Probabilistic Prediction and Planning for Intelligent Vehicles (P3IV) Simulator is a simulation framework for motion prediction and planning of autonomous vehicles.

  • Algorithm development for prediction and planning

  • Consideration of uncertainties and limited visibility

  • Covers multi-agent interactions

  • Provides utility libraries for prediction and planning

  • Allows both open-loop and closed-loop simulation

P3IV visualization
Key features:
  • Catkin package structure: seamless integration into ROS

  • Implemented in Python and C++; wrapped with PyBind

  • Build on the HD map library Lanelet2

  • Bindings to simulate with real-world drone datasets

  • BSD 3-Clause license