Autonovi-sim : modular autonomous vehicle simulation

1 This paper introduces AutonoVi-Sim, a novel high-fidelity simulation platform for testing au2 tonomous driving algorithms. AutonoVi-Sim is a collection of high-level extensible modules 3 which allows for the rapid development and testing of vehicle configurations, and facilitates con4 struction of complex road networks. Autonovi-Sim supports multiple vehicles with unique steering 5 or acceleration limits, as well as unique tire parameters and overall vehicle dynamics profiles. En6 gineers can specify the specific vehicle sensor systems and vary time of day and weather conditions 7 to gain insight into how conditions affect the performance of a particular algorithm. In addition, 8 AutonoVi-Sim supports navigation for non-vehicle traffic participants such as cyclists and pedes9 trians, allowing engineers to specify routes for these actors, or to create scripted scenarios which 10 place the vehicle in dangerous reactive situations. AutonoVi-Sim also facilitates data analysis, al11 lowing for capturing video from the vehicle’s perspective, exporting sensor data such as relative 12 positions of other traffic participants, camera data for a specific sensor, and detection and classifi13 cation results. Thus, AutonoVi-Sim allows for the rapid prototyping, development and testing of 14 autonomous driving algorithms under varying vehicle, road, traffic, and weather conditions. 15 16