Elevation Aware 2D/3D Co-simulation Framework for Large-scale Traffic Flow and High-fidelity Vehicle Dynamics
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arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866917141366702080 |
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| author | Raskoti, Chandra Li, Weizi |
| author_facet | Raskoti, Chandra Li, Weizi |
| contents | Reliable testing of autonomous driving systems requires simulation environments that combine large-scale traffic modeling with realistic 3D perception and terrain. Existing tools rarely capture real-world elevation, limiting their usefulness in cities with complex topography. This paper presents an automated, elevation-aware co-simulation framework that integrates SUMO with CARLA using a pipeline that fuses OpenStreetMap road networks and USGS elevation data into physically consistent 3D environments. The system generates smooth elevation profiles, validates geometric accuracy, and enables synchronized 2D-3D simulation across platforms. Demonstrations on multiple regions of San Francisco show the framework's scalability and ability to reproduce steep and irregular terrain. The result is a practical foundation for high-fidelity autonomous vehicle testing in realistic, elevation-rich urban settings. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_11249 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Elevation Aware 2D/3D Co-simulation Framework for Large-scale Traffic Flow and High-fidelity Vehicle Dynamics Raskoti, Chandra Li, Weizi Robotics Multiagent Systems Reliable testing of autonomous driving systems requires simulation environments that combine large-scale traffic modeling with realistic 3D perception and terrain. Existing tools rarely capture real-world elevation, limiting their usefulness in cities with complex topography. This paper presents an automated, elevation-aware co-simulation framework that integrates SUMO with CARLA using a pipeline that fuses OpenStreetMap road networks and USGS elevation data into physically consistent 3D environments. The system generates smooth elevation profiles, validates geometric accuracy, and enables synchronized 2D-3D simulation across platforms. Demonstrations on multiple regions of San Francisco show the framework's scalability and ability to reproduce steep and irregular terrain. The result is a practical foundation for high-fidelity autonomous vehicle testing in realistic, elevation-rich urban settings. |
| title | Elevation Aware 2D/3D Co-simulation Framework for Large-scale Traffic Flow and High-fidelity Vehicle Dynamics |
| topic | Robotics Multiagent Systems |
| url | https://arxiv.org/abs/2512.11249 |