Architecture design#
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