Vehicle Dynamics Modelling and Simulation of a Four Wheeled Ground Vehicle for a PC Based Driving Simulator

This paper describes the Vehicle Dynamics Modelling and Simulation of a four wheeled ground vehicle. The model so developed and simulated can be integrated with a low-cost PC-based driving simulator that can perform six degree-of-freedom (DOF) motions similar to a road vehicle. The mathematical equations of vehicle dynamics are first derived and incorporated with the tire, steering, brake, engine and suspension subsystems. The mathematical model can accept the inputs from the driver, ground and the environment and generate necessary actuating signals for the motion platform and the visuals of the driving simulator. The model equations have been solved numerically using Runge Kutta -4 method. The model is simulated using Microsoft VC++ 6.0. The iteration time is found to be less than a 0.2 milli seconds making it suitable for integration with a PC based driving simulator.