적응 순항 차량제어 시스템을 위한 실시간 다물체 차량 동력학 시뮬레이션 개발

In this paper, a real time multibody vehicle dynamics simulator has been developed for ACC(Adaptive Cruise Control) system. The simulator consists of a scenario module for preceding vehicle motion, control algorithm module, and a real-time multibody vehicle dynamics module. The real-time multibody vehicle model has been developed based on the subsystem synthesis method. A nonlinear sliding mode control algorithm has been employed for the ACC system. To verify the effectiveness of the simulator, preceding vehicle following simulation has been carried out.