Overview
GeoScenario Server (GSS) is a road traffic scenario simulator with reactive agents (vehicles and pedestrians). GSS leverages Lanelet2 high-definition map format and a scenario modelling language called GeoScenario2. Agent behaviour is specified using Behaviour Trees.
Example use: Traffic recording and re-simulation
Example use: Cut-in test scenario in GSS dashboard and UnrealEngine 5 co-simulation
Native GeoScenario Server simulation
By default, GSS simulations can be viewed using the built-in dashboard, which shows the map (top left), view focused on a selected agent (bottom left), and a table listing the state of all agents (top right).
Erb Erbsville Crescent traffic lights
Ring Road Columbia
Paradise Crescent all way stop
Ring Road clock-wise
Co-simulation with a high-fidelity simulator
Additionally, GSS can be integrated with a high-fidelity simulator based on UnrealEngine.
GeoScenario multi agent simulation demo with GSServer, UE5, and Carla
WISE Sim integration
GeoScenario Server has also been used as a traffic simulator together with WISE Sim for testing of WISE ADS running on UW Moose.
Resources
Papers
Queiroz, R., Sharma, D., Caldas, R., Czarnecki, K., García, S., Berger, T., Pelliccione, P., "A Driver-Vehicle Model for ADS Scenario-Based Testing" in IEEE Transactions on Intelligent Transportation Systems. 03/2024. 2024. Available in IEEEXplore
Larter, S., Queiroz, R., Sedwards, S., Sarkar, A., Czarnecki, K., A Hierarchical Pedestrian Behavior Model to Generate Realistic Human Behavior in Traffic Simulation. Aachen, Germany: IEEE, 2022. Available on IEEEXplore (Also available on Arxiv).
Theses
Rodrigo Queiroz, Scenario Modeling and Execution for Simulation Testing of Automated-Driving Systems. PhD, University of Waterloo, 2022.
Scott Larter, A Hierarchical Pedestrian Behaviour Model to Reproduce Realistic Human Behaviour in a Traffic Environment. MMath. 2022.