We are implementing a simulator for Autonomoose automated driving system (ADS). The simulator is based on UnrealEngine 4.19.

WISE Sim UnrealEngine window

WISE Sim RViz window

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

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 Autonomoose 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 World Congress Experience: SAE, 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 PDF iconiv2019_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.

Project members: 
project lead
GeoScenario
Co-op student (Spring'18)
Co-op student (Spring'18)
volunteer (Spring'18)
Co-op student (Fall'18)
co-op student (Winter'19)
co-op student (Winter'19)
co-op student (Winter'19)
co-op student (Spring'19)
co-op student (Fall'19)
co-op student (Fall'19)
Last updated: May 13, 2020

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Opportunities

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

For more information, visit Open positions.