ANSYS VRX 提供車輛動力學及週邊光學感測器模擬的功能，不少客戶以此進行自駕車演算法模擬、Model in the loop (MiL) 或是 Hardware in th loop (HiL) 的整合開發。但 API 串接方式略微繁雜，為了讓客戶方便使用，我使用 C++ 設計一個統一接口的 API Gateway DLL，讓客戶可以用一致的介面取得模擬軟體中的車輛姿態數據、GPS 經緯度與海拔、Camera 影像以及 LiDAR 點雲 (Point Cloud) 座標，並以 Point Cloud Library (PCL) 擴充了原本軟體沒有的點雲視覺化功能。 ANSYS VRX provides the simulation function of vehicle dynamics and Optical sensors. Some customers will use this software to develop their algorithms of self-driving car or test their product prototype with Model in the loop (MiL) or Hardware in the loop (HiL) methods. However, the API of VRX is a little complicated to use. To make our customers feel convenient, I used C++ to design API Gateway DLL with a uniform interface. The customers can invoke functions with the similar way to access the real-time data of car body, GPS information (latitude, longitude and altitude), the video of camera and the position of each point in the point cloud which is scanned by LiDAR in the simulation software. I also used Point Cloud Library (PCL) to extends a new display feature of point cloud visualization.