ev-sim

This is our in-house simulation environment for testing and developing algorithms for autonomous driving. It is built on top of three.js and provides a visual scripting interface for creating and running simulations.

Quick Start

npm install
npm run dev

The app opens to the simulation workspace by default. Press Escape to open the app menu, where you can see options such as:

Environment Editor

Visual Scripting ("Canvas")

Log Analysis and Telemetry

Vehicle Editor

Documentation

• Documentation index
• Getting started
• Architecture
• Environment editor
• Earth import
• Development workflow
• Visual scripting
• Simulation
• Telemetry, logging, replay, and analysis
• ROS integration
• Assets
• Troubleshooting

CommonRoad Scenarios

Download scenarios from https://gitlab.lrz.de/tum-cps/commonroad-scenarios and place the scenarios folder in public/, creating public/scenarios.

Example browser path:

/scenarios/DR_CHN_Merging_ZS_1_T_1.xml

See Assets for asset policy and setup details.

References

M. Althoff, M. Koschi, and S. Manzinger, "CommonRoad: Composable Benchmarks for Motion Planning on Roads," in Proc. of the IEEE Intelligent Vehicles Symposium, 2017, pp. 719-726.