Yet Another Driving Simulator OpenROUTS3D: The Driving Simulator for Teleoperated Driving

Numerous issues on the way to autonomous vehicles have already been solved. Nevertheless, there are further problems preventing the introduction of autonomous driving features of higher SAE levels. Remote control of vehicles by human operators located in dedicated operation centers, Teleoperated Driving, can help to overcome the problems of autonomous driving. To enable functional Teleoperated Driving, existent network technology has to be utilized. These cellular networks suffer from variable performance. However, testing Teleoperated Driving and its algorithms in real-world scenarios is costly and potentially dangerous. Virtual testing is an approach to mitigate these obstacles. This paper introduces OpenROUTS3D, an open-source driving simulator initially developed for Teleoperated Driving, but expandable to various use cases.