Adding Functionality to Simulate NPC Behavior Using the Autoware Prediction Module

[yukkysaito]

We are considering adding functionality to simulate NPC behavior using the prediction module in Autoware. Currently, in AWSIM, NPCs only follow predefined routes with no randomness or reproduction of real-world movements. The prediction module in Autoware is expected to improve in accuracy by incorporating data-driven approaches, such as machine learning, in the future. Moreover, as this module leverages predictions learned from real-world behavior, NPCs will exhibit more realistic and valid movements. This functionality has also been proposed in Waymax.

[yukkysaito]

WIP

• https://github.com/tier4/AWSIM-Labs-with-prediction-launch-pkg
• https://github.com/tier4/AWSIM-Labs-with-prediction