \delta y`"/></p> | |
| </div></div></blockquote> | |
| </li> | |
| </ul> | |
| <img alt="../../_images/trajectory_shifting.png" src="../../_images/trajectory_shifting.png" /> | |
| <ul> | |
| <li><p>The original velocity can be scaled randomly by setting the <code class="docutils literal notranslate"><span class="pre">Max</span> <span class="pre">scale</span></code> for <em>Car1</em> and <em>Car2</em></p></li> | |
| <li><p>Given a velocity deviation :math <cite>delta V</cite> for a vehicle</p></li> | |
| <li><p>In a trajectory, a position P_{i} is represented as</p> | |
| <blockquote> | |
| <div><div class="math"> | |
| <p><img src="../../_images/math/6320e0b9994d88e6de4c1c19af9f9f2f027bd7ff.png" alt="`x(t) = x_{0} + \int_{0}^{t} v_{x} (t) dt` | |
| `y(t) = y_{0} + \int_{0}^{t} v_{y} (t) dt`"/></p> | |
| </div></div></blockquote> | |
| </li> | |
| <li><p>The new position P_{i} can be represented as</p> | |
| <div class="math"> | |
| <p><img src="../../_images/math/8ffb1c6ecf28ce9d5aa3c83bceed6ed16c0da9bb.png" alt="`x(t) = x_{0} + k \int_{0}^{t} v_{x} (t) dt` | |
| `y(t) = y_{0} + k \int_{0}^{t} v_{y} (t) dt`"/></p> | |
| </div></li> | |
| <li><p>with a scaling factor k</p></li> | |
| </ul> | |
| <img alt="../../_images/velocity_scaling.png" src="../../_images/velocity_scaling.png" /> | |
| <div class="admonition note"> | |
| <p class="admonition-title">Note</p> | |
| <p>The additional random seeds which are used by the variation are chosen randomly depending on the initial random seed. | |
| Therefore they´re reproducible</p> | |
| </div> | |
| <img alt="../../_images/variation.png" src="../../_images/variation.png" /> | |
| </div> | |
| <div class="section" id="simulation-start"> | |
| <h2>Simulation Start<a class="headerlink" href="#simulation-start" title="Permalink to this headline"></a></h2> | |
| <ul class="simple"> | |
| <li><p>Select one or multiple simulation cases (by pressing the CTRL / SHIFT key)</p></li> | |
| <li><p>Press the button <code class="docutils literal notranslate"><span class="pre">Start</span> <span class="pre">Simulation</span></code></p></li> | |
| </ul> | |
| <div class="admonition note"> | |
| <p class="admonition-title">Note</p> | |
| <p>The User can interrupt the simulation process by pressing <code class="docutils literal notranslate"><span class="pre">Stop</span> <span class="pre">Simulation</span></code>. | |
| The simulation will stop after the current simulation is finished. | |
| Therefore it won´t start the remaining simulations anymore.</p> | |
| </div> | |
| <img alt="../../_images/select.png" src="../../_images/select.png" /> | |
| </div> | |
| <div class="section" id="save-load-experiment"> | |
| <h2>Save / Load Experiment<a class="headerlink" href="#save-load-experiment" title="Permalink to this headline"></a></h2> | |
| <p>Every change in the gui can be saved as in “Experiment” in an text file. | |
| This file can later be loaded to retrieve the previous used configuration of the “Experiment”.</p> | |
| <img alt="../../_images/experiment.png" src="../../_images/experiment.png" /> | |
| </div> | |
| <div class="section" id="result-folder-structure"> | |
| <span id="id1"></span><h2>Result Folder Structure<a class="headerlink" href="#result-folder-structure" title="Permalink to this headline"></a></h2> | |
| <ul> | |
| <li><p><Result Folder Name> (e.g. <em>result_pcm</em>)</p> | |
| <blockquote> | |
| <div><ul> | |
| <li><p><Case Name> (e.g. <em>1000208</em>)</p> | |
| <blockquote> | |
| <div><ul> | |
| <li><p><System Configuration combination code> (e.g. <em>1-0-2</em>)</p> | |
| <blockquote> | |
| <div><ul class="simple"> | |
| <li><p><Variation Name> (e.g. <em>default</em> or <em>Var_00001</em>)</p></li> | |
| </ul> | |
| </div></blockquote> | |
| </li> | |
| </ul> | |
| </div></blockquote> | |
| </li> | |
| </ul> | |
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