Integrated Simulator for Decision Making System of Autonomous Driving

Abstract

Autonomous driving is performed by artificial intelligence (AI) on a computer. If an accident is occurred, the autonomous driving system should show the evidence of decision making to analyze the reasons of accident. In this report, we propose an integrated simulator for a knowledge-based AI that shows the evidence of decision making. To construct the simulator, we combine Autoware, Gazebo and the knowledge-based AI. Autoware is an open source software for autonomous driving, and Gazebo can simulate arbitarary road environments. By using the proposed simulator, we can verify the practicality of knowledge-based AI for autonomous driving many times. Experimental results show that the proposed simulator successfully presents the evidence of decision making.