Elevation Aware 2D/3D Co-simulation Framework for Large-scale Traffic Flow and High-fidelity Vehicle Dynamics

Abstract

Reliable testing of autonomous driving systems requires simulation environments that combine large-scale traffic modeling with realistic 3D perception and terrain. Existing tools rarely capture real-world elevation, limiting their usefulness in cities with complex topography. This paper presents an automated, elevation-aware co-simulation framework that integrates SUMO with CARLA using a pipeline that fuses OpenStreetMap road networks and USGS elevation data into physically consistent 3D environments. The system generates smooth elevation profiles, validates geometric accuracy, and enables synchronized 2D-3D simulation across platforms. Demonstrations on multiple regions of San Francisco show the framework's scalability and ability to reproduce steep and irregular terrain. The result is a practical foundation for high-fidelity autonomous vehicle testing in realistic, elevation-rich urban settings.