Changelog

This document lists the changes introduced in AVxcelerate Sensors Simulator API v1 delivered in 2026 R1 compared to the AVxcelerate Sensors Simulator API delivered in 2025 R2.

Change to the AVxcelerate Sensors Simulator internal gRPC server

The AVxcelerate Sensors Simulator internal gRPC server now offers the following communication configuration options:

• Unix Domain Socket (UDS), which is the default transport mode,
• Mutual Transport Layer Security (mutual TLS)

Alternatively, you may use the insecure transport mode.

For more details, refer to Transport modes in the API description section of the documentation.

Any client application that will communicate with the AVxcelerate Sensor Simulator internal gRPC server over a gRPC channel must be configured with the same transport mode that the one set when launching AVxcelerate Sensors Simulator.

Changes to the Simulation service

simulation_parameters.proto

Changes for the CPU DDMA new feature

• The DataAccessSettings message has been updated with the following changes and additions:

  • [Breaking change] The DataAccessSettings message now includes the optional RecordingFormat field as well as the new memory_access field that allows you to activate either the Shared Memory Access or the Data Direct Memory Access. It is no longer possible to active simultaneously both Shared Memory Access and Data Direct Memory Access. When DataAccessSettings are not defined, only the Shared Memory Access is activated.
  • [Behavior breaking change] The new field data_direct_memory_access has been added to the DataAccessSettings message.
  • [Behavior breaking change] The new DataDirectMemoryAccess message has been added, it includes the DataDirectMemoryAccessTarget enum to define the target memory domain for Data Direct Memory Access: CPU or GPU.

Changes for new features in LPE

Raytraced Ambient Occlusion

There are now two possibilities for the ambient occlusion with LPE: Screen Space Ambient Occlusion or Ray Traced Ambient Occlusion.

• The LightPropagationEngineSimulationParameters message has been updated with the following changes and additions:

  • [Breaking change] screen_space_ambient_occlusion is now a oneof field.
  • [Breaking changes] The name of the fields in the ScreenSpaceAmbientOcclusion message have been renamed as follows:
    • ssao_activation to activation
    • ambient_occlusion_amount to amount
    • ambient_occlusion_radius to radius
    • ambient_occlusion_power_exponent to power_exponent
    • ambient_occlusion_surface_bias to surface_bias

• [Non-breaking change] The RaytracedAmbientOcclusion message has been added to the API, as well as its associated raytraced_ambient_occlusion oneof field in the LightPropagationEngineSimulationParameters message.

Raytraced Scene Renderer

• [Non-breaking change] The boolean field raytraced_scene_renderer has been added to the LightPropagationEngineSimulationParameters message.

Raytraced reflections

• [Non-breaking change] The boolean field raytraced_reflections has been added to the LightPropagationEngineSimulationParameters message.

Changes for the radar curvature consideration new feature

• [Non-breaking change] The new boolean field use_curvature has been added to the RadarSimulation message.

Deprecated fields removed

[Breaking changes] The below-listed deprecated fields have been removed.

• recording_format removed from the SensorParameters message. Use the oneof field recording_format in the DataAccessSettings message instead.

• camera_ground_truth_parameters removed from the PbCameraSimulation message. Instead, use the RenderingParameters field, the RealTimeParameters message and its CameraGroundTruthParameters field.

• ray_density removed from RadarSimulation message. Use the grid_sampling field instead.

• number_of_ray_batches removed from the ManualBatching message.

• The following fields have been removed from the RenderingParameters message:

  • camera_near_plane
  • camera_far_plane
  • shadow_quality
  • texture_quality
  • antialiasing_factor

  Instead, use he fields of the RealTimeParameters message.

Other change

In the LightingSystemParameters message, the sampling_rate field is now optional.

world_update.proto

Changes for the Rain new feature in LPE

[Non breaking changes] The Rain and Wind messages have been added to the API, as well as the associated rainand wind fields added to the Weather message.

Fields renamed

[Breaking changes] The field streetLightsState in the EnvironmentUpdate message has been renamed to street_lights_state.

configuration.proto

[Breaking changes] The following deprecated fields have been removed from the Configuration message:

• deploy_parameters, use the deploy_configuration field instead.
• lighting_system, use the lighting_system_configuration field instead.

deploy_parameters.proto

[Breaking changes] The deprecated EndPointRange message has been removed. Use the DeployConfiguration message instead. The parameters previously set using the fields host, min_port and max_port of the EndPointRange message must now be set using to the local_nodes fields in the DeployConfiguration message and the fields of the associated LocalNodes message: min_port and max_port.

upload_data.proto

[Breaking changes] The deprecated field resource_identifier has been removed from the UploadMetaData message. Use the values map field instead.

Changes to the Data Access service

sensor_data_description.proto

[Breaking changes] The following deprecated fields have been removed from the SensorDataDescription message:

• data_id
• metadata

Instead, use the data_by_identifiers repeated field and the SensorDataInfo message which includes the data_id and metadata fields.

Changes to the Feedback Control service

feedback_control_camera_parameters.proto

[Breaking changes] The deprecated field focal_length has been removed from the Lens message. Use one of the following fields instead: simple_chromatic_aberration or advanced_chromatic_aberration field.

Changes to the Lighting System Control service

lighting_system_state.proto

[Breaking changes] The deprecated field light_functions has been removed from the LampState message. Use the light_functions_tags field instead.

Changes to the Sensor Data

camera_output_data.proto

[Non breaking changes] The tag_name field has been added to the BoundingBox3D message.