HUGSIM：用于自动驾驶的实时、照片级和闭环模拟器

HUGSIM: A Real-Time, Photo-Realistic and Closed-Loop Simulator for Autonomous Driving

December 2, 2024

作者: Hongyu Zhou, Longzhong Lin, Jiabao Wang, Yichong Lu, Dongfeng Bai, Bingbing Liu, Yue Wang, Andreas Geiger, Yiyi Liao

cs.AI

摘要

在过去几十年中，自动驾驶算法在感知、规划和控制方面取得了显著进展。然而，评估单个组件并不能完全反映整个系统的性能，突显出需要更全面的评估方法。这促使了HUGSIM的开发，这是一个闭环、逼真且实时的模拟器，用于评估自动驾驶算法。我们通过使用3D高斯飞溅将捕获的2D RGB图像提升到3D空间，提高了闭环场景的渲染质量，并构建了闭环环境。在渲染方面，我们解决了闭环场景中新视角合成的挑战，包括视角外推和360度车辆渲染。除了新视角合成，HUGSIM进一步实现了完整的闭环模拟循环，根据控制命令动态更新自车和参与者的状态和观测。此外，HUGSIM提供了一个全面的基准测试，涵盖了来自KITTI-360、Waymo、nuScenes和PandaSet的70多个序列，以及400多个不同的场景，为现有自动驾驶算法提供了一个公平且逼真的评估平台。HUGSIM不仅作为一个直观的评估基准，还在逼真的闭环环境中释放了微调自动驾驶算法的潜力。

English

In the past few decades, autonomous driving algorithms have made significant progress in perception, planning, and control. However, evaluating individual components does not fully reflect the performance of entire systems, highlighting the need for more holistic assessment methods. This motivates the development of HUGSIM, a closed-loop, photo-realistic, and real-time simulator for evaluating autonomous driving algorithms. We achieve this by lifting captured 2D RGB images into the 3D space via 3D Gaussian Splatting, improving the rendering quality for closed-loop scenarios, and building the closed-loop environment. In terms of rendering, We tackle challenges of novel view synthesis in closed-loop scenarios, including viewpoint extrapolation and 360-degree vehicle rendering. Beyond novel view synthesis, HUGSIM further enables the full closed simulation loop, dynamically updating the ego and actor states and observations based on control commands. Moreover, HUGSIM offers a comprehensive benchmark across more than 70 sequences from KITTI-360, Waymo, nuScenes, and PandaSet, along with over 400 varying scenarios, providing a fair and realistic evaluation platform for existing autonomous driving algorithms. HUGSIM not only serves as an intuitive evaluation benchmark but also unlocks the potential for fine-tuning autonomous driving algorithms in a photorealistic closed-loop setting.