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Architecture design#

Scenario Testing Framework

This documentation describes the architecture design of this scenario testing framework.

This framework is designed for executing scenario tests with Autoware.

C++ API documentation of scenario_simulator_v2 can be seen here.

This framework is designed to easily accommodate multiple simulators and scenario description formats.

Simple sensor simulator#

If you want to know about our very, very simple lidar simulator, please read this documentation.

Traffic simulator#

If you want to know how to control traffics in simulation, and how to develop your original scenario format, please read this documentation.

Communication with simulator and interpreter#

If you want to know how to connect your simulator with this framework, please read this documentation.

Autoware API#

If you want to know how we can send commands to the Autoware via simulators, please read this documentation.

System architecture#

If you want to know whole system architecture of this framework, please read this documentation.

TIER IV Scenario Format Version 2.0#

If you want to know TIER IV Scenario format Version 2.0 , which is a default scenario format of this framework, please read this documentation.

Vehicle Model#

If you want to know about vehicle dynamics model in simulation, please check this documentation.

NPC Behavior#

If you want to know about NPC behavior, please check this documentation