Research on autonomous driving simulators based on utility classification

Simulators play a crucial role in the field of autonomous driving, facilitating substantial savings in terms of time, cost, and labor. A wide variety of autonomous vehicle simulators with different functions is currently available. According to the classification of utility criteria, this paper aims to review six representative classic simulators with distinct simulation focuses. The review will encompass aspects such as simulation content, simulation hierarchy, and functionality while identifying their respective advantages and limitations. In addition, this paper presents autonomous driving simulation experiments conducted using the aforementioned simulators to evaluate various algorithms. Ultimately the paper summarizes the current development status and challenges encountered by autonomous driving simulators.