【SVL安装】

System requirements 系统需求
The recommended system specification for running SVL Simulator (locally) are as follows:

运行 SVL Simulator (本地)的推荐系统规范如下:

at least 4 GHz Quad core CPU
至少4GHz 四核 CPU
NVIDIA GTX 1080 (8GB memory) or higher
NVIDIA GTX 1080(8 GB 内存)或更高
Windows 10 (64-bit), Ubuntu 18.04 (64-bit), or Ubuntu 20.04 (64-bit)
Windows 10(64位) ，Ubuntu 18.04(64位) ，或者 Ubuntu 20.04(64位)
While lower-specification hardware may be able to run SVL Simulator, there may be issues with the performance required to interface properly with a user’s System Under Test.

虽然较低规格的硬件可能能够运行 SVL 模拟器，但是与用户的正在测试的系统正确接口所需的性能可能存在问题。

SVL Simulator is currently supported for Windows (64-bit) and Linux (64-bit). For optimal performance, Windows is recommended.

目前 Windows (64位)和 Linux (64位)支持 SVL 模拟器。为了获得最佳性能，建议使用 Windows。

Currently, the full functionality of SVL Simulator in Developer Mode (in Unity Editor) is supported on Windows only. End-to-end automatic simulations using PythonAPI Runtime template or Visual Scenario Runtime template are supported on Linux only.

目前，开发者模式(在 Unity 编辑器中)的 SVL 模拟器的全部功能仅在 Windows 上支持。仅在 Linux 上支持使用 PythonAPI 运行时模板或 VisualScenario 运行时模板的端到端自动模拟。

On Windows, SVL Simulator requires a graphics card that supports DirectX 11. On Linux, SVL Simulator requires a graphics card that supports Vulkan 1.1.

在 Windows 上，SVL 模拟器需要一个支持 DirectX11的显卡。在 Linux 上，SVL Simulator 需要一个支持 Vulkan 1.1的显卡。

If running Apollo or Autoware on the same system as the Simulator, it is recommended that the GPU have at least 10GB of memory.

如果在与模拟器相同的系统上运行 Apollo 或 Autoware，建议 GPU 至少有10GB 的内存。

If running Apollo or Autoware on a different system as the Simulator, a gigabit connection between the systems is required (a gigabit switch is sufficient, gigabit internet is not required).

如果作为模拟器在不同的系统上运行 Apollo 或 Autoware，则需要系统之间的千兆连接(千兆交换机就足够了，不需要千兆互联网)。

For best results 为了最好的结果top 头儿
System and graphics performance varies tremendously from lightweight gaming laptops to high end graphics workstations. There are many different hardware factors that can influence overall performance including CPU model, clock frequency, number of cores, system RAM, GPU model and available GPU memory. In addition, the Simulator configuration (environment, vehicle, number and type of sensors) can affect performance, as well as the autonomous software configuration (e.g. enabled modules).

从轻量级游戏笔记本电脑到高端图形工作站，系统和图形性能差异巨大。有许多不同的硬件因素可以影响整体性能，包括 CPU 模型，时钟频率，核心数量，系统 RAM，GPU 模型和可用的 GPU 内存。此外，模拟器配置(环境、车辆、传感器数量和类型)可以影响性能，以及自主软件配置(例如启用模块)。

Keep an eye on CPU load, system memory, and GPU memory. Running out of any of these can cause a variety of problems such as low frame rates or autonomous software modules being unable to function. The minimum goal for real time simulation should be 15fps (or the desired sensor frame rate) since that will avoid dropping frames for critical sensors like camera and LiDAR sensors. For complex multi-sensor simulations, refer to the Distributed Simulation docs for information on multi-machine (multi-GPU) distributed simulation.

密切关注 CPU 负载、系统内存和 GPU 内存。如果没有这些软件，可能会导致各种各样的问题，例如低帧速率或自主软件模块无法运行。实时仿真的最低目标应该是15帧/秒(或期望的传感器帧速率) ，因为这样可以避免像相机和激光雷达传感器这样的关键传感器丢帧。对于复杂的多传感器仿真，请参考分布式仿真文档以获得关于多机器(多 GPU)分布式仿真的信息。

While it is possible to run sophisticated autonomous software stacks like Apollo or Autoware on the same machine that runs SVL Simulator, it will challenge even the highest performing systems. For best results, the Simulator should be run on a separate machine from the autonomous software.

虽然可以在运行 SVL Simulator 的同一台机器上运行复杂的自主软件栈(如 Apollo 或 Autoware) ，但它甚至会挑战性能最高的系统。为了获得最佳效果，模拟器应该运行在独立于自主软件的机器上。

If it is not practical or possible to run autonomous software on a separate machine then you might want to consider using ground truth sensors in place of perception and traffic signal modules, as documented in Modular Testing. This will greatly reduce the CPU and GPU requirements of an autonomous stack such as Apollo and increase the likelihood that you can run it on the same machine with SVL Simulator.

如果在一台单独的机器上运行自主软件是不可行的，那么您可能需要考虑使用地面真相传感器来代替感知和交通信号模块，正如模块化测试中记录的那样。这将极大地降低自治堆栈(如 Apollo)的 CPU 和 GPU 需求，并增加可以使用 SVL Simulator 在同一台机器上运行它的可能性。