| Autor: |
Shen, Yuan, Chandaka, Bhargav, Lin, Zhi-hao, Zhai, Albert, Cui, Hang, Forsyth, David, Wang, Shenlong |
| Rok vydání: |
2023 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| Popis: |
We present Sim-on-Wheels, a safe, realistic, and vehicle-in-loop framework to test autonomous vehicles' performance in the real world under safety-critical scenarios. Sim-on-wheels runs on a self-driving vehicle operating in the physical world. It creates virtual traffic participants with risky behaviors and seamlessly inserts the virtual events into images perceived from the physical world in real-time. The manipulated images are fed into autonomy, allowing the self-driving vehicle to react to such virtual events. The full pipeline runs on the actual vehicle and interacts with the physical world, but the safety-critical events it sees are virtual. Sim-on-Wheels is safe, interactive, realistic, and easy to use. The experiments demonstrate the potential of Sim-on-Wheels to facilitate the process of testing autonomous driving in challenging real-world scenes with high fidelity and low risk. |
| Databáze: |
arXiv |
| Externí odkaz: |
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