Automated driving of road vehicles needs to use a simulation environment to develop control programs. A vehicle dynamic simulation program was implemented into a computer system. It contains a vehicle dynamic model that models all essential parts of a vehicle and the whole vehicle. To verify behaviors of the vehicle simulation model, it was tested with various scenarios of driving inputs. Finite difference integration algorithms in the simulation program generate dynamic responses of the vehicle, corresponding to each scenario of driving inputs. Analyses of the output dynamic responses indicate that the simulated vehicle is behaving correctly. Results show that the vehicle velocity, turning rate, vehicle trajectory and turning radius all follow the throttle input command and the steering command as expected.
Journal of Dynamic Systems Measurement and Control-Transactions of the Asme