[!IMPORTANT] AWSIM has been transferred from TIER IV to Autoware Foundation GitHub Organization at 2026-05-07.

[!NOTE] AWSIM won the Grand Prize in the Innovation Award category of the Industry at the 17th Unity Awards. Click here for more details.

AWSIM is the best digital twin simulator for Autoware.

Features

• Optimally integrated simulation with Autoware
• Distribution of demo simulations highly optimized for Autoware
• ROS2 native communications and environments
• Use the same ROS2 topics and messages as the actual vehicle
• Vehicle dynamics optimized for Autoware
• Support for Autoware's vehicle control mode
• Support Logitech G29 steering wheels
• Ray tracing lidar sensor simulation
• Open CV camera sensor simulation
• IMU, GNSS sensor simulation
• Controllable time scale
• Support V2I development
• Random traffic simulation. Seed values can also be fixed
• point cloud generation
• Switchable between HDRP and URP
• Focus on customizability through coding
• Support ASAM OpenSCENARIO (connecting scenario simulator v2)
• Simple and highly expandable layered architecture
• Controlling the execution order of C# code independent of Unity's script execution order
• Unity version 6000.0.61f1

Tutorial

First, try the tutorial !
AWSIM Document - Quick Start Demo

Documentation

https://autowarefoundation.github.io/AWSIM/

License

AWSIM License Applies to autowarefoundation/AWSIM repositories and all content contained in the Releases.

• code : Apache 2.0
• assets : CC BY-NC
• docs : Prohibit public hosting of documents under /docs

See also LICENSE

(c) 2025 TIER IV, inc