Sim-on-wheels: Physical world in the loop simulation for self-driving
Chandaka, Bhargav
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https://hdl.handle.net/2142/129207
Description
Title
Sim-on-wheels: Physical world in the loop simulation for self-driving
Author(s)
Chandaka, Bhargav
Issue Date
2025-04-16
Director of Research (if dissertation) or Advisor (if thesis)
Wang, Shenlong
Department of Study
Siebel School Comp & Data Sci
Discipline
Computer Science
Degree Granting Institution
University of Illinois Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Safety
Robot sensing systems
Real-time systems
Autonomous agents
Simulation
Animation
Autonomous vehicles
Language
eng
Abstract
We present Sim-on-Wheels, a safe, realistic, and vehicle-in-loop framework to test autonomous vehicles’ performance in the real world under safety-critical scenarios. Sim-on-wheels runs on a self-driving vehicle operating in the physical world. It creates virtual traffic participants with risky behaviors and seamlessly inserts the virtual events into images perceived from the physical world in real-time. The manipulated images are fed into autonomy, allowing the self-driving vehicle to react to such virtual events. The full pipeline runs on the actual vehicle and interacts with the physical world, but the safety-critical events it sees are virtual. Sim-on-Wheels is safe, interactive, realistic, and easy to use. The experiments demonstrate the potential of Sim-on-Wheels to facilitate the process of testing autonomous driving in challenging real-world scenes with high fidelity and low risk. Additional results and open-sourced code are available on our project page here: https://sim-on-wheels.github.io/.
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