RoadSimulator3

High-frequency inertial simulator (10 Hz) that generates realistic vehicle trajectories from OpenStreetMap, producing accelerometer, gyroscope, and GPS signals with configurable driving events.

What it does

RS3 simulates a vehicle driving a route and outputs the sensor data a real onboard device would record:

Route (OpenStreetMap)
    |
    v
RS3 Pipeline (26 modular stages)
    |
    +-- GPS trajectory (1 Hz, with realistic noise & blackouts)
    +-- IMU signals (10 Hz accelerometer + gyroscope)
    +-- Driving events (braking, bumps, turns, stops, door opening)
    +-- HTML report with interactive charts
    +-- D0 Parquet export (Telemachus format)

Key features

• Modular pipeline — 26 stages (contract-based architecture via rs3-contracts)
• Realistic driving dynamics — Ornstein-Uhlenbeck acceleration model with driver profiles
• Multi-rate simulation — GPS at 1 Hz, IMU at 10 Hz, with proper NaN handling
• Device orientation — Configurable roll/pitch/yaw rotation
• GPS noise — Jitter, HDOP correlation, tunnel blackouts, cold start drift
• 7 event types — Braking, acceleration, speed bumps, potholes, turns, stops, door opening
• Driving severity analysis — Distance-weighted bi-histogram (Gx/Gy)
• Web UI — Interactive Streamlit interface with map, config, and visualization
• D0 export — RFC-0013 compliant Parquet + manifest for downstream analysis

Quick start

git clone https://github.com/SebE585/RoadSimulator3.git
cd RoadSimulator3
python -m venv .venv && source .venv/bin/activate
pip install -r requirements.txt

# Start cartographic services (OSRM, OSMnx)
docker compose -f services/docker-compose.yml up -d

# Run a simulation
make simulate

Cartographic services require OSM data extracts. See services/docker-compose.yml for configuration.

Web UI

cd webui && streamlit run app.py

Dataset schema (D0 output)

Column	Type	Unit	Rate
ts	int64	ns UTC	10 Hz
lat	float64	deg	1 Hz
lon	float64	deg	1 Hz
speed_mps	float32	m/s	1 Hz
ax_mps2	float32	m/s2	10 Hz
ay_mps2	float32	m/s2	10 Hz
az_mps2	float32	m/s2	10 Hz
gx_rad_s	float32	rad/s	10 Hz
gy_rad_s	float32	rad/s	10 Hz
gz_rad_s	float32	rad/s	10 Hz

Architecture

engine/stages/          26 pipeline stages (simulation engine)
runner/simulate.py     CLI entry point
webui/app.py           Streamlit web interface
config/                YAML simulation configs
services/              Docker services (OSRM, OSMnx)

Related projects

Project	Role
Telemachus	Open data format for mobility telemetry
rs3-contracts	Shared Stage/Context interfaces
rs3-study-curvature	Road geometry analysis (OSM vs IGN)

License

Component	License
Core (simulation engine)	AGPL-3.0
Documentation	CC-BY-SA 4.0

Author

Sebastien Edet — research.roadsimulator3.fr — LinkedIn