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A Lightweight Simulator for Autonomous Driving Motion Planning Development

Authors:
Tianyu Gu
John Dolan

Keywords: Traffic simulator; Intelligent agent; Motion Planning; Autonomous driving

Abstract:
A good simulation environment will facilitate motion planning algorithm development for urban autonomous driving. The first requirement of such a simulator is to be able to replicate a complex urban environment, including road network, curb, general objects, etc. The second requirement is to simulate a realistic host vehicle, which includes perception, control and vehicle dynamics, to recreate imperfect inputs and non-accurate execution of the planner. The third requirement is to model traffic participants (other on-road vehicles) for microscopic traffic simulation. Intelligent-agent-based techniques are used to allow the traffic participants to interact with the environment and each other. In this paper, we present an open-source lightweight simulation environment, FastSim, which is designed to meet the three requirements above.

Pages: 94 to 97

Copyright: Copyright (c) IARIA, 2015

Publication date: October 11, 2015

Published in: conference

ISSN: 2308-4065

ISBN: 978-1-61208-437-4

Location: St. Julians, Malta

Dates: from October 11, 2015 to October 16, 2015