Table 1.
Comparison between computer graphics simulators for automotive applications.
| Simulator | Software | OS | Engine | Specs. (GPU/CPU/RAM) |
API | SIL | HIL | Co-sim. | ROS |
|---|---|---|---|---|---|---|---|---|---|
| AirSim [13] | Open source (C++, Python) |
Windows, Linux, macOS |
Unreal | 8 GB 4-Core (2.5 GHz) 32 GB |
C++, Python | ✓ | ✓ | ✗ | ✓ |
| AWSIM [17] | Open source (C#) |
Linux | Unity | 11 GB 6-Core 16 GB |
— | ✗ | ✗ | ✓c | ✓ |
| CARLA [11] | Open source (C++, Python) |
Windows, Linux |
Unreal | 6 GB 4-Core (2.5 GHz) 32 GB |
Python | ✗ | ✗ | ✓a | ✓ |
| DeepDrive [18] | Open source (C++) |
Linux | Unreal | — — 8GB |
Python | — | — | — | — |
| LGSVL [15] | Open source (C#) |
Windows, Linux |
Unity | 8 GB 4-Core (4 GHz) 16 GB |
Python | ✓ | ✓ | ✓b | ✓ |
| ANSYS AVxcelerate [23] |
Closed source | Windows, Linux |
— | — — — |
C/C++, .Net, Python |
✓ | ✓ | ✓f | — |
| Auto. Driving Toolbox [20] |
Closed source | Windows, Linux, macOS |
RoadRunner, Unreal |
6 GB 4-Core (2.5 GHz) 16 GB |
— | ✓ | ✓ | ✓d | ✓e |
| CarMaker [24] | Closed source (C, C++) |
Windows, Linux |
MovieNX, Unigine |
— — — |
Python | ✓ | ✓ | — | — |
| CarSim [25] | Closed source | Windows, Linux |
— | 1 GB 4-Core (2.2 GHz) 16 GB |
MATLAB, VB, C/C++ |
✓ | ✓ | ✓g | ✗ |
| Cognata [28] | Closed source | MS Azure | Unity | 11 GB 8-Core (3.6 GHz) 64 GB |
RESTful | — | ✓ | ✓i | ✓ |
| dSPACE AURELION [26] |
Closed source | Windows, Linux |
Unreal | 12 GB 4-Core (3.8 GHz) 32 GB |
— | ✓ | ✓ | — | ✗ |
| MORAI Drive [29] |
Closed source | Windows, Linux, AWS |
Unity | 11 GB 8-Core (3.6 GHz) 64 GB |
— | ✗ | ✓ | — | — |
| NVIDIA DRIVE Sim [22] |
Closed source (C++, Python) |
— | Nvidia Omniverse |
— — — |
— | — | — | — | — |
| rFpro [27] | Closed source (C++) |
Windows, Linux |
Proprietary | — — — |
C++ | ✓ | ✓ | ✓h | ✗ |
| SCANeR [21] | Open software (C++) |
Windows, Linux |
Unreal | 48 GB 16-Core (3.4 GHz) 64 GB |
Python | ✓ | ✓ | — | — |
✓: supports feature; ✗: does not support feature; —: Not applicable/not available; a SUMO [40], VISSIM [41]; b Baidu Apollo [45], Autoware [44]; c Autoware [44]; d Unreal Engine; e integration enabled by ROS Toolbox; f CarMaker [24], CARLA [11,12]; g dSPACE AURELION [26], Unreal Engine, Matlab; h SUMO [40], CarMaker [24], VISSIM [41], Matlab; i SUMO [40], Matlab.