KIT Bus: A Shuttle Model for CARLA Simulator

TL;DR

This paper introduces the KIT bus, a realistic bus model for the CARLA autonomous driving simulator, enabling simulation of bus scenarios to support research and development in self-driving bus technology.

Contribution

The paper presents a novel, detailed bus model for CARLA, filling a gap in simulation resources for autonomous bus research.

Findings

The KIT bus model functions correctly in CARLA.

The model enhances simulation capabilities for autonomous bus scenarios.

Demo videos validate the model's effectiveness.

Abstract

With the continuous development of science and technology, self-driving vehicles will surely change the nature of transportation and realize the automotive industry's transformation in the future. Compared with self-driving cars, self-driving buses are more efficient in carrying passengers and more environmentally friendly in terms of energy consumption. Therefore, it is speculated that in the future, self-driving buses will become more and more important. As a simulator for autonomous driving research, the CARLA simulator can help people accumulate experience in autonomous driving technology faster and safer. However, a shortcoming is that there is no modern bus model in the CARLA simulator. Consequently, people cannot simulate autonomous driving on buses or the scenarios interacting with buses. Therefore, we built a bus model in 3ds Max software and imported it into the CARLA to fill this gap. Our model, namely KIT bus, is proven to work in the CARLA by testing it with the autopilot simulation. The video demo is shown on our Youtube.