发表机构
University of Modena and Reggio Emilia; Megaride S.r.l.; University of Naples Federico II; Claytex（摩德纳与雷焦艾米利亚大学; Megaride 有限责任公司; 那不勒斯费德里科二世大学; Claytex 公司）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一个基于Dymola和FMU的高保真多体车辆动力学仿真器，用于自动驾驶赛车软件测试，支持实时运行并提供可靠验证数据。
AI 中文摘要
我们提出了一种自定义的高保真车辆动力学仿真环境，用于自动驾驶赛车软件的测试与验证。自动驾驶车辆的数字孪生体在Dymola中开发，利用赛车动力学建模库构建完整的多体模型。三维路面，包括高程轮廓和路缘，采用曲率规则网格（CRG）标准实现。该模型从Dymola导出为功能样机单元（FMU），并集成到自定义的软件在环仿真器中，其中与自动驾驶赛车栈的通信接口使用C++开发。我们还提出了一种基于实验数据的校准程序，并进行了验证研究，以进一步支持所提出框架的质量。该仿真器在便携式计算机上实时运行，并在实际部署前为算法验证提供可靠的真实数据。
英文摘要
We present a custom high-fidelity vehicle dynamics simulation environment for testing and validation of Autonomous Racing software. The digital twin of the autonomous vehicle is developed in Dymola, using racecar dynamics modeling libraries to build a complete multi-body model. A 3D road surface, including elevation profiles and curbs, is implemented using the Curved Regular Grid (CRG) standard. The model is exported from Dymola as a Functional Mock-up Unit (FMU) and integrated into a custom software-in-the-loop simulator, where communication interfaces with the autonomous racing stack were developed in C++. A calibration procedure based on experimental data is also presented, along with a validation study to further support the quality of the proposed framework. The simulator runs in real time on a portable computer and provides reliable ground truth for algorithms validation prior to real-world deployment.
