Conducting real road testing for autonomous driving algorithms can be expensive and sometimes impractical, particularly for small startups and research institutes. Thus, simulation becomes an important method for evaluating these algorithms. However, the availability of free and open-source simulators is limited, and the installation and configuration process can be daunting for beginners and interdisciplinary researchers. We introduce an autonomous driving simulator with photorealistic scenes, meanwhile keeping a user-friendly workflow. The simulator is able to communicate with external algorithms through ROS2 or Socket.IO, making it compatible with existing software stacks. Furthermore, we implement a highly accurate vehicle dynamics model within the simulator to enhance the realism of the vehicle's physical effects. The simulator is able to serve various functions, including generating synthetic data and driving with machine learning-based algorithms. Moreover, we prioritize simplicity in the deployment process, ensuring that beginners find it approachable and user-friendly.

翻译：真实道路测试自动驾驶算法成本高昂，且对初创公司和研究机构而言往往不切实际。因此，仿真成为评估这些算法的重要手段。然而，免费开源模拟器资源有限，其安装与配置流程对初学者及跨学科研究者而言往往令人望而却步。本文介绍一款兼具逼真场景与友好工作流的自动驾驶模拟器，该模拟器可通过ROS2或Socket.IO与外部算法通信，兼容现有软件栈。此外，我们在模拟器中实现了高精度车辆动力学模型以增强物理效果的真实性。该模拟器可服务于多种功能，包括生成合成数据及运行基于机器学习的算法。同时，我们优先考虑部署流程的简洁性，确保初学者易于上手且体验友好。