Abstract

In this paper, a real-time multibody vehicle dynamics and control model has been developed for a virtual reality intelligent vehicle simulator. The simulator consists of four PCs for a virtual reality visualization system, vehicle dynamics and control analysis system, a control loading system, and a network monitoring system. Virtual environment is created by 3DS max graphic tool and OpenGVS real-time rendering library. A real-time vehicle dynamics and control model consists of a control algorithm module based on the sliding mode control for adaptive cruise control and a real-time multibody vehicle dynamics module based on the subsystem synthesis method. To verify the real-time capability of the model, cut-in, cut-out simulations have been carried out.

Keywords

• Real-time simulation;
• Multibody dynamics;
• Vehicle dynamics;
• Adaptive Cruise Control;
• Sliding mode control

• 실시간 해석;
• 다물체 동역학;
• 차량 동역학;
• 적응 순항 제어;
• 슬라이딩 모드 제어;