WISE Sim

We are implementing a simulator for WISE Automated Driving System (ADS). The simulator is based on UnrealEngine 4.21.

Main features:

• Lincoln MKZ "UW Moose" high-fidelity, 14 degrees of freedom vehicle model (suspension and hybrid powertrain)
• Dataspeed interface to the vehicle model
• Velodyne VLP32-C and HDL64-E lidar simulation
• Camera simulation with max 1280x1024 resolution (left front, front center, and right front cameras)
• GeoScenario 1.1 support for scenario definition and execution
• Desktop simulation (both simulator and AV software on desktop) and mixed-reality simulation (both simulator and AV software on the car).
• Efficient UnrealEngine to ROS integration (direct memory instead of binary serialization and socket communication)
• Headless mode for continuous integration scenario execution

Videos

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About the simulator

• Launching the simulator, slaunch explained in detail (old)
• Launching the simulator with rqt, rviz, inspecting the system explained (new)
• Lidar and camera configuration
• Performance diagnostics

Example application of WISE ADS / WISE Sim mixed-reality scenario testing mode in research

How UW Moose was used to create a self-driving platoon

Videos of example scenarios

All videos show automated driving except where explicitly indicated as "manual driving".

• Colby intersection (simulation) (mixed reality, manual driving)
• Ring road with a large pedestrian group (simulation)
• Traffic jam assist (simulation)
• Left turn at stop with occlusion (simulation) (mixed reality)
• Bathurst busy intersection (simulation)
  • Shows ground-truth detected objects, detected objects with perception delay, occlusions, and range, and object tracking

Example scenario definitions

Definitions of the scenarios from paper "Modes of Automated Driving System Scenario Testing: Experience Report and Recommendations" are available from the repository modes-of-ADS-scenario-testing-scenarios.

Trying the WISE Sim simulator with the WISE Automated Driving System (ADS)

For instructions, see the README in the repository wise-sim-scenarios.

To run the ADS and WISE Sim inside a docker container, see wise-sim-docker.

Publications

2020