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.
We present a new approach to automated scenario-based testing of the safety of autonomous vehicles, especially those using advanced artificial intelligence-based components, spanning both simulation-based evaluation as well as testing in the real world. Our approach is based on formal methods, combining formal specification of scenarios and safety properties, algorithmic test case generation using formal simulation, test case selection for track testing, executing test cases on the track, and analyzing the resulting data. Experiments with a real autonomous vehicle at an industrial testing ground support our hypotheses that (i) formal simulation can be effective at identifying test cases to run on the track, and (ii) the gap between simulated and real worlds can be systematically evaluated and bridged.
This paper presents a new version of the Java DSP (J-DSP) education software which encompasses a comprehensive Digital Signal Processing (DSP) learning environment. The goal is to create a one stop learning environment for students that wish to gain insight into DSP concepts. It combines html and Java based technologies to create an integrated and highly interactive simulation interface. The whole idea of this integrated environment revolves around a web-based DSP quiz. The quiz has many attractive features, which provide students an opportunity to gain a thorough understating of DSP theory. Different learning tools are combined with the interactive online quiz and are also synchronized with J-DSP simulations. Every quiz is accompanied with several helping features where users can access the instructor's notes and external links that contain simulations, lecture videos, and instructional J-DSP animations. This new environment also supports multiple J-DSP simulations, running concurrently. These simulations are completely independent with one another except for the certain predefined points at which two simulations can interact with each other and share their data. Assessments of the use of this new tool are also presented here.
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