autowarefoundation/AWSIM

Open sourced digital twin simulator for Autoware

What it solves

AWSIM is a high-fidelity digital twin simulator designed specifically for Autoware, allowing developers to test and validate autonomous driving software without needing a physical vehicle.

How it works

Built on Unity, the simulator provides a ROS2-native environment that uses the same topics and messages as actual vehicles. It simulates realistic vehicle dynamics, various sensors (Ray tracing lidar, OpenCV cameras, IMU, and GNSS), and environmental factors like random traffic and V2I (Vehicle-to-Infrastructure) communication.

Who it’s for

Autonomous driving developers and engineers working with the Autoware ecosystem who need a customizable, high-performance simulation environment for testing vehicle control and sensor data.

Highlights

  • Autoware Integration: Optimally integrated with Autoware's vehicle control modes and ROS2 communications.
  • Sensor Simulation: Includes ray-tracing lidar, OpenCV camera simulation, and GNSS/IMU support.
  • Advanced Simulation: Supports ASAM OpenSCENARIO for complex scenario testing and controllable time scales.
  • Hardware Support: Compatible with Logitech G29 steering wheels for manual control testing.
  • Customizability: Features a layered architecture designed for easy expansion through C# coding.

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