LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving
This addresses the need for affordable testing of autonomous driving algorithms for researchers and developers who cannot access real vehicles.
The authors tackled the problem of limited open-source simulators for autonomous driving by introducing the LGSVL Simulator, a high-fidelity tool that provides end-to-end simulation compatible with Autoware and Apollo.
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.