Scenario Simulation

Runs Autoware components with the TIER IV Scenario Simulator. Checkout assets live under deployments/scenario-simulation/.

Prerequisites

• Host setup via install.sh
• Kashiwanoha map (do not use sample-map-planning):

./install.sh sample-data scenario-simulation

Run

cd deployments/scenario-simulation
docker compose \
  --env-file config.env \
  up -d

Open https://localhost:6080/vnc.html (REMOTE_PASSWORD in config.env). The scenario runner waits up to SCENARIO_READY_TIMEOUT for Autoware readiness before launching the one-shot scenario.

Configuration

Edit config.env:

Variable	Description
SCENARIO	Scenario path inside the container (empty = bundled sample)
SCENARIO_HOST_DIR	Host dir mounted at /scenarios
OUTPUT_HOST_PATH	Host dir for results
SCENARIO_SIMULATOR_IMAGE	TIER IV scenario simulator image
SCENARIO_READY_TIMEOUT	Seconds to wait for Autoware readiness
MAP_PATH	Host map directory (must match the scenario map)

Custom scenarios must use the Kashiwanoha map unless you also change MAP_PATH and map filenames consistently.

Stop

cd deployments/scenario-simulation
docker compose \
  --env-file config.env \
  down

See also Scenario test simulation in the Autoware documentation.