LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving

Testing autonomous driving algorithms on real autonomous vehicles is extremely costly and many researchers and developers in the field cannot afford a real car and the corresponding sensors. Although several free and open-source autonomous driving stacks, such as Autoware and Apollo are available, c...

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Veröffentlicht in:2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC) S. 1 - 6
Hauptverfasser: Rong, Guodong, Shin, Byung Hyun, Tabatabaee, Hadi, Lu, Qiang, Lemke, Steve, Mozeiko, Martins, Boise, Eric, Uhm, Geehoon, Gerow, Mark, Mehta, Shalin, Agafonov, Eugene, Kim, Tae Hyung, Sterner, Eric, Ushiroda, Keunhae, Reyes, Michael, Zelenkovsky, Dmitry, Kim, Seonman
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 20.09.2020
Schlagworte:
Autonomous vehicles
Bridges
Engines
Sensor systems
Sensors
Three-dimensional displays
Vehicle dynamics
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Abstract Testing autonomous driving algorithms on real autonomous vehicles is extremely costly and many researchers and developers in the field cannot afford a real car and the corresponding sensors. Although several free and open-source autonomous driving stacks, such as Autoware and Apollo are available, choices of open-source simulators to use with them are limited. In this paper, we introduce the LGSVL Simulator which is a high fidelity simulator for autonomous driving. The simulator engine provides end-to-end, full-stack simulation which is ready to be hooked up to Autoware and Apollo. In addition, simulator tools are provided with the core simulation engine which allow users to easily customize sensors, create new types of controllable objects, replace some modules in the core simulator, and create digital twins of particular environments.
AbstractList Testing autonomous driving algorithms on real autonomous vehicles is extremely costly and many researchers and developers in the field cannot afford a real car and the corresponding sensors. Although several free and open-source autonomous driving stacks, such as Autoware and Apollo are available, choices of open-source simulators to use with them are limited. In this paper, we introduce the LGSVL Simulator which is a high fidelity simulator for autonomous driving. The simulator engine provides end-to-end, full-stack simulation which is ready to be hooked up to Autoware and Apollo. In addition, simulator tools are provided with the core simulation engine which allow users to easily customize sensors, create new types of controllable objects, replace some modules in the core simulator, and create digital twins of particular environments.
Author Ushiroda, Keunhae
Lu, Qiang
Kim, Tae Hyung
Sterner, Eric
Tabatabaee, Hadi
Lemke, Steve
Agafonov, Eugene
Kim, Seonman
Mehta, Shalin
Gerow, Mark
Shin, Byung Hyun
Mozeiko, Martins
Uhm, Geehoon
Reyes, Michael
Boise, Eric
Zelenkovsky, Dmitry
Rong, Guodong
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  organization: LG Electronics America R&D Lab
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Snippet Testing autonomous driving algorithms on real autonomous vehicles is extremely costly and many researchers and developers in the field cannot afford a real car...
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SubjectTerms Autonomous vehicles
Bridges
Engines
Sensor systems
Sensors
Three-dimensional displays
Vehicle dynamics
Title LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving
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