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Simulation#

You can run Autoware without a vehicle in four kinds of simulation. Each kind simulates different parts of the vehicle and its world, so it tests different components of Autoware. Choose a simulation by the components that you want to test.

Each page shows how to set up the simulation and how to run Autoware in it. Before you start, install Autoware.

SimulationSensingPerceptionLocalizationPlanningControl
Digital twin simulation
Planning simulation
Rosbag replay simulation
Scenario simulation

AWSIM drives the ego vehicle through a city

End-to-end

Digital twin simulation#

Tests

All components

All components of Autoware. With another configuration, you can test specific components.

Simulates

  • Sensors (Lidar, camera, GNSS/INS, etc.)
  • Vehicle dynamics
  • NPCs (Non playable characters / other road users & obstacles)

AWSIM AWSIM with Autoware Core

Other simulators: MORAI Sim: Drive, CARLA, and PanoSim. To check that a simulator works with Autoware, run the compatibility test.

The ego vehicle drives on its planned path in RViz

Planning and control

Planning simulation#

Tests

Planning Control

Simulates

  • Perception output (bounding boxes)
    • Allows you to place dummy objects and simulate their simple movement
    • Traffic light output
  • Localization output
    • Allows you to place the ego vehicle anywhere on the map
  • Map output
    • Lets you test the validity of Lanelet2 maps

Planning simulation

Recorded lidar data replays around the ego vehicle in RViz

Recorded data

Rosbag replay simulation#

Tests

Sensing Perception Localization

These components with the sample rosbag. With your own recorded data, you can test any other component.

Plays back

  • Left, right and top lidar output (in the sample rosbag)
  • GNSS/INS data (in the sample rosbag)
  • Vehicle status (in the sample rosbag)
  • Anything else (based on recorded data)

Rosbag replay simulation

A scenario runs on a map in RViz

Scenarios

Scenario simulation#

Tests

Planning Control

Simulates

  • Other road users and traffic lights, as an OpenSCENARIO scenario describes them
  • Perception output (bounding boxes) and the localization output
  • The success and failure conditions of the scenario

Scenario simulation

To evaluate Autoware with recorded data and pass or fail criteria, use the Driving Log Replayer.

Evaluation#

The evaluation pages describe how to measure the quality of Autoware in these simulations: the evaluator packages that calculate metrics while Autoware runs, and an evaluation of the localization in an urban environment.