AutonoVi-Sim: Autonomous Vehicle Simulation Platform with Weather, Sensing, and Traffic control

We present AutonoVi-Sim, a novel high-fidelity simulation platform for au1 tonomous driving data generation and driving strategy testing. AutonoVi-Sim 2 is a collection of high-level extensible modules which allows the rapid develop3 ment and testing of vehicle configurations and facilitates construction of complex 4 traffic scenarios. Autonovi-Sim supports multiple vehicles with unique steering 5 or acceleration limits, as well as unique tire parameters and dynamics profiles. 6 Engineers can specify the specific vehicle sensor systems and vary time of day and 7 weather conditions to generate robust data and gain insight into how conditions 8 affect the performance of a particular algorithm. In addition, AutonoVi-Sim sup9 ports navigation for non-vehicle traffic participants such as cyclists and pedestrians, 10 allowing engineers to specify routes for these actors, or to create scripted scenarios 11 which place the vehicle in dangerous reactive situations. Autonovi-Sim facilitates 12 training of deep-learning algorithms by enabling data export from the vehicle’s 13 sensors, including camera data, LIDAR, relative positions of traffic participants, 14 and detection and classification results. Thus, AutonoVi-Sim allows for the rapid 15 prototyping, development and testing of autonomous driving algorithms under 16 varying vehicle, road, traffic, and weather conditions. 17