The Ugly Truth of Realistic Perception in Vehicular Simulations.

Automated vehicles use sensors to perceive the environment, and studies have shown the limitations of these sensors. The onboard sensors may not detect objects when other participants occlude the Field of View (FoV). Thus, sensor efficiency must be tested to ensure its reliability. Simulation is an excellent test option due to the complexity associated with practical experiments. However, emerging simulation frameworks still have various limitations, especially when it comes to largescale evaluation. This work investigates realistic perception simulation options for autonomous vehicles. We report the perception accuracy for different traffic scenarios.