1. CARLA

 基于Unreal.

Ref:

https://carla.readthedocs.io/en/stable/

https://github.com/carla-simulator

2. SVL Simulator

 该项目由韩国LG Electronics公司建立，该公司位于美国加利福尼亚州的 America R&D Lab负责。

基于unity引擎，API是基于python，有点类似于CARLA。但让我感兴趣的是，LGSVL获得了Autoware的官方支持(估计是头牌赞助商吧)，并且，官方支持基于百度Apollo CyberRT的仿真

 开源，对于科研免费，公司使用需要付费；

 不仅仅用于自动驾驶车辆的仿真，亦可以用于机器人仿真；

We launched the first release of SVL Simulator as an open project to Github in November 2018 with the goal of enabling developers to build autonomous vehicles and robots through end-to-end, high performance 3D simulation. We have since built SVL Simulator into a commercial product helping automotive OEMs, robotics companies, and universities around the world.

Our team consists of highly-qualified engineers and specialists, with years of experience from industries including automotive, robotics, software, consumer electronics, and mobile technology.

We believe in simulation as the key to accelerating autonomous machine development. Our vision is to bring about a standardized simulation platform used in autonomous vehicle and robotics development, and believe open source is key to making this happen.

Ref：

GitHub – lgsvl/simulator: A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles

Home – SVL Simulator

SVL Simulator by LG – Autonomous and Robotics real-time sensor Simulation, LiDAR, Camera simulation for ROS1, ROS2, Autoware, Baidu Apollo. Perception, Planning, Localization, SIL and HIL Simulation, Open Source and Free.

3. PreScan

西门子公司旗下汽车驾驶仿真软件产品。

Ref：

PreScan Overview | TASS International

4. cognata 

Cognata | Autonomous and ADAS Vehicles Simulation Software

以色列的仿真软件公司；

5. AVS

AVS Home

Autonomous Visualization System (AVS) is a fast, powerful, web-based 3D visualization toolkit for building applications from your autonomous and robotics data.