Automated driving systems are an integral part of the automotive industry. Tools such as Robot Operating System and simulators support their development. However, in the end, the developers must test their algorithms on a real vehicle. To better observe the difference between reality and simulation--the reality gap--digital twin technology offers real-time communication between the real vehicle and its model. We present low fidelity digital twin generator and describe situations where automatic generation is preferable to high fidelity simulation. We validated our approach of generating a virtual environment with a vehicle model by replaying the data recorded from the real vehicle.

翻译：自动驾驶系统已成为汽车工业不可或缺的组成部分。诸如机器人操作系统与仿真器等工具为其开发提供了支持。然而，开发者最终仍需在实车上测试其算法。为更好地观测现实与仿真之间的差异——即现实鸿沟——数字孪生技术实现了真实车辆与其模型间的实时通信。本文提出一种低保真数字孪生体生成器，并阐述了在特定场景下自动生成相较于高保真仿真的优势。通过回放真实车辆采集的数据流，我们在构建的虚拟环境中对车辆模型进行了验证，从而证实了所提方法的有效性。