论文标题
Autodrive Simulator-技术报告
AutoDRIVE Simulator -- Technical Report
论文作者
论文摘要
设想Autodrive是一个综合自动驾驶汽车的综合研究平台。这项工作是实现这种研究平台的更大目标的垫脚石。特别是，这项工作提出了一个伪现实的模拟器，用于缩放自动驾驶汽车，该模拟器针对简单，模块化和灵活性。自动训练模拟器不仅模仿了现实的系统动力学，而且还模拟了全面的传感器套件和逼真的执行器响应。该模拟器还具有通信桥，以便于外部开发的自动驾驶软件堆栈接口，该堆栈使用户可以方便地设计和开发其算法，并在我们的模拟器上对其进行测试。目前，该桥与机器人操作系统（ROS）兼容，并且可以直接与Python和C ++脚本连接为该项目的一部分。桥梁支持本地和分布式计算。
AutoDRIVE is envisioned to be a comprehensive research platform for scaled autonomous vehicles. This work is a stepping-stone towards the greater goal of realizing such a research platform. Particularly, this work proposes a pseudo-realistic simulator for scaled autonomous vehicles, which is targeted towards simplicity, modularity and flexibility. The AutoDRIVE Simulator not only mimics realistic system dynamics but also simulates a comprehensive sensor suite and realistic actuator response. The simulator also features a communication bridge in order to interface externally developed autonomous driving software stack, which allows users to design and develop their algorithms conveniently and have them tested on our simulator. Presently, the bridge is compatible with Robot Operating System (ROS) and can be interfaced directly with the Python and C++ scripts developed as a part of this project. The bridge supports local as well as distributed computing.
