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

WISE Sim - simulator view
WISE Sim - RViz view

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


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About the simulator

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".

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.



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. 


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


We are looking for postdocs and graduate students interested in working on all aspects of autonomous driving.

For more information, visit Open positions.