차량 시뮬레이터를 위한 실시간 다물체 차량 동력학 모델 개발

A real time multibody vehicle dynamics model for driving simulator has been developed. This model consists of several subsystem models such as suspensions, steering, powertrain, brake, and tires. To achieve real-time simulations, the suspension subsystem synthesis method based on the recursive formulation has been employed for deriving equations of motion. Low speed tire model has been also implemented for stop-and-go simulations, which is an important simulation for driving simulator. Simulations such as stop-and-go and brake-in-turn have been carried out to investigate the feasibility of real-time simulations of this model for driving simulator