가상현실 지능형 차량 시뮬레이터를 위한 실시간 다물체 차량 동역학 및 제어모델
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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 3D Studio Max graphic tool and OpenGVS real-time rendering library. A real-time vehicle dynamics and control model consists of a control 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.
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