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.

本文介绍了用于自动驾驶的高保真度模拟器LGSVL Simulator，可与Autoware和Apollo等开源自动驾驶栈完美搭配使用，并提供自定义传感器、可控对象和环境数码孪生等功能。

LGSVL模拟器：用于自动驾驶的高保真度模拟器