High-fidelity simulators for the lunar surface provide a digital environment for extensive testing of rover operations and mission planning. However, current simulators focus on either visual realism or physical accuracy, which limits their capability to replicate lunar conditions comprehensively. This work addresses that gap by combining high visual fidelity with realistic terrain interaction for a realistic representation of rovers on the lunar surface. Because direct simulation of wheel-soil interactions is computationally expensive, a data-driven approach was adopted, using regression models for slip and sinkage from data collected in both full-rover and single-wheel experiments and simulations. The resulting regression-based terramechanics model accurately reproduced steady-state and dynamic slip, as well as sinkage behavior, on flat terrain and slopes up to 20 degrees, with validation against field test results. Additionally, improvements were made to enhance the realism of terrain deformation and wheel trace visualization. This method supports real-time applications that require physically plausible terrain response alongside high visual fidelity.

翻译：高保真月球表面仿真器为月球车操作与任务规划提供了可进行广泛测试的数字环境。然而，当前仿真器往往侧重于视觉真实感或物理精度中的单一维度，这限制了其全面复现月球环境的能力。本研究通过将高视觉保真度与真实的地形交互相结合，以填补这一空白，从而实现对月球表面月球车的真实表征。由于直接模拟车轮-土壤相互作用的计算成本高昂，本研究采用了数据驱动的方法，利用从全车及单轮实验与仿真中收集的数据，建立了滑移与沉陷的回归模型。所构建的基于回归的地面力学模型，在平坦地形及高达20度的斜坡上，准确复现了稳态与动态滑移以及沉陷行为，并通过了实地测试结果的验证。此外，本研究还对地形变形与车轮轨迹可视化的真实感进行了改进。该方法支持需要物理合理的地形响应与高视觉保真度并重的实时应用。