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A Lightweight Simulator for Autonomous Driving Motion Planning Development

Tianyu Gu and John M. Dolan
Conference Paper, Proceedings of the 4th International Conference on Intelligent Systems and Applications (INTELLI 2015), pp. 94-97, October, 2015

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Abstract

A good simulation environment will facilitate motion planning algorithm development for urban autonomous driving. The first requirement of such a simulator is to be able to replicate a complex urban environment, including road network, curb, general objects, etc. The second requirement is to simulate a realistic host vehicle, which includes perception, control and vehicle dynamics, to recreate imperfect inputs and non-accurate execution of the planner. The third requirement is to model traffic participants (other on-road vehicles) for microscopic traffic simulation. Intelligent-agent-based techniques are used to allow the traffic participants to interact with the environment and each other. In this paper, we present an open-source lightweight simulation environment, FastSim, which is designed to meet the three requirements above.


@conference{Gu-2015-6040,
author = {Tianyu Gu and John M. Dolan},
title = {A Lightweight Simulator for Autonomous Driving Motion Planning Development},
booktitle = {Proceedings of the 4th International Conference on Intelligent Systems and Applications (INTELLI 2015)},
year = {2015},
month = {October},
pages = {94-97},
} 2017-09-13T10:38:32-04:00