mlsanityData to 14 Oct 2026

From Model-Based to Data-Driven Simulation: Challenges and Trends in Autonomous Driving

arXiv 2305.13960 ↗First posted 23 May 2023cs.CVcited by 6

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Abstract (arXiv)

Simulation is an integral part in the process of developing autonomous vehicles and advantageous for training, validation, and verification of driving functions. Even though simulations come with a series of benefits compared to real-world experiments, various challenges still prevent virtual testing from entirely replacing physical test-drives. Our work provides an overview of these challenges with regard to different aspects and types of simulation and subsumes current trends to overcome them. We cover aspects around perception-, behavior- and content-realism as well as general hurdles in the domain of simulation. Among others, we observe a trend of data-driven, generative approaches and high-fidelity data synthesis to increasingly replace model-based simulation.

Key facts. Cited by 6 papers in the map (data through 14 Oct 2026). Builds on 37 of its 69 references that are in the map. First posted on arXiv 23 May 2023.

Builds on

37 of 69 references.

References · 37

  1. 2022DreamFusion: Text-to-3D using 2D Diffusioncited by 3,025
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25 more
  1. 2021TrafficSim: Learning to Simulate Realistic Multi-Agent Behaviorscited by 193
  2. 2022Guided Conditional Diffusion for Controllable Traffic Simulationcited by 190
  3. 2021Generating Useful Accident-Prone Driving Scenarios via a Learned Traffic Priorcited by 139
  4. 2020LiDARsim: Realistic LiDAR Simulation by Leveraging the Real Worldcited by 137
  5. 2021AdvSim: Generating Safety-Critical Scenarios for Self-Driving Vehiclescited by 137
  6. 2021DriveGAN: Towards a Controllable High-Quality Neural Simulationcited by 125
  7. 2019CityFlow: A Multi-Agent Reinforcement Learning Environment for Large Scale City Traffic Scenariocited by 115
  8. 2022A Survey on Safety-Critical Driving Scenario Generation -- A Methodological Perspectivecited by 105
  9. 2021SceneGen: Learning to Generate Realistic Traffic Scenescited by 84
  10. 2021VISTA 2.0: An Open, Data-driven Simulator for Multimodal Sensing and Policy Learning for Autonomous Vehiclescited by 81
  11. 2018Multi-Modal Trajectory Prediction of Surrounding Vehicles with Maneuver based LSTMscited by 77
  12. 2020SurfelGAN: Synthesizing Realistic Sensor Data for Autonomous Drivingcited by 68
  13. 2020Meta-Sim2: Unsupervised Learning of Scene Structure for Synthetic Data Generationcited by 58
  14. 2020Scenic: A Language for Scenario Specification and Data Generationcited by 40
  15. 2019Failure-Scenario Maker for Rule-Based Agent using Multi-agent Adversarial Reinforcement Learning and its Application to Autonomous Drivingcited by 36
  16. 2021Adversarial Reinforcement Learning for Procedural Content Generationcited by 36
  17. 2020Learning Camera-Aware Noise Modelscited by 32
  18. 2021Criticality Metrics for Automated Driving: A Review and Suitability Analysis of the State of the Artcited by 31
  19. 2021A Survey on Simulators for Testing Self-Driving Carscited by 27
  20. 2020Self-Supervised Real-to-Sim Scene Generationcited by 13
  21. 2020Improving the Generalization of End-to-End Driving through Procedural Generationcited by 6
  22. 2019The State of Modeling, Simulation, and Data Utilization within Industry: An Autonomous Vehicles Perspectivecited by 3
  23. 2021Deep Evaluation Metric: Learning to Evaluate Simulated Radar Point Clouds for Virtual Testing of Autonomous Drivingcited by 3
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  25. 2022Fingerprint of a Traffic Scene: an Approach for a Generic and Independent Scene Assessmentcited by 2

Built on by

Cited by year

Citing papers per year: 2023: 1; 2024: 3; 2025: 2.

6 papers.

  1. 2025Vision-Language-Action Models for Autonomous Driving: Past, Present, and Futurecited by 33
  2. 2024Multi-view Aggregation Network for Dichotomous Image Segmentationcited by 28
  3. 2023Exploring the Potential of World Models for Anomaly Detection in Autonomous Drivingcited by 7
  4. 2024Surround-View Fisheye Optics in Computer Vision and Simulation: Survey and Challengescited by 3
  5. 2024DENSER: 3D Gaussians Splatting for Scene Reconstruction of Dynamic Urban Environmentscited by 2
  6. 2025LimSim Series: An Autonomous Driving Simulation Platform for Validation and Enhancementcited by 0