Table 2.
Supported sensors in vehicle simulators.
| Simulator | Camera | GNSS | IMU | LiDAR | Radar | Ultras. | Others | |||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| RGB | Depth | Segm. | IR | OF | DVS | |||||||
| AirSim [13] | ✓ | ✓ | ✓ | ✓ | ✓ | ✗ | ✓ | ✓ | ✓ | ✗ | ✗ | ✓a |
| AWSIM [17] | ✓ | — | — | — | — | — | ✓ | ✓ | ✓ | ✗ | ✗ | — |
| CARLA [11] | ✓ | ✓ | ✓ | ✗ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✗ | ✓b |
| DeepDrive [18] | ✓ | ✓ | ✗ | ✗ | ✗ | ✗ | ✗ | ✗ | ✗ | ✗ | ✗ | ✗ |
| LGSVL [15] | ✓ | ✓ | ✓ | ✗ | ✗ | ✗ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓c |
| ANSYS AVxcelerate [23] | ✓ | — | — | — | — | — | ✗ | ✗ | ✓ | ✓ | ✗ | — |
| Auto. Driving Toolbox [20] | ✓ | ✓ | ✓ | ✗ | ✗ | ✗ | ✗ | ✗ | ✓ | ✓ | ✓ | ✓d |
| CarSim [25] | ✓ | — | — | — | — | — | ✗ | ✗ | ✗ | ✓ | ✗ | ✓e |
| CarMaker [24] | ✓ | — | — | — | — | — | ✓ | ✗ | ✓ | ✓ | ✓ | — |
| Cognata [28] | ✓ | ✗ | ✗ | ✓ | ✗ | ✗ | ✗ | ✗ | ✓ | ✓ | ✗ | — |
| dSPACE AURELION [26] | ✓ | ✓ | ✗ | ✗ | ✓ | ✗ | ✗ | ✗ | ✓ | ✓ | ✗ | — |
| MORAI Sim Drive [29] | ✓ | — | — | — | — | — | ✓ | ✓ | ✓ | ✓ | ✗ | — |
| NVIDIA DRIVE Sim [22] | ✓ | — | — | — | — | — | ✗ | ✓ | ✓ | ✓ | ✗ | ✓f |
| rFpro [27] | ✓ | — | — | — | — | — | ✗ | ✗ | ✓ | ✓ | ✗ | — |
| SCANeR Studio [21] | ✓ | — | — | — | — | — | ✓ | ✓ | ✓ | ✓ | ✓ | ✓g |
✓: supports sensor; ✗: does not support sensor; —: not available; RGB: color; Segm.: segmentation; IR: infrared (thermal camera); OF: optical flow; DVS: event camera, also known as Dynamic Vision Sensor or neuromorphic camera; Ultras.: ultrasound; a barometer, magnetometer, distance sensor; b collision, lane invasion, obstacle; c lane-line sensor, lane following sensor, comfort sensor; d vision detection generator (detects objects and lanes on images captured by a camera); e traffic signs sensor (camera), moving object detector; f sonar; g lighting sensor.