Personal use of this material is permitted. Abstract--Autonomous driving systems have achieved significant advances, and full autonomy within defined operational design domains near practical deployment. Expanding these domains requires addressing safety assurance under diverse conditions. Information sharing through vehicle-to-vehicle and vehicle-to-infrastructure communication, enabled by a Dynamic Map platform built from vehicle and roadside sensor data, offers a promising solution. Real-world experiments with numerous infrastructure sensors incur high costs and regulatory challenges. Conventional single-host simulators lack the capacity for large-scale urban traffic scenarios. This paper proposes D-A WSIM, a distributed simulator that partitions its workload across multiple machines to support the simulation of extensive sensor deployment and dense traffic environments. A Dynamic Map generation framework on D-A WSIM enables researchers to explore information-sharing strategies without relying on physical testbeds. The evaluation shows that DA WSIM increases throughput for vehicle count and LiDAR sensor processing substantially compared to a single-machine setup. Integration with Autoware demonstrates applicability for autonomous driving research. I. Introduction Current autonomous driving systems are capable of operating without human input and are fully autonomous within operational design domains (ODDs).

Conducting real road testing for autonomous driving algorithms can be expensive and sometimes impractical, particularly for small startups and research institutes. Thus, simulation becomes an important method for evaluating these algorithms. However, the availability of free and open-source simulators is limited, and the installation and configuration process can be daunting for beginners and interdisciplinary researchers. We introduce an autonomous driving simulator with photorealistic scenes, meanwhile keeping a user-friendly workflow. The simulator is able to communicate with external algorithms through ROS2 or Socket.IO, making it compatible with existing software stacks. Furthermore, we implement a highly accurate vehicle dynamics model within the simulator to enhance the realism of the vehicle's physical effects. The simulator is able to serve various functions, including generating synthetic data and driving with machine learning-based algorithms. Moreover, we prioritize simplicity in the deployment process, ensuring that beginners find it approachable and user-friendly.

There are many artificial intelligence algorithms for autonomous driving, but directly installing these algorithms on vehicles is unrealistic and expensive. At the same time, many of these algorithms need an environment to train and optimize. Simulation is a valuable and meaningful solution with training and testing functions, and it can say that simulation is a critical link in the autonomous driving world. There are also many different applications or systems of simulation from companies or academies such as SVL and Carla. These simulators flaunt that they have the closest real-world simulation, but their environment objects, such as pedestrians and other vehicles around the agent-vehicle, are already fixed programmed. They can only move along the pre-setting trajectory, or random numbers determine their movements. What is the situation when all environmental objects are also installed by Artificial Intelligence, or their behaviors are like real people or natural reactions of other drivers? This problem is a blind spot for most of the simulation applications, or these applications cannot be easy to solve this problem. The Neurorobotics Platform from the TUM team of Prof. Alois Knoll has the idea about "Engines" and "Transceiver Functions" to solve the multi-agents problem. This report will start with a little research on the Neurorobotics Platform and analyze the potential and possibility of developing a new simulator to achieve the true real-world simulation goal. Then based on the NRP-Core Platform, this initial development aims to construct an initial demo experiment. The consist of this report starts with the basic knowledge of NRP-Core and its installation, then focus on the explanation of the necessary components for a simulation experiment, at last, about the details of constructions for the autonomous driving system, which is integrated object detection and autonomous control.

The Seoul Metropolitan Government (SMG) has announced it is building a pilot driving zone for autonomous cars. Forming part of the cooperative intelligent transport system (C-ITS) construction project, the virtual reality autonomous driving simulator will reflect road, traffic, and weather conditions by using digital twin technologies. According to SMG, by expanding the virtual territory to Gangnam and the city centre, it will enable Seoul to "leap forward" as a city of commercialised self-driving vehicles. The autonomous driving simulator will be open to the public, and anyone from companies to research institutes, start-ups, and universities can use it free of charge. SMG's rationale is the greater the numbers of developers who test the simulator the more opportunity there is to improve their technologies, and help the industry to further advance.