Using INTO-CPS Tools in the Development of a Digital Twin for the F1TENTH Race Car

Abstract

This paper reports on the usage of the INTO-CPS tools to build a digital twin for the F1TENTH race car which includes an autonomous driving solution for the car and modelling of vehicle dynamics and motor control. The simulation implementation is based on packaging existing simulator as Functional Mock-Up units which are run as a co-simulation using the INTO-CPS application. The digital twin has been tested on the actual F1TENTH car as well as the F1TENTH simulator acting as a physical asset substitute for the car.