  AutoDRIVE is envisioned to be an integrated research and education platform
for scaled autonomous vehicles and related applications. This work is a
stepping-stone towards achieving the greater goal of realizing such a platform.
Particularly, this work introduces the AutoDRIVE Simulator, a high-fidelity
simulator for scaled autonomous vehicles. The proposed simulation ecosystem is
developed atop the Unity game engine, and exploits its features in order to
simulate realistic system dynamics and render photorealistic graphics. It
comprises of a scaled vehicle model equipped with a comprehensive sensor suite
for redundant perception, a set of actuators for constrained motion control and
a fully functional lighting system for illumination and signaling. It also
provides a modular environment development kit, which comprises of various
environment modules that aid in reconfigurable construction of the scene.
Additionally, the simulator features a communication bridge in order to extend
an interface to the autonomous driving software stack developed independently
by the users. This work describes some of the prominent components of this
simulation system along with some key features that it has to offer in order to
accelerate education and research aimed at autonomous driving.
