For a quick understanding of the Sensor setup in CM-10.0, it is important and useful to review the Release Notes (CM Main GUI > Help Menu > Release Notes)

Basically, there are 3 lists of parameters

1. Vehicle Data Set GUI > Sensor Tab

This is the updated Sensor window, where the parameters for the sensor's physics are defined by clicking on the blue plus.

This is similar to CM-9 and depending on the sensor selected, the corresponding parameters can be defined (e.g. Range, Field of View, External files such as Sound Lobe Maps, etc.)

2. Vehicle Data Set GUI > Assembly Tab > Sensor Mountings:

This describes the position and orientation of sensors on the vehicle (x,y,z & rx,ry,rz) and the color for visualization.
Additionally, a name can also be mentioned and a parameter is referred from the drop down list.

An important key feature is: Individual sensors can be activated or deactivated by using the 'Active' checkbox

3. CM Main GUI > Parameters Menu > Sensor Cluster

This is the window used to define the Sensor distribution on the GPUs and some additional parameters such as cycle time, cycle offset, etc.
This can be understood as the 'computational' part required to balance the computing load on a single GPU or for distributing it across multiple GPUs, etc.

Example

The .gif attached shows the three sections, using the Examples/BasicFunctions/Sensors/USonicRSI_Parking example.

The first part shows the Sensor and Assembly Tabs of Vehicle Data Set GUI.

• In earlier CarMaker versions (before 10.0), it was necessary to provide the Field of View, Range, etc. for each USonic sensor individually.
• But now, these physics parameters are defined only once and is being reused in 8 different sensor instances mounted on the vehicle
• This is similar to the real world, where 8 quantities of a sensor with same specification are mounted at different points
• If necessary, the user can also define a 2nd parameter instance for USonicRSI under Sensors Tab and use this.
• For example, all front sensors have a certain range and FoV and all rear sensors have a different range and FoV,

In the later part, the Sensor Cluster GUI and the possibility of clustering the sensors in different combinations to distribute their computation on different GPUs are shown.

For detailed information on the sensor parameters, how to define multiple GPUs using the GPU Configuration window, etc. refer the explanations in the User's Guide and Reference Manual

Download: SensorDefinition_CM10.gif