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

Main features:

• Lincoln MKZ "UW Moose" high-fidelity, 14 degrees of freedom vehicle model (suspension and hybrid powertrain)
• 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)
• 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

• , slaunch explained in detail (old)
• , inspecting the system explained (new)

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".

• Colby intersection () ()
• Ring road with a large pedestrian group ()
• Traffic jam assist ()
• Left turn at stop with occlusion () ()
• Bathurst busy intersection ()
  • 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 repositoryÌý.

Trying the WISE Sim simulator with the WISE Automated Driving System (ADS)

For instructions, see the README in the repository

To run the ADS and WISE Sim inside a docker container, see .

Publications

2020