An Evaluation Platform to Scope Performance of Synthetic Environments in Autonomous Ground Vehicles Simulation

Evaluating autonomous ground vehicles requires evaluating their mobility performance. Since autonomous vehicles are envisioned to make decisions in a variety of situations and environments too diverse to practically assess with only physical testing, their development, testing, and evaluation will necessarily include the use of simulations. These simulations must represent reality sufficiently to represent the decisions that the vehicles would make in real-world environments. In this paper we present our Scoping Autonomous Vehicle Simulation (SAVeS) platform for benchmarking the performance of simulated environments for autonomous ground vehicle testing.