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Welcome to AUT-DT

Amirkabir University of Technology's open source digital twin research using AWSIM and Autoware.

Introduction

In the rapidly evolving landscape of Intelligent Transportation Systems (ITS), Traffic Management, and Autonomous Vehicles, realistic simulation environments are pivotal for testing and advancing cutting-edge technologies. This thesis introduces a practical approach on creating a Digital Twin of a Traffic Scene, enabling high-fidelity simulations of real-world traffic scenarios.

Key Components

  • Ouster Lidar Data Integration: Real-time conversion of Ouster Lidar .pcap data to PointCloud2 ROS2 topics.
  • Dynamic Object Detection: Detection of 3D objects in real-time using Autoware's Perception Module with self-made launchers specifically designed to accept any kind of Lidar PointCloud2 data.
  • AWSIM Integration: Seamless integration of tracked objects into AWSIM, a Unity-based simulator.

Project Goals:

  • Realism: Accurate modeling of real-world traffic conditions captured by sensor data.
  • Automation: An automatic methodology for real-time data transformation and object integration.
  • Validation: Utilization of innovative tools for effective validation and testing.

Significance

  • Enhances the testing of ITS and traffic management algorithms in a dynamic and realistic virtual environment.
  • Provides a valuable platform for autonomous vehicle development, training, and adaptation to region-specific traffic scenarios.
  • Eliminates the need for synthesized traffic conditions and labor-intensive simulation setups.

Features

  • Seperate repositories for the 3D Simulation and Perception Components (AWSIM Simulation, Autoware Perception Module)
  • Support for Ubuntu 22.04 and Windows 10/11
  • ROS2 native communication (humble)
  • Open sourced
  • Made with Unity

This project presents an opportunity to explore the realms of digital twin, revolutionizing how we simulate and analyze traffic scenarios for the benefit of future transportation systems and autonomous vehicles.

Try the simulation demo yourself!

To test the AUT-DT demo with Autoware please refer to the Quick start demo section.