Autonomous vehicle safety and reliability are the paramount requirements whendeveloping autonomous vehicles. These requirements are guaranteed by massivefunctional and performance tests. Conducting these tests on real vehicles isextremely expensive and time consuming, and thus it is imperative to develop asimulation platform to perform these tasks. For simulation, we can utilize theRobot Operating System (ROS) for data playback to test newly developedalgorithms. However, due to the massive amount of simulation data, performingsimulation on single machines is not practical. Hence, a high-performancedistributed simulation platform is a critical piece in autonomous drivingdevelopment. In this paper we present our experiences of building a productiondistributed autonomous driving simulation platform. This platform is built uponSpark distributed framework, for distributed computing management, and ROS, fordata playback simulations.
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