AutoDRIVE Simulator: A Simulator for Scaled Autonomous Vehicle Research and Education (2103.10030v2)

Abstract: AutoDRIVE is envisioned to be an integrated research and education platform for scaled autonomous vehicles and related applications. This work is a stepping-stone towards achieving the greater goal of realizing such a platform. Particularly, this work introduces the AutoDRIVE Simulator, a high-fidelity simulator for scaled autonomous vehicles. The proposed simulation ecosystem is developed atop the Unity game engine, and exploits its features in order to simulate realistic system dynamics and render photorealistic graphics. It comprises of a scaled vehicle model equipped with a comprehensive sensor suite for redundant perception, a set of actuators for constrained motion control and a fully functional lighting system for illumination and signaling. It also provides a modular environment development kit, which comprises of various environment modules that aid in reconfigurable construction of the scene. Additionally, the simulator features a communication bridge in order to extend an interface to the autonomous driving software stack developed independently by the users. This work describes some of the prominent components of this simulation system along with some key features that it has to offer in order to accelerate education and research aimed at autonomous driving.

• The paper presents a Unity-built simulator to bridge the gap between scaled and full-scale autonomous vehicle research.
• It employs realistic vehicle dynamics, modular environment design, and a comprehensive sensor-actuator suite for accurate simulation.
• The platform supports hands-on education and rapid prototyping with WebSocket communication and compatibility with ROS, Python, and C++.

AutoDRIVE Simulator: Advancing Scaled Autonomous Vehicle Research and Education

The paper "AutoDRIVE Simulator: A Simulator for Scaled Autonomous Vehicle Research and Education" authored by Tanmay Samak, Chinmay Samak, and Ming Xie, presents a comprehensive simulation platform intended to facilitate the research and educational processes in the field of autonomous driving, specifically tailored towards scaled autonomous vehicles. The solution presented addresses a gap in the market for scaled simulators since most existing platforms cater to full-scale vehicles and real-world deployment. This simulator is meticulously built atop the Unity game engine and incorporates several innovative features to ensure realistic simulation conducive to educational settings.

Features and Components of AutoDRIVE Simulator

The simulator emulates a scaled-down vehicle model inclusive of a comprehensive sensor suite and actuation system, rendering impressive photorealistic graphics. It facilitates autonomous driving software development by providing a modular environment that supports the reconfigurable construction of test scenarios. Among the notable components are:

• Vehicle Dynamics and Design: The simulated model represents a 1:14 scale vehicle and incorporates realistic sensing modalities, system dynamics, actuator simulations, and a fully functional lighting system. The simulation is based on the Unity PhysX engine, allowing dynamic computation of vehicle interactions.
• Environment Design: It includes modular and reconfigurable road setups customized to support scaled vehicles, ensuring accurate mimicking of roadway conditions. A notable design consideration was the minimum road curvature, calculated to maintain vehicle stability and adherence to its lane.
• Graphical and Hardware User Interfaces: These offer significant usability improvements, enabling both manual and autonomous control configurations. The graphical interface allows for seamless simulation control and monitoring, emphasizing modularity and user-friendliness.
• Communication Bridge and Development Framework: Utilizing WebSocket protocols, the platform supports full-duplex communication and facilitates the integration of user-developed autonomy algorithms. It is versatile, supporting local and distributed computing environments that broaden its applicability and accessibility for research setups.

Implications and Future Directions

The AutoDRIVE Simulator holds substantial potential for both theoretical advancement and practical application. For educational purposes, it provides an adaptable platform for students aiming to develop and test autonomous driving algorithms without the logistical and financial constraints of full-scale simulations. Its integration with ROS and compatibility with Python and C++ significantly lower barriers to entry for developers, enabling rapid prototyping and iterative design.

The simulator's focus on modularity and realism heralds new possibilities in environments where scaled vehicle studies are more feasible or preferred. Further enhancements could include the expansion of the environment modules library or integration with emerging frameworks and standards in vehicle autonomy. Additionally, although aimed at scaled vehicles, future developments may explore its adaptability to other domains with similar constraints or requirements.

Conclusion

AutoDRIVE Simulator emerges as a crucial tool in the domain of autonomous vehicle research and education. It embodies a robust and dynamic environment that can bridge the gap between scaled vehicle models and full-scale autonomous systems, offering a sandbox for innovation in this rapidly evolving field. Its contribution to educational and institutional research holds the promise of fostering a new generation of researchers equipped with the tools to keep pace with global advancements in vehicle autonomy. Such a platform, with its forward-thinking design and adaptability, represents an actionable step forward in democratizing autonomous vehicle research.