基于windows10环境下搭建AirSim无人驾驶仿真环境

微软开源了AirSim并提供了很多关于无人驾驶相关的应用，特地来搭建一套相关平台来跑一下自己的模型：

需安装的软件或程序包

VS2017Unreal 4git

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1. 虚幻4引擎安装

虚幻4引擎介绍

在Unreal官网下载https://www.unrealengine.com/zh-CN/what-is-unreal-engine-4期间需要注册Epic账号，按照指引一步步来就ok添加引擎（目前最新版本为4.19，个人建议安装4.18，亲测完美运行）最终效果如下：

P.S:刚刚接触Unreal引擎的（比如我Orz…）可以在“学习”版块里下载一个“山脉景观”的工程，里面会有比较详细的介绍，还蛮好玩的。。。

2. Airsim配置

官方介绍：AirSim is a simulator for drones, cars and more built on Unreal Engine. It is open-source, cross platform and supports hardware-in-loop with popular flight controllers such as PX4 for physically and visually realistic simulations. It is developed as an Unreal plugin that can simply be dropped in to any Unreal environment you want. Our goal is to develop AirSim as a platform for AI research to experiment with deep learning, computer vision and reinforcement learning algorithms for autonomous vehicles. For this purpose, AirSim also exposes APIs to retrieve data and control vehicles in a platform independent way.

airsim下载有多种途径，可以直接在VS里clone也可以在Github上下载到本地airsim链接https://github.com/Microsoft/AirSim 之后打开VS2017 x64本机工具命令框，进入airsim目录内运行build.cmd 这一步会自动安装一些包和依赖，用时较久且比较考验网络环境，需要耐心一点。 我在下载car asset包的时候下载了好久Orz… 在Build的时候往往会出现各种问题，不过不要着急，这大多是因为PC的环境配置不同导致的，仔细查看错误信息，对症下药即可。

3. build.cmd运行时遇到的问题

笔者在build时也遇到了不少问题，在此总结一下，有需要的朋友自行mark。

问题1 error C1083: 无法打开包括文件: “corecrt.h”: 如图：

重定向解决方案

问题2 如图：

打开vs2017安装工具，添加windows8.1 SDK

问题3 如图： 解决方法：

在报错的信息中找到错误的位置： d:\users\michael\source\repos\repo_avt\airsim-master\airlib\deps\eigen3\eigen\src\core\arch\cuda\half.h 在vs中打开相应的文件，将全角的双引号改为半角的，如图：

继续运行build.cmd，终于成功了

P.S: Airsim目前在不断的开发更新，资源更迭也比较快，个人建议大家尽量仔细的阅读官方文档里面的内容尤其是遇到一些问题的时候。传送门

4. 车辆仿真环境搭建

话不多说，直接上链接https://github.com/Microsoft/AirSim/releases 附上官方介绍：

There are following environments available: City (large environment with moving vehicles and pedestrians) Neighbourhood (small urban neighbourhood block) Mountain Landscape Africa (uneven terrain and animated animals) ZhangJiaJie (Zhangjiajie mountains in China) Download the zip file for the environment you want, extract it somewhere and run the run.bat. Please see docs for how to use the car or drone model. Downloading the City environment This is a big environment so it's divided into two files. After downloading both 001 and 002 files, please use software such as 7zip to right click on 001 file and chose one of the extract options. The 7zip automatically will detect and use both files. Note: City environment is under heavy development with more updates coming soon. Slow / unreliable Internet connection? Try uMap download manager. This allows resume and multiple connections to speed things up.

笔者在这里是下载的CityEnviron.zip，下载时直接把两个都下载，然后解压到一个文件夹中。 双击CityEnviron.exe就可以现玩一玩了，尝试一下各种按键，不得不说巨硬搭建的场景还是不错的。

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参考资料：

https://github.com/Microsoft/AirSim https://blog.csdn.net/u011860814/article/details/60469441