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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Bibliographic Details
Published in:arXiv.org 2020-06
Main Authors: Rong, Guodong, Shin, Byung Hyun, Tabatabaee, Hadi, Lu, Qiang, Lemke, Steve, Možeiko, Mārtiņš, Boise, Eric, Uhm, Geehoon, Gerow, Mark, Mehta, Shalin, Agafonov, Eugene, Tae Hyung Kim, Sterner, Eric, Ushiroda, Keunhae, Reyes, Michael, Zelenkovsky, Dmitry, Kim, Seonman
Format: Article
Language:English
Subjects:
Algorithms
Computer simulation
Driving
Object recognition
Sensors
Simulator fidelity
Simulators
Online Access:Get full text
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Summary: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.
ISSN:2331-8422