AD Simulation Platform

51Sim-One is an autonomous driving simulation and testing platform independently developed by 51WORLD that integrates the functions of data importing, scenario editing, sensors and dynamics simulating, visualizing, testing and data set generating. Its modules cover the entire process of simulating and testing, and they can achieve a highly realistic effect on a massive scale. It uses a flexible and scalable distributed parallel architecture that can be deployed on a single computer, private cloud, or public cloud.

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Static Scenes Simulation

The platform is able to provide a high-precision map-editing toolchain based on OpenDRIVE, which can generate multi-dimensional scenes in an automatic/semi-automatic manner

Dynamic Scenes Simulation

The platform supports the creation of dynamic scenes that are compatible with OpenSCENARIO specifications through case editing

It plans behaviors on the basis of the action library and previews them in real-time.

It supports converting data from different data sources into dynamic scenes.

Sensors Simulation

51Sim-One is able to simulate physical and target-level sensors such as camera, lidar, millimeter-wave radar, ultrasonic and GPS.

V2X Simulation

It is capable of simulating V2X related equipment such as OBU, RSU, roadside camera, lidar, millimeter-wave radar, 5G base station, etc.

51Sim-one supports constructing various complex V2X scenes with the case editor.

Cloud Simulation

The system adopts a distributed architecture with highly containerized components, which can be easily deployed in various environments such as a private cloud or public cloud. It supports concurrent testing of multiple users on a large scale.

Dynamics Simulation

The platform supports high-precision and nonlinear vehicle dynamics of 22 degrees of freedom model

It supports connecting third-party dynamics modules such as CarSim®, CarMaker®and VI-grade® for joint simulation

Visualization

51Sim-One can provide both UE- based high-precision tools and web-based sketchy tools to meet the needs of different users.

HIL/DIL

51Sim-One delivers a variety of sensor-in-the-loop software and hardware solutions and supports accessing driving simulators to achieve driver-in-the-loop testing.

Data Evaluation

51Sim-One can evaluate simulated testing data or data imported from the actual tests from multiple dimensions.

WorldEditor

WorldEditor is application software that centers on the generating, editing and saving of OpenDRIVE files — the high-precision maps required by autonomous driving simulation and decision-making system. It is ease to use, safe and reliable. Combined with 51Sim-One, it can provide users with a wide range of products from high-precision maps to automatically-generated simulation scenarios, addressing the pain points of lengthy data generation periods and high labor costs.

Road and 3D scenes sketching

Presenting Templates

WorldEditor supports the templates of roads, lane paintings, intersection areas, auxiliary objects, signal lights and traffic signs, etc., to enable the users to quickly create roads and surroundings.

Editing Roads

WorldEditor can adjust the shape of a road with the help of the height profile tools and the node optimization tools after it is created by the template.

Constructing Automatically

WorldEditor provides users with a series of automated tools for constructing intersections, stop lines, crosswalks, street lights, trash cans, etc., to improve efficiency.

OpenDRIVE Generation

Vector Data Conversio

WorldEditor supports reading standard vector data (such as .shp and other formats) and converts them directly into OpenDRIVE after preprocessing and checking;

Sketching with Images, Point Clouds and 3D Models

WorldEditor also supports loading orthophotos, point clouds, and 3D models, on the basis of which the templates manually draw traffic signs such as road boundaries, lane lines and connecting lines in intersections, which are saved as OpenDRIVE files.

Exporting Vectors and Models

Based on OpenDRIVE, WorldEditor can export various vectors and models such as shape, OSM, obj, and fbx.

Supporting OpenDRIVE Standards

We support OpenDrive version 1.5, 1.4, and before 1.4, and update our support with the upgrade of the standard.

Visualizing Traffic Flow Simulation Data

As an application software that integrates multiple functions of generating, editing and visualizing high-precision maps required by smart driving, WorldEditor also supports online connection to traffic flow simulation software such as SUMO, etc., to visualize the data in 2D and 3D forms, and load data from third-party software such as VISSIM to dynamically display vehicle trajectories.

Exporting to 51Sim-One

51Sim-One supports the importing of OpenDRIVE files created, edited and saved by WorldEditor, which contain accurate 3D geometric information of the road network and semantic information indicating speed limits. Based on this information, 51Sim-One can construct realistic 3D scenes with locations, laying the foundation for simulated testing.

Multi-sensor Virtual Annotation Data Set

51WORLD multi-sensor virtual annotation data set, including that of camera, lidar and millimeter-wave radar, is extracted from 51Sim-One’s diversified high — quality scenarios of complex roads under extreme working and weather conditions. Taking the advantages of the simulation software and automatic annotation, it addresses the difficulty of data collection under extreme conditions and the intricacy of accurate labeling at a lower cost, effectively upgrading the testing and training of fusion algorithms of the sensors.Video “Multi-sensor distributed — offline virtual annotation dataset 1080p.mp4”

Physical lighting

The simulated scene is based on physical lighting, respecting the law of energy conservation. The solar illuminance is calculated on the spectral irradiance of different wavelengths and real data.

Parameterized weather system

It supports configuring the parameters of sky, clouds, rain, snow and fog, and the effects vary with different weather conditions.

Physical-level camera and lidar simulation based on real sensor calibration

The camera simulation supports physical parameters such as color restoration, dynamic range, signal-to-noise ratio, and sharpness; it also stimulates defects such as glare, dispersion purple fringing, distortion, and noise. Lidar simulation supports reflection intensity and noise simulation in the real world.

2D/3D bounding box truth-value output from multiple perspectives such as car side, roadside, and airside

It provides perfectly-fit 2D/3D bounding box information, including the unique ID, type, position, orientation, speed and size of an obstacle. It also supports AABB (axis-aligned bounding box) and OBB (oriented bounding box).

Pixel-level true-value output such as depth image, semantic and instance segmentation image, optical flow, etc.

It provides the true values of the depth image corresponding to each RGB, the automatic annotation of the semantic and instance segmentation of 30 types of objects, and the annotation of forwarding optical flow and backward optical flow.

Perfect synchronization of multi-sensor data sets

Each type of data is completely synchronized, to the accuracy of the position and orientation of each car, and the posture and movement of each pedestrian. Multi-sensor data can be fully synchronized.

51Sim-One