Development of Vehicle Dynamics Virtual Simulation System Based on CarSim

doi:10.16182/j.issn1004731x.joss.21-0300

Abstract

Abstract:

Aiming at the "high cost, high consumption and high risk" of real vehicle test, a virtual simulation system of vehicle dynamics based on CarSim is developed. The real-time vehicle model is created by CarSim. A virtual scene is built in Unity3D, and an active stereoscopic display technology is used to realize the 3D visual effects. The driver's operation information is collected by simulating the steering wheel of Fanatec racing car and LabView, and the vehicle dynamics model is solved in NI-Pxie8840 controller to ensure the real-time operation. The calculated data is fed back to the driver through the six-degree-of-freedom motion platform. The results show that the virtual vehicle can follow the driver's intention, and the system has sensitive response, safe operating environment, better immersive feeling, accurate and reliable test data, which is conducive to the design and development of automobiles.

Key words: vehicle dynamics, carsim, driving simulation, real-time simulation, six-degree-of-freedom motion platform, hardware in the loop

CLC Number:

TP391.9

Jianlei Liu, Xuejian Jiao, Huaiqian Wang. Development of Vehicle Dynamics Virtual Simulation System Based on CarSim[J]. Journal of System Simulation, 2022, 34(8): 1847-1854.

Figures/Tables 10

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参数	数值
长/mm	4 933
宽/mm	1 836
高/mm	1 469
整车质量/kg	1 470
轮胎规格	215/55/R17
车轮侧偏刚度/(N/rad)	-73 000
质心到前轴距离/mm	1 112
质心到后轴距离/mm	1 759
最大功率/kW	125
最大扭矩/(N∙m)	258
对x轴的极惯性矩/(kg∙m²)	671
对y轴的极惯性矩/(kg∙m²)	1 973
对z轴的极惯性矩/(kg∙m²)	2 315

参数	驾驶员模型	真人驾驶员
标桩间距离/m	30	30
基准车速/(km/h)	34.82	34.84
平均转向盘转角/(°)	46.86	45.58
平均横摆角速度((°)/s)	9.02	8.77
平均车身侧倾角/(°)	0.468	0.460
平均侧向加速度/(m/s²)	1.580	1.550

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