GEMSTAR (GEoMetry based Sensor simulation Toolchain for Automotive and Rail research)

GEMSTAR is the GEoMetry based Sensor simulation Toolchain for Automotive and Rail research.
The simulation tool supports the descision process for approval of operation domain (OD) and Operational Design Domain (ODD) for automated vehicles.

The simulation software GEMSTAR is a set of Unreal Engine 5.8 Plugins. Each plugin can be used standalone in Unreal to maximise flexibility. GEMSTAR combines exisiting simulation tools in a co-simulation and uses OSI standardized messages for logging and communication. It is designed to be tailored to your project specific needs by integration of SUMO, esmini and more by using the Game Feature Plugin system. Future updates will add new features: OSI Playback, OpenDrive map import, Traffic Lights, Interfaces to ROS2 and OSMP.

Use Cases

• Evaluating vehicle and route compatibility.
• Selecting the optimal infrastructure for automated vehicles.
• Testing planned sensor configurations.

Getting started

GEMSTAR is an Unreal project. It builds on the Unreal Engine Game Features where each feature is located in a seperate plugin. Build and run it on Windows and Linux. Your hardware should be a decent x86 computer.

• Windows Quickstart
• Linux Quickstart
• Docker Quickstart

Demo map

The demo map is located in the plugin ue_driving_area_brunswick_map_feature. Its scenario is configured in Simulation/DefaultGemstar.ini and generated during the first build.

• ue_esmini_feature supplies vehicle input.
• The ego vehicle uses a camera, lidar and radar.
• The lidar SensorView is supplied to the FMI lidar detection model.
• The visualizer consumes these three sensor streams.
• The OSI logs for GroundTruth, SensorView and SensorData are saved in the Output directory.

Each GEMSTAR feature plugin shows their functionality in a specific feature test map in their plugin content directory.

Bring your own content

Customize your simulation by changing the scenario, maps and sensor models.
GEMSTAR is configured by using a ini file e.g. Simulation/DefaultGemstar.ini file. Take a look at the submodules to see their configuration possibilities.

Scenarios and Maps

Run your own scenarios with:

• OpenSCENARIO with esmini Quickstart
• Eclipse SUMO Quickstart

Import Unreal Engine map to GEMSTAR. The 3D world is used for sensors.

• Add unreal maps

Vehicles and VRUs

Add vehicle or VRU models to your scenario in ue_vehicle_feature and ue_vru_feature

• Add a vehicle

FMI Sensor models

Add perceptions sensor models to ue_fmi_feature e.g. from ENVITED Open Source Model & Simulation Library

Third party content

Recompile all third party binaries if needed on your system.

Bulk Mode

Run multiple scenarios one by one, see Bulk Mode

Contact: opensource-ts@dlr.de

License

This project is published under the Eclipse Public License 2.0.

This project uses the Open Simulation Interface (OSI), which is licensed under the Mozilla Public License 2.0.
This project uses esmini, which is licensed under the Mozilla Public License 2.0.
This project uses Eclipse SUMO, which is licensed under the Eclipse Public License 2.0.