# Closed-Loop Hybrid Digital Twin Platform for Connected and Automated Vehicle Validation

arXiv: https://arxiv.org/abs/2605.19490 · HTML: https://mlsanity.com/paper/2605.19490/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 6 of its 15 references that are in the map.
- First posted on arXiv 19 May 2026.

## Builds on (most cited first, 6 of 6)

- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [SuGaR: Surface-Aligned Gaussian Splatting for Efficient 3D Mesh Reconstruction and High-Quality Mesh Rendering](https://mlsanity.com/paper/2311.12775/) (2023)
- [A Digital Twin Framework for Physical-Virtual Integration in V2X-Enabled Connected Vehicle Corridors](https://mlsanity.com/paper/2410.00356/) (2024)
- [Seamless Virtual Reality with Integrated Synchronizer and Synthesizer for Autonomous Driving](https://mlsanity.com/paper/2403.03541/) (2024)
- [Mixed Cloud Control Testbed: Validating Vehicle-Road-Cloud Integration via Mixed Digital Twin](https://mlsanity.com/paper/2212.02007/) (2022)

## Abstract (arXiv)

Comprehensive and efficient validation of connected and automated vehicles (CAVs) is critical prior to real-world deployment. While simulation-based testing offers scalability, existing approaches often lack seamless integration with real vehicles and field data, limiting their fidelity in capturing dynamic, real-world interactions. To bridge this gap, this paper proposes a novel real-time hybrid digital twin platform. Its core innovation lies in the tight coupling of a high-fidelity CARLA-SUMO co-simulation with a physical test site and vehicle via a low-latency Vehicle-to-Everything (V2X) communication link. A custom-developed middleware serves as the critical bridge, synchronizing a real CAV's kinematic state as a shadow vehicle in the simulation and translating virtual control commands into chassis-actuating Controller Area Network (CAN) messages for closed-loop control. Detailed implementation includes using photogrammetry for full-scale asset reconstruction and a cloud-edge collaborative architecture for scalable, multi-user operation. Experimental results demonstrate stable synchronization and effective closed-loop control with low latency, confirming the platform's practicality for multi-scenario CAV verification.