<s>
rFpro	B-Application
,	O
originally	O
rFactor	B-Application
Pro	I-Application
,	O
is	O
a	O
driving	B-Application
simulation	I-Application
software	O
used	O
by	O
racing	O
teams	O
and	O
car	O
manufacturers	O
for	O
advanced	O
driver-assistance	O
systems	O
,	O
self-driving	O
cars	O
and	O
vehicle	O
dynamics	O
.	O
</s>
<s>
rFactor	B-Application
Pro	I-Application
was	O
created	O
in	O
2007	O
as	O
a	O
project	O
of	O
a	O
F1	O
racing	O
team	O
,	O
using	O
Image	O
Space	O
Incorporated	O
's	O
rFactor	B-Application
as	O
a	O
codebase	O
.	O
</s>
<s>
rFactor	B-Application
Pro	I-Application
was	O
created	O
in	O
2007	O
as	O
a	O
project	O
of	O
a	O
F1	O
team	O
,	O
using	O
the	O
rFactor	B-Application
simulator	O
as	O
a	O
codebase	O
,	O
and	O
has	O
since	O
been	O
used	O
by	O
more	O
F1	O
racing	O
teams	O
,	O
including	O
Force	O
India	O
in	O
2009	O
,	O
Ferrari	O
in	O
2014	O
and	O
Alfa	O
Romeo	O
in	O
2019	O
.	O
</s>
<s>
rFpro	B-Application
is	O
developed	O
by	O
rFpro	B-Application
Limited	O
,	O
based	O
in	O
Wiltshire	O
,	O
UK	O
.	O
</s>
<s>
In	O
2017	O
rFpro	B-Application
acquired	O
Image	O
Space	O
Incorporated	O
's	O
ISIMotor	O
gaming	O
engine	O
,	O
including	O
the	O
gMotor	O
graphics	O
engine	O
,	O
which	O
it	O
had	O
been	O
licensing	O
since	O
2007	O
.	O
</s>
<s>
In	O
2019	O
rFpro	B-Application
was	O
acquired	O
by	O
AB	O
Dynamics	O
.	O
</s>
<s>
In	O
2020	O
rFpro	B-Application
partnered	O
with	O
cosin	O
scientific	O
software	O
to	O
enable	O
FTire	O
(	O
Flexible	O
Ring	O
Tire	O
Model	O
)	O
to	O
run	O
with	O
rFpro	B-Application
.	O
</s>
<s>
rFpro	B-Application
features	O
a	O
120	O
Hz	O
graphics	O
engine	O
,	O
a	O
library	O
of	O
high	O
definition	O
laser	O
scanned	O
tracks	O
and	O
roads	O
,	O
and	O
an	O
infrastructure	O
in	O
which	O
users	O
can	O
plug	O
their	O
in-house	O
vehicle	O
physics	O
through	O
a	O
Simulink	B-Application
or	O
a	O
C/C	O
++	O
interface	O
.	O
</s>
<s>
Alternatively	O
rFpro	B-Application
rigid	O
multibody	O
physics	O
engine	O
can	O
be	O
used	O
,	O
which	O
samples	O
suspension	O
and	O
drive-train	O
at	O
800Hz	O
.	O
</s>
<s>
rFpro	B-Application
includes	O
a	O
tool	O
called	O
TerrainServer	O
,	O
which	O
can	O
feed	O
the	O
LiDAR	O
data	O
with	O
a	O
1cm	O
resolution	O
to	O
a	O
vehicle	O
model	O
running	O
in	O
realtime	O
up	O
to	O
5kHz	O
.	O
</s>
<s>
In	O
switching	O
to	O
rFpro	B-Application
for	O
its	O
simulator	O
software	O
in	O
2014	O
,	O
the	O
Ferrari	O
F1	O
team	O
cited	O
the	O
high	O
fidelity	O
of	O
the	O
reproduced	O
track	O
surface	O
,	O
with	O
an	O
accuracy	O
better	O
than	O
1mm	O
in	O
Z	O
(	O
height	O
)	O
and	O
1cm	O
in	O
X	O
and	O
Y	O
(	O
position	O
)	O
,	O
which	O
represented	O
a	O
ten-fold	O
improvement	O
over	O
their	O
previous	O
solution	O
.	O
</s>
