Vehicle-Log-to-Sim

A converter that turns real-vehicle logging CSVs into a CarMaker IFF trajectory + TestRun. The goal is to replay a drive recorded on a proving ground (position, attitude, speed) along the very same trajectory in simulation. It handles a single ego vehicle.

Python standard library only (not even numpy).

./log2testrun.py

Conversion

All it does is move the latitude/longitude in the log into the CarMaker inertial frame Fr0.

Step	What happens
CSV parsing	Per-device channel names are absorbed by profiles, giving samples of (time, lat/lon, heading, altitude, attitude, speed, steering angle)
WGS84 → ECEF → ENU	Into a local tangent plane whose origin is the first sample
Smoothing	Position quantization noise is removed with Savitzky-Golay; the window width is derived from the actual position update period
ENU → track frame	The principal axis of the trajectory is taken as the track azimuth, and the motion is split into longitudinal / lateral displacement
Track → Fr0	Rotated into the heading of the target rd5 and translated by the start station and lane offset
Check	Path length before and after the transform, and speed differentiated from position against the logged speed, are reported

If the driven distance exceeds the road, the straight segment of the rd5 is extended as far as needed and written out anew.

Outputs

Three files land under --outdir (out/ by default), laid out like a CarMaker project. Copy them straight into your CarMaker project directory.

out/
├── SimInput/<name>.csv      IFF trajectory — tab separated, first line is the "# " channel names
├── Data/Road/<name>.rd5     extended road, when needed
└── Data/TestRun/<name>      TestRun (InfoFile)

Layout

log2testrun.py        entry point
log2sim/
├── logreader.py      logging CSV parsing, per-device channel profiles
├── geodesy.py        WGS84 → ECEF → ENU, angle utilities
├── smoothing.py      Savitzky-Golay smoothing
├── convert.py        coordinate transform orchestration and output writing
├── road.py           rd5 reading and straight segment extension
├── iff.py            IFF trajectory file rendering
├── testrun.py        TestRun InfoFile template, DrivMan.OW block
└── cli.py            command line entry point
data/
├── can/              logging CSVs
├── simulation/       reference rd5, vehicle datasets
└── testrun_example/  examples shipped with CarMaker (IFF format reference)