In this paper, an implementation of a software-in-the loop simulation environment for development of self-driving algorithms is presented. The implemented simulation software is based on an open world software modified from Rockstar Advanced Game Engine (RAGE) that is to model various driving scenarios as well as sensor output including Vehicle to Everything (V2X). Therefore, the presented virtual world simulation is ideally suited for studying on localization methods that employ relative range and angle measurements from nearby objects obtained by lidars where the basic positioning information of nearby objects is provided through V2X.

Keywords: software-in-the loop simulation, virtual driving simulator, localization