A computational efficient advanced mathematical model of a passenger vehicle dynamics is developed for the National Advanced Driving Simulator (NADS). This research advanced high fidelity modeling techniques using the multi-body dynamics formulations, in particular, the Real Time Recursive Dynamics (RTRD). The suspensions have been modeled accurately where the comprehensive nonlinear characteristics were met. Comprehensive vehicle subsystems have been modeled that include tire forces, wheel kinematics, aerodynamic forces, brake system, and kinematic steering system. The computational speed has been achieved, while accuracy has been preserved in the context of the broad scope of simulation applications.
The simulation results are validated using experimental field testing performed in this research. The results show that the simulation predicted very well the physics of vehicle dynamics. The steady state gains up to the limit indicated accurate predictions of understeer behavior. The transient response comparisons show good agreement in terms of timing of the transient events and peak levels of the variables which are indicative of limit performance conditions. The lateral transfer function show reasonable agreement which gives some credibility to the composite lateral/directional dynamics. The vehicle's ride gains show good predictions of vehicle natural frequencies and amplitude attenuation of road disturbance input.