An Architecture of Autonomous Car Simulation System

摘要

An autonomous car simulation system is a useful tool for autonomous car development, testing, and related research. According to the principle of an autonomous car, a distributed simulation system is designed for real-time and faster-than-real-time simulation. The hardware-in-the-loop simulation system consists of sensor layer simulation, decision and control unit, vehicle dynamics simulation, vision simulation, audio simulation, and traffic environment simulation. Data and a model with spatial and time consistency is the key to multi-field collaborative simulation. Architecture, temporal logic, and related key technologies are introduced and main data structure are represented in this paper. On the PC workstation cluster, a prototype of an autonomous car simulation system is implemented preliminarily.