This document describes an autonomous vehicle simulation project. It discusses the essential components of an autonomous vehicle like sensors, a main computer and controllers. It then describes the autonomous vehicle simulator which simulates these components in a virtual world and allows extracting experimental data and displaying the real-time simulation. The simulator is divided into a configuration manager and real-time simulation parts. The project will be released as open-source by the end of the year to allow further development and support different platforms running the same steering/control algorithms.

1. AUTONOMOUS VEHICLE SIMULATION
PROJECT
Sangho Lee
School of IntegratedTechnology,Yonsei University

2. Table of contents
 Introduction
 Essential components
 An Autonomous vehicle Simulator
 Development
 Future works
 References
 Q & A

3. Introduction
 AutonomousVehicle?
 A vehicle equipped with autopilot system
 Advantages?
 No human operations needed
 Optimal path finding
 Disadvantages?
 Bugs in the software
 Unexpected accident

5. WDR Imager
(Front)
Nearby
Radar
LIDAR
GPS
Steering/
Speed Controller
Image
Processing
Chipset
(FPGA)
Main
Computer
ARM
Embedded
Board 1,2
DC-DC
convt
DC-DC
convt
DC-DC
convt
12V
Pause/Run
Manual/AVC
Select

6. Autonomous vehicle Simulator
 A Simulator in the virtual world.
 Steering / Controller is managed by an
algorithm
 Artificially generated sensors are attached
 Experimental data extraction as well as real-
time world display
 Divided by two parts
 Configuration Manager
 Real-timeAutonomousVehicle Simulator

7. Figure 3. A relationship between configuration manager and
plug-in simulator

8. Figure 4. Procedure to execute Plug-in simulator with
communication of the configuration data

9. Development
 The project will be deployed as an open-source
 Fundamental implementations are not properly
completed yet
 The project will be deployed with GPL license
 Will be available at the end of this year

10. Figure 6. Open source project with GPL License

11. Figure 7. A Screenshot of OpenCarSimManager

13. Future works
 Development of Configuration
Manager(OpenCarSimManager)
 Support different platforms with the same
steering/controlling algorithm.

14. References
 SeamlessTransportaiton Lab,
YonseiUniv. Int’l Campus
 http://sit.yonsei.ac.kr
 OpenCarsim – OpenSource autonomous
simulator project at Google Code
 https://code.google.com/p/opencarsim/
 Other References cited in the paper

15. IF YOU ARE WILLING TO CO-OP
FOR THE DEVELOPMENT OF A
SIMULATOR, PLEASE CONTACT US
AT
SANGHOLEE@YONSEI.AC.KR

16. QUESTIONS & ANSWERS

17. THANK YOU
Sangho Lee