Title: Modelling and validation of 16 DOF full vehicle model for guidance control

Authors: Kyungdeuk Min; Yeun-Sub Byun; Young Chol Kim

Addresses: Chassis and Safety Control Engineering Design Team, Automotive Research and Development Division, Hyundai Motor Group, 150 Hyundaiyeonguso-ro, Hwaseong-si, Gyeonggi-do, 445-706, South Korea ' Korea Railroad Research Institute, 176 Cheoldobakmulkwan-ro, Uiwang-si, Gyeonggi, Gyeonggi-do, 437-757, South Korea ' Department of Electronics Engineering, Chungbuk National University, 1 Chungdae-ro, Seowon-gu, Cheongju, 362-763, South Korea

Abstract: A three-dimensional dynamic model for simulating various motions of two-wheel-steering vehicles is presented. The model has 16 independent degrees of freedom (DOF) that consist of three components: a vehicle body of six DOF, four independent suspensions mounted at every corner of the car body, and four tyre models linked with each suspension. The dynamic equations are represented in six coordinate frames: world-fixed coordinate, vehicle-fixed coordinate, and four wheel-fixed coordinate frames. Then these equations lead to the approximated prediction model of vehicle posture. Both lateral and longitudinal dynamics can be computed simultaneously under the conditions of which various inputs including steering command, driving torque, gravity, rolling resistance of tyre, aerodynamic resistance, etc., are considered. This full vehicle model is implemented in a MATLAB® toolbox and then is validated through experiments. It is also shown through simulation examples that the full vehicle model can be easily used for the performance analysis of the guidance controller as well as the dynamic motion analysis of the vehicle.

Keywords: vehicle dynamics; automatic guidance control; vehicle modelling; 3D modelling; dynamic modelling; simulation; independent suspensions; tyre models; motion analysis; vehicle motion; lateral dynamics; longitudinal dynamics; steering command; driving torque; gravity; tyre rolling resistance; aerodynamic resistance; driverless vehicles; autonomous vehicles; controller design; nonlinear models; passenger cars; sport utility vehicles; SUVs.

DOI: 10.1504/IJVSMT.2015.073043

International Journal of Vehicle Systems Modelling and Testing, 2015 Vol.10 No.4, pp.392 - 416

Available online: 12 Nov 2015 *

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