| Simulator | Group | V2X | TF | DM | SE | VI | VD |
|---|---|---|---|---|---|---|---|
| Carla | graphics | i | + | + | + | + | + |
| cognata | graphics | o | + | + | + | ++ | o |
| LGSVL | graphics | i | + | + | + | + | + |
| Gazebo | robotics | o | o | o | + | – | + |
| USARsim | robotics | o | o | o | + | – | o |
| AirSim | robotics | o | o | o | + | + | + |
| MORSE | robotics | o | o | o | + | – | o |
| TORCS | racing | o | o | + | o | o | + |
| SynCity | AD | o | o | o | ++ | ++ | + |
| PreScan | AD | ++ | + | + | ++ | – | o |
| RightHook | AD | o | + | ++ | + | + | + |
| SCANeR | AD | + | + | + | + | + | + |
| VTD | AD | i | + | + | ++ | ++ | + |
| Autono Vi-Sim | AD | o | + | – | + | + | + |
| rFpro | AD | o | i | i | + | + | ++ |
| Vissim | traffic | i | ++ | + | – – | – – | – |
| SUMO | traffic | i | ++ | + | – – | – – | – – |
| Aimsun | traffic | i | ++ | + | – – | – – | – – |
| CarMaker | AD | ++ | + | + | + | + | ++ |
??表格中符 的含义如下，- -：very poor，-：poor，+:good,++:very good,o:not rated or irrevevant,i:some efforts to implement.TF:Traffic flow simulation，DM:Driver model for non-ego objectives，SE:detail and variety of sensors，VI:detail of the rendered graphics，VD:detail of vehicle dynamics.
引用文献：Overview of Tools Supporting Planning for Automated Driving
PreScan和Carsim仿真交流
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