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

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

Antkiewicz, M., M. Kahn, M. Ala, K. Czarnecki, P. Wells, A. Acharya, and S. Beiker, "Modes of Automated Driving System Scenario Testing: Experience Report and Recommendations", SAE Int. J. Adv. & Curr. Prac. in Mobility, vol. 2, issue 5: SAE, pp. 2248-2266, 04/2020. BibTeX

 

 

2019

Queiroz, R., T. Berger, and K. Czarnecki, "GeoScenario: An Open DSL for Autonomous Driving Scenario Representation", IEEE Intelligent Vehicles Symposium (IV), Paris, IEEE, 2019. BibTeX iv2019_0501_fi.pdf (3.77 MB)

Presentations

2019

Antkiewicz, M., Queiroz, R., "GeoScenario: A Lightweight, WISIWIG Scenario-Based Test Definition Language for Automated Driving", ASAM OpenX – Past, Present and Future Activities for Simulation Domain, Oct 24, 2019.