Baidu Apollo - Unreal Simulation

This system obtains the vehicle’s localization and chassis information from the Unreal simulation environment, and captures the sensor data of the simulation environment—such as LiDAR point clouds and camera images. It converts the above information into the message formats defined by Apollo and publishes them as inputs to the Apollo system. It then subscribes to the outputs of the system’s control module—including steering angle, throttle, and brake—and sends these control commands to the simulation environment to control the vehicle.