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.
@article{arxiv.2005.03778,
title = {LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving},
author = {Guodong Rong and Byung Hyun Shin and Hadi Tabatabaee and Qiang Lu and Steve Lemke and Mārtiņš Možeiko and Eric Boise and Geehoon Uhm and Mark Gerow and Shalin Mehta and Eugene Agafonov and Tae Hyung Kim and Eric Sterner and Keunhae Ushiroda and Michael Reyes and Dmitry Zelenkovsky and Seonman Kim},
journal= {arXiv preprint arXiv:2005.03778},
year = {2020}
}