A real-time hybrid digital twin platform couples high-fidelity CARLA-SUMO co-simulation with a physical CAV test site via V2X for closed-loop control and multi-scenario verification.
Cooperative per- ception technology of autonomous driving in the internet of vehicles environment: A review,
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Closed-Loop Hybrid Digital Twin Platform for Connected and Automated Vehicle Validation
A real-time hybrid digital twin platform couples high-fidelity CARLA-SUMO co-simulation with a physical CAV test site via V2X for closed-loop control and multi-scenario verification.