论文标题
LGSVL模拟器：用于自动驾驶的高保真模拟器
LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving
论文作者
论文摘要
对实际自动驾驶汽车的自动驾驶算法进行测试非常昂贵，并且该领域的许多研究人员和开发人员无法负担真正的汽车和相应的传感器。尽管可以使用几个免费和开源的自动驾驶堆栈，例如AutoWare和Apollo，但与之使用的开源模拟器的选择是有限的。在本文中，我们介绍了LGSVL模拟器，该模拟器是用于自动驾驶的高保真模拟器。模拟器引擎提供了端到端的全栈模拟，该模拟准备连接到Autoware和Apollo。此外，核心模拟引擎还提供了模拟器工具，该引擎允许用户轻松自定义传感器，创建新型可控对象，替换核心模拟器中的某些模块，并创建特定环境的数字双胞胎。
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.
