A Gamified Simulator and Physical Platform for Self-Driving Algorithm Training and Validation

Abstract

We identify the need for an easy-to-use self-driving simulator where game mechanics implicitly encourage high-quality data capture and an associated low-cost physical test platform. We design such a simulator incorporating environmental domain randomization to enhance data generalizability and a low-cost physical test platform running the Robotic Operating System. A toolchain comprising a gamified driving simulator and low-cost vehicle platform is novel and facilitates behavior cloning and domain adaptation without specialized knowledge, supporting crowdsourced data generation. This enables small organizations to develop certain robust and resilient self-driving systems. As proof-of-concept, the simulator is used to capture lane-following data from AI-driven and human-operated agents, with these data training line following Convolutional Neural Networks that transfer without domain adaptation to work on the physical platform.

Modelling Key Performance Indicators in a Gamified Waste Management Tool

“…The designed tool may be integrated with other game-based simulators [68,69] to help quantify and seek to reduce other negative externalities, such as vehicle emissions, using real-world automotive diagnostic data and solutions [70][71][72]. Real-world fault data may also be captured from mobile devices [73][74][75][76][77][78][79] as a means of informing simulation of fuel-wasting faults such that the transit planning strategies reflect true inefficiencies, while a broader game might even model how waste bin placement might impact pedestrian traffic [80] and efficiently mirror cities digitally and in real time [81].…”

Game-Based Simulation and Study of Pedestrian-Automated Vehicle Interactions

“…The Unity Game Engine is one option that has been used successfully in pedestrian simulations [38]. This multi-platform engine allows developers to create a simulated environment where they can spawn or destroy (Game) objects [39,40]. The design and development process of a tool has become easier since a variety of 3D objects can be acquired through Unity's extensive asset store [39,41].…”

“…The design and development process of a tool has become easier since a variety of 3D objects can be acquired through Unity's extensive asset store [39,41]. This flexibility allows researchers to develop simulations [17], including gamified solutions [6,17,40], iteratively, particularly at early stages [42].…”