A method includes receiving and storing sensor data including a first plurality of data points indicative of a plurality of respective states of the environment external to a vehicle at a plurality of respective times, operational data including a second plurality of data points indicative of a plurality of respective states of an operational parameter of the vehicle at a plurality of respective times, and synchronization data. The method also includes generating a virtual model of an event involving the vehicle using the stored data, at least by generating a first visual representation of the plurality of respective states of the external environment, generating a second visual representation of the plurality of respective states of the operational parameter, and using the synchronization data to cause the first visual representation to be displayed simultaneously with, and in a time-aligned manner with, the second visual representation.