LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving

2020/05/07 by Guodong Rong, Rong, Guodong, Byung Hyun Shin +31 · 23 citations
Computer Science · Engineering · #Advanced Neural Network Applications #Autonomous Vehicle Technology and Safety #FOS: Computer and information sciences #FOS: Electrical engineering #Machine Learning (cs.LG) #Real-time simulation and control systems #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2005.03778

openalex publication_date 2020/05/07 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

Testing autonomous driving algorithms on real autonomous vehicles is extremely costly and many researchers and developers in the field cannot afford a real car and the corresponding sensors. Although several free and open-source autonomous driving stacks, such as Autoware and Apollo are available, choices of open-source simulators to use with them are limited. In this paper, we introduce the LGSVL Simulator which is a high fidelity simulator for autonomous driving. The simulator engine provides end-to-end, full-stack simulation which is ready to be hooked up to Autoware and Apollo. In addition, simulator tools are provided with the core simulation engine which allow users to easily customize sensors, create new types of controllable objects, replace some modules in the core simulator, and create digital twins of particular environments.

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