CARLA uses the Chrono library for highly accurate simulation of vehicle dynamics and multibody dynamics. chrono focuses on the simulation of mechanical systems, providing a more realistic vehicle control experience. To enable Chrono, you need to refer to the official documentation (https://carla.readthedocs.io/en/latest/adv_chrono/) for configuration. Once enabled, the dynamic response and physical behavior of the vehicle will be closer to reality, which is especially suitable for researching vehicle control algorithms, crash analysis and complex dynamics scenarios.
This answer comes from the articleCARLA: an open source autonomous driving research simulatorThe
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