{"id":"https://openalex.org/W4392523567","doi":"https://doi.org/10.1109/tiv.2024.3374044","title":"Choose Your Simulator Wisely: A Review on Open-Source Simulators for Autonomous Driving","display_name":"Choose Your Simulator Wisely: A Review on Open-Source Simulators for Autonomous Driving","publication_year":2024,"publication_date":"2024-03-06","ids":{"openalex":"https://openalex.org/W4392523567","doi":"https://doi.org/10.1109/tiv.2024.3374044"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2024.3374044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3374044","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Vehicles","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5120313132","display_name":"Yueyuan Li","orcid":"https://orcid.org/0009-0000-2822-1663"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yueyuan Li","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0000-2822-1663","affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081650208","display_name":"Wei Yuan","orcid":"https://orcid.org/0000-0003-4880-844X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Yuan","raw_affiliation_strings":["Global Institute of Future Technology, Shanghai Jiao Tong University, Shanghai, China","Innovation Center of Intelligent Connected Vehicle, Global Institute of Future Technology, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-4880-844X","affiliations":[{"raw_affiliation_string":"Global Institute of Future Technology, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Innovation Center of Intelligent Connected Vehicle, Global Institute of Future Technology, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045427668","display_name":"Songan Zhang","orcid":"https://orcid.org/0000-0002-3238-5406"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songan Zhang","raw_affiliation_strings":["Global Institute of Future Technology, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-3238-5406","affiliations":[{"raw_affiliation_string":"Global Institute of Future Technology, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076280527","display_name":"Weihao Yan","orcid":"https://orcid.org/0000-0002-7838-0790"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihao Yan","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-7838-0790","affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104201226","display_name":"Qiyuan Shen","orcid":"https://orcid.org/0009-0002-7205-2152"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiyuan Shen","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0002-7205-2152","affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048517656","display_name":"Chunxiang Wang","orcid":"https://orcid.org/0000-0002-6885-6740"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunxiang Wang","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-6885-6740","affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009256880","display_name":"Ming Yang","orcid":"https://orcid.org/0000-0002-8679-9137"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Yang","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-8679-9137","affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":31.0546,"has_fulltext":false,"cited_by_count":65,"citation_normalized_percentile":{"value":0.99897573,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":"5","first_page":"4861","last_page":"4876"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9735999703407288,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.614238977432251},{"id":"https://openalex.org/keywords/open-source","display_name":"Open source","score":0.5990394353866577},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5665919184684753},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38661983609199524},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.16234174370765686},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.12531256675720215}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.614238977432251},{"id":"https://openalex.org/C3018397939","wikidata":"https://www.wikidata.org/wiki/Q3644502","display_name":"Open source","level":3,"score":0.5990394353866577},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5665919184684753},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38661983609199524},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.16234174370765686},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.12531256675720215}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2024.3374044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3374044","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Vehicles","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2191662638","display_name":null,"funder_award_id":"U22A20100","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3075526470","display_name":null,"funder_award_id":"62373250","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3852370683","display_name":null,"funder_award_id":"62203301","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3994246717","display_name":null,"funder_award_id":"62173228","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":142,"referenced_works":["https://openalex.org/W341403209","https://openalex.org/W1017675467","https://openalex.org/W1592601589","https://openalex.org/W1885752654","https://openalex.org/W1982752049","https://openalex.org/W1989750313","https://openalex.org/W2014824949","https://openalex.org/W2022998827","https://openalex.org/W2056877664","https://openalex.org/W2070059127","https://openalex.org/W2081582282","https://openalex.org/W2091151598","https://openalex.org/W2123963008","https://openalex.org/W2156256170","https://openalex.org/W2157180464","https://openalex.org/W2163446794","https://openalex.org/W2167340365","https://openalex.org/W2192586580","https://openalex.org/W2243721295","https://openalex.org/W2306644740","https://openalex.org/W2343568200","https://openalex.org/W2507876642","https://openalex.org/W2525936901","https://openalex.org/W2539108539","https://openalex.org/W2559767995","https://openalex.org/W2615547864","https://openalex.org/W2727840223","https://openalex.org/W2740508249","https://openalex.org/W2748021867","https://openalex.org/W2748378127","https://openalex.org/W2766413382","https://openalex.org/W2771506457","https://openalex.org/W2773771717","https://openalex.org/W2776645264","https://openalex.org/W2777708072","https://openalex.org/W2783963507","https://openalex.org/W2798786289","https://openalex.org/W2888307014","https://openalex.org/W2896642734","https://openalex.org/W2897306720","https://openalex.org/W2903920444","https://openalex.org/W2905509562","https://openalex.org/W2908808036","https://openalex.org/W2921180939","https://openalex.org/W2921469264","https://openalex.org/W2945991855","https://openalex.org/W2946231253","https://openalex.org/W2946733386","https://openalex.org/W2947304855","https://openalex.org/W2952402617","https://openalex.org/W2953303875","https://openalex.org/W2963327228","https://openalex.org/W2963730616","https://openalex.org/W2980087597","https://openalex.org/W2981207549","https://openalex.org/W2985936292","https://openalex.org/W2990955823","https://openalex.org/W2993195924","https://openalex.org/W2995962413","https://openalex.org/W3010475463","https://openalex.org/W3011462663","https://openalex.org/W3015248322","https://openalex.org/W3018385848","https://openalex.org/W3034264193","https://openalex.org/W3034722190","https://openalex.org/W3035564946","https://openalex.org/W3044015199","https://openalex.org/W3061447985","https://openalex.org/W3084274556","https://openalex.org/W3088862562","https://openalex.org/W3089529768","https://openalex.org/W3091492359","https://openalex.org/W3098009429","https://openalex.org/W3098394944","https://openalex.org/W3104823194","https://openalex.org/W3109915642","https://openalex.org/W3114563362","https://openalex.org/W3117590843","https://openalex.org/W3118240751","https://openalex.org/W3121281282","https://openalex.org/W3130864471","https://openalex.org/W3132059329","https://openalex.org/W3133953828","https://openalex.org/W3138032881","https://openalex.org/W3156216502","https://openalex.org/W3165073416","https://openalex.org/W3173062802","https://openalex.org/W3173280621","https://openalex.org/W3175967923","https://openalex.org/W3187869944","https://openalex.org/W3191343975","https://openalex.org/W3196020871","https://openalex.org/W3197202502","https://openalex.org/W3201148029","https://openalex.org/W3203076355","https://openalex.org/W3208617162","https://openalex.org/W3209440272","https://openalex.org/W3209758703","https://openalex.org/W3215048956","https://openalex.org/W3216508885","https://openalex.org/W4226440390","https://openalex.org/W4229364342","https://openalex.org/W4256017923","https://openalex.org/W4285813097","https://openalex.org/W4286603591","https://openalex.org/W4287115177","https://openalex.org/W4302552086","https://openalex.org/W4308080616","https://openalex.org/W4312280420","https://openalex.org/W4312597904","https://openalex.org/W4312820098","https://openalex.org/W4312994522","https://openalex.org/W4313162271","https://openalex.org/W4313162344","https://openalex.org/W4319996471","https://openalex.org/W4320168458","https://openalex.org/W4321378465","https://openalex.org/W4353056919","https://openalex.org/W4361861254","https://openalex.org/W4383108456","https://openalex.org/W4386066503","https://openalex.org/W4386066812","https://openalex.org/W4386076483","https://openalex.org/W4390873026","https://openalex.org/W6600981286","https://openalex.org/W6603953146","https://openalex.org/W6726431988","https://openalex.org/W6745594345","https://openalex.org/W6745935785","https://openalex.org/W6746316224","https://openalex.org/W6756777732","https://openalex.org/W6768870957","https://openalex.org/W6771931584","https://openalex.org/W6797219491","https://openalex.org/W6797256610","https://openalex.org/W6802584362","https://openalex.org/W6803274636","https://openalex.org/W6839505761","https://openalex.org/W6845720290","https://openalex.org/W6849256465","https://openalex.org/W6857455582","https://openalex.org/W7002173608"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W4391913857","https://openalex.org/W2350741829","https://openalex.org/W2530322880"],"abstract_inverted_index":{"Simulators":[0],"play":[1],"a":[2,33,47,50,69,78,98],"crucial":[3],"role":[4],"in":[5,44,64,104,144,161,177,213,238],"autonomous":[6,25],"driving,":[7],"offering":[8],"significant":[9],"time,":[10],"cost,":[11],"and":[12,42,81,107,134,159,188,227,241],"labor":[13],"savings.":[14],"Over":[15],"the":[16,20,37,54,58,73,83,91,138,150,169,206,214,231],"past":[17,92],"few":[18],"years,":[19],"number":[21],"of":[22,39,53,57,72,75,90,110,116,152,156,166,203,216,234],"simulators":[23,106,117,237],"for":[24,49,191],"driving":[26,130],"has":[27],"grown":[28],"substantially.":[29],"However,":[30],"there":[31],"is":[32],"growing":[34],"concern":[35],"about":[36],"validity":[38],"algorithms":[40,240],"developed":[41],"evaluated":[43],"simulators,":[45,76,146,217],"indicating":[46],"need":[48],"thorough":[51],"analysis":[52],"development":[55,95],"status":[56],"simulators.":[59,88,136],"To":[60],"address":[61],"existing":[62,235],"gaps":[63],"research,":[65],"this":[66],"paper":[67,139],"undertakes":[68],"comprehensive":[70,135],"review":[71],"history":[74],"proposes":[77],"utility-based":[79],"taxonomy,":[80],"investigates":[82],"critical":[84,141],"issues":[85,143],"within":[86],"open-source":[87,105,145,236],"Analysis":[89],"thirty":[93],"years'":[94],"trajectory":[96],"reveals":[97],"trend":[99],"characterized":[100],"by":[101],"an":[102,108],"increase":[103],"expansion":[109],"their":[111],"functionality":[112],"scope.":[113],"The":[114],"categorization":[115],"based":[118],"on":[119],"feature":[120],"functionalities":[121],"delineates":[122],"five":[123],"primary":[124],"classes:":[125],"traffic":[126,157],"flow,":[127],"sensory":[128,153],"data,":[129,154],"policy,":[131],"vehicle":[132,162],"dynamics,":[133],"Furthermore,":[137],"identifies":[140],"unresolved":[142],"including":[147],"concerns":[148],"regarding":[149],"fidelity":[151],"representation":[155],"scenarios,":[158],"accuracy":[160],"dynamics":[163],"simulation,":[164],"all":[165],"which":[167],"have":[168],"potential":[170],"to":[171,198,211],"undermine":[172],"experimental":[173,199],"confidence.":[174],"Additionally,":[175],"challenges":[176],"data":[178],"format":[179],"inconsistency,":[180],"labor-intensive":[181],"map":[182],"construction":[183],"processes,":[184],"sluggish":[185],"step":[186],"updating,":[187],"insufficient":[189],"support":[190],"Hardware-In-the-Loop":[192],"testing":[193],"are":[194],"discussed":[195],"as":[196,223],"hindrances":[197],"efficiency.":[200],"In":[201],"light":[202],"these":[204],"findings,":[205],"survey":[207],"furnishes":[208],"task-oriented":[209],"recommendations":[210],"aid":[212],"selection":[215],"taking":[218],"into":[219],"account":[220],"factors":[221],"such":[222],"accessibility,":[224],"maintenance":[225],"status,":[226],"quality,":[228],"while":[229],"highlighting":[230],"inherent":[232],"limitations":[233],"validating":[239],"facilitating":[242],"real-world":[243],"experimentation.":[244]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":40},{"year":2024,"cited_by_count":13}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2024-03-07T00:00:00"}