This paper presents an implementation of a platform environment to support the development and performance evaluation of self-driving algorithms by establishing a server infrastructure that can simultaneously perform multiple selfdriving agents. As a basic simulation program for this, Grand Theft Auto (GTA) V – online provided by Rockstar is employed, and its internal data is extracted to generate various sensor output for virtual world simulations. The implemented driving simulator is extended to a server environment by using FiveM where multiple driving and/or navigating agents run concurrently in the same scenario. This server mode driving simulation environment is ideally suited to test and evaluate the performance of self-driving algorithms in a short time by running in parallel.

Keywords: server, autonomous driving, GTA, FiveM