# A Systematic Review of Perception System and Simulators for Autonomous Vehicles Research
## 5 Simulation
### Perception Simulator
The development of agent modelling tools, the availability of micro-data, and advances in computation have made a growing number of agent-based applications possible across a variety of domains and disciplines. These simulators can be used in the design and simulation of ADAS and that is why some of these simulators also include a perception subsystem, although it is usually a secondary part of the simulator, with models of pseudo-sensors or in the best of cases with a basic LiDAR model (given the importance of this sensor in autonomous vehicles). Although these driving simulators are not the objective of this work, the most significant ones have been included as an example. It should be noted that main vehicle manufacturers are working on their own prototypes of autonomous vehicles and also have their own products for validation, verification, testing and simulation. Toyota has its own vehicle Platform3.0, developed by the Toyota Research Institute (TRI); the platform is built on a Lexus LS 600. The main advancement of the Platform3.0 is in its sensor systems, which have increased in quantity and definition, converting this model in an automated car to the greatest perception capacity. It uses a LiDAR system with 360 degrees of vision and a range of 200 m. Toyota has also collaborated in the development of the CARLA simulator [93]. BMW is another brand that is betting \begin{table}
\begin{tabular}{c c c c c c c} \hline \hline
**Simulator** & **License** & **Physics** & **Graphic** & **Scripting** & **External** & **Notes** \\  & & **Engine** & **Engine** & **Language** & **Agent** & **Notes** \\ \hline CARLA [93] & GPL/ & Unreal & GPU & Python & Yes & Driving \\  & Open Source & Engine & & C++, Python, & Yes & Driving \\ AirSim & Open Source & Engine & & C++, Java & & Yes & Driving/HIL,SIL \\ DeepDrive [98] & GPL/ & Unreal & & C++, Python & Yes & Driving \\  & Open Source & Engine & & u & C++, Python & Yes & Driving \\ Udacity * [99] & Open Source & & Unity & u & C++, Python & u & Driving \\ Constellation [100] & Restricted & PhysX/CUDA & GPU & C/C++, & Yes & Cloud, HIL, VR \\ Carcraft/Waymo [101] & Restricted & u & u & u & Yes & Driving \\ SIM Lidar [102] & GPL/ & & u & u & C++ & u & LiDAR \\ Helios [103] & Open Source & Engine & OpenGL & Java & u & LiDAR \\ GLIDAR [104] & GPL/Open Source & & OpenGL & C++ & u & LiDAR \\ RADSim [105] & Comerdial & u & u & MATLAB & u & RADAR \\ SIMSonic & GPL/Open Source & u & u & R & u & Ultrasonic \\ \hline \hline \end{tabular}  
* Table Legend: u-Unknown or could not be determined.  
\end{table} 
Table 6: Summary of the features of specific simulators for AVs. \begin{table}
\begin{tabular}{l c c c c c c c} \hline \hline
**Simulator** & **GPS** & **IMU** & **LIDAR** & **Ultransonic** & **Radar** & **Infrared** & **Stereo** & **ToF** \\  & & & & & & & **Camera** & **Camera** \\ \hline CARLA & x & - & x & - & - & - & x & - \\ AirSim & x & x & x & u & U & u & u & u \\ DeepDrive & x & & x & - & X & & - \\ Udacity * & x & x & x & u & U & x & u \\ Constellation & x & x & x & x & X & x & x & u \\ Carcraft/Waymo & x & x & x & x & X & x & x & u \\ SIM Lidar & - & - & x & - & - & - & - & - \\ Helios & - & - & x & - & - & - & - & - \\ GLIDAR & - & - & x & - & - & - & - & - \\ RADSim & - & - & - & - & X & - & - & - \\ SIMSonic & - & - & - & x & - & - & - & - \\ \hline \hline \end{tabular}  
\end{table} 
Table 7: Summary of the main sensors simulated by specific simulators for AVs. strongly on autonomous technology. BMW iNext is the brand's proposal. For simulation, they have opted for a robotics framework and middleware. BMW has even established its own Autonomous Driving Campus in Munich [106]. FORD and SEAT are also in the list of vehicle brands that are committed to autonomous driving. On the other hand, companies in the electronics, computer and information technology sectors such as Apple or Google also have their own proposals. Google has developed Wymo with level 4 autonomy.