Toward a Full-Stack Co-Simulation Platform for Testing of Automated Driving Systems

TL;DR

This paper introduces a comprehensive co-simulation platform that integrates real-world data-driven scenario generation with advanced automated driving system testing, enhancing virtual testing capabilities.

Contribution

The paper presents a novel full-stack co-simulation toolchain combining scenario generation, CarMaker, ROS, and Apollo for automated testing of driving systems.

Findings

Effective validation demonstrated through simulation results

Seamless integration of scenario generation and simulation environments

Enhanced virtual testing process for automated driving systems

Abstract

Virtual testing has emerged as an effective approach to accelerate the deployment of automated driving systems. Nevertheless, existing simulation toolchains encounter difficulties in integrating rapid, automated scenario generation with simulation environments supporting advanced automated driving capabilities. To address this limitation, a full-stack toolchain is presented, enabling automatic scenario generation from real-world datasets and efficient validation through a co-simulation platform based on CarMaker, ROS, and Apollo. The simulation results demonstrate the effectiveness of the proposed toolchain. A demonstration video showcasing the toolchain is available at the provided link: https://youtu.be/taJw_-CmSiY.