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.
LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving
2020-09-20
1713343 byte
Conference paper
Electronic Resource
English
Driving Simulator Fidelity and Emergency Driving Behavior
Transportation Research Record | 2019
|Simulator Effects in a High Fidelity Driving Simulator as a Function of Visuals and Motion
British Library Conference Proceedings | 1995
|Behavior Analysis of Traffic Accidents with High Fidelity Driving Simulator
British Library Conference Proceedings | 2009
|Driver assistance systems and automated driving - potential of a high-fidelity driving simulator
Automotive engineering | 2015
|