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：对于自动驾驶算法开展真实道路测试成本高昂，且对小型初创企业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，免费开源的仿真器数量有限，其安装与配置流程对初学者及跨学科研究人员而言可能令人望而生畏。我们提出了一种具备逼真场景的自动驾驶仿真器，同时保持用户友好的工作流程。该仿真器可通过ROS2或Socket.IO与外部算法通信，兼容现有软件栈。此外，我们在仿真器内部实现了高精度车辆动力学模型，以增强车辆物理效果的逼真度。该仿真器可服务于多种功能，包括生成合成数据及基于机器学习的算法驾驶。再者，我们优先考虑部署流程的简洁性，确保初学者能轻松上手且易于使用。