Injection Simulation: an Efficient Validation Framework for Autonomous Driving System

Sustainable Intelligent Transportation Systems via Digital Twins: A Contextualized Survey

“…However, rendering this way is expensive and resource-intensive, and the data obtained from some types of virtual sensors is very different from the real scene. This problem was addressed in [58], which proposed an injection simulation framework capable of customizing roads and traffic scenarios to achieve SIL and vehicle-in-the-loop (VIL) tests for different functional modules. The scenario generation module is based on the real road's high-precision semantic map (OSM map) and the simulator SUMO to define the test scenario.…”