The paper conducts an in-depth review of simulators for autonomous driving. It traces their development over three decades and identifies key functionalities. The paper also classifies simulators into five categories: traffic flow simulator, vehicle dynamics simulator, scenario editor, sensory data generator, and driving strategy validator. The paper reveals that simulators face challenges primarily around fidelity and efficiency. It suggests enhancing the realism of adverse weather simulation, automated map reconstruction, and interactive traffic participants to improve credibility. The paper also suggests potential solutions and evaluation metrics to assess simulator performance.
Publication date: 21 Nov 2023
Project Page: Not provided
Paper: https://arxiv.org/pdf/2311.11056
