Insertion of Real Agents Behaviors in CARLA Autonomous Driving Simulator

Sergio Serrano, David Llorca, David Llorca, Iván Daza, Miguel Sotelo

2022

Abstract

The role of simulation in autonomous driving is becoming increasingly important due to the need for rapid prototyping and extensive testing. The use of physics-based simulation involves multiple benefits and advantages at a reasonable cost while eliminating risks to prototypes, drivers and vulnerable road users. However, there are two main limitations. First, the well-known reality gap which refers to the discrepancy between reality and simulation that prevents simulated autonomous driving experience from enabling effective real-world performance. Second, the lack of empirical knowledge about the behavior of real agents, including backup drivers or passengers and other road users such as vehicles, pedestrians or cyclists. Agent simulation is usually pre-programmed deterministically, randomized probabilistically or generated based on real data, but it does not represent behaviors from real agents interacting with the specific simulated scenario. In this paper we present a preliminary framework to enable real-time interaction between real agents and the simulated environment (including autonomous vehicles) and generate synthetic sequences from simulated sensor data from multiple views that can be used for training predictive systems that rely on behavioral models. Our approach integrates immersive virtual reality and human motion capture systems with the CARLA simulator for autonomous driving. We describe the proposed hardware and software architecture, and discuss about the so-called behavioural gap or presence. We present preliminary, but promising, results that support the potential of this methodology and discuss about future steps.

Paper Citation

in Harvard Style

Serrano S., Llorca D., Daza I. and Sotelo M. (2022). Insertion of Real Agents Behaviors in CARLA Autonomous Driving Simulator. In Proceedings of the 6th International Conference on Computer-Human Interaction Research and Applications - Volume 1: CHIRA, ISBN 978-989-758-609-5, pages 23-31. DOI: 10.5220/0011352400003323

in Bibtex Style

@conference{chira22,
author={Sergio Serrano and David Llorca and Iván Daza and Miguel Sotelo},
title={Insertion of Real Agents Behaviors in CARLA Autonomous Driving Simulator},
booktitle={Proceedings of the 6th International Conference on Computer-Human Interaction Research and Applications - Volume 1: CHIRA,},
year={2022},
pages={23-31},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011352400003323},
isbn={978-989-758-609-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 6th International Conference on Computer-Human Interaction Research and Applications - Volume 1: CHIRA,
TI - Insertion of Real Agents Behaviors in CARLA Autonomous Driving Simulator
SN - 978-989-758-609-5
AU - Serrano S.
AU - Llorca D.
AU - Daza I.
AU - Sotelo M.
PY - 2022
SP - 23
EP - 31
DO - 10.5220/0011352400003323