Development of Driving Simulator with Full Vehicle Model of Multibody Dynamics マルチボディダイナミクスの車両モデルを利用したドライビングシミュレータ
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Summary
This paper addresses the limitations of conventional driving simulators in accurately predicting vehicle dynamics and riding comfort during the automotive development phase. Traditional simulators often rely on simplified planar motion models or decoupled roll-pitch equations, which fail to capture the complex coupling between degrees of freedom, such as the relationship between tire vertical load and body attitude. Furthermore, existing models require cumbersome parameter conversions that do not directly correspond to physical component specifications, making it difficult to evaluate design changes like suspension geometry modifications in real time. The authors propose a driving simulator utilizing a full multibody dynamics (MBD) vehicle model to serve as a "Virtual Proving Ground," enabling subjective evaluation of vehicle characteristics without physical prototyping. To achieve real-time simulation of a high-degree-of-freedom MBD model, the authors developed a hybrid computational approach. The vehicle model, featuring double-wishbone suspensions and 91 degrees of freedom, uses an approximation method for constraint equations to reduce computational load. This approximation treats system motion on a tangent hyperplane rather than a hypersurface, allowing for efficient numerical integration. The simulation combines this MBD model, which calculates relative body positions and tire forces (using the Magic Formula model based on alignment and vertical load), with a planar motion model that determines absolute vehicle coordinates. The system was implemented on a Mitsubishi Precision driving simulator with a 6-DOF motion platform, using a Power PC 604e processor and MATLAB-based code executed via Real-Time Workshop with a 20ms integration step. Experimental results validated the accuracy and utility of the proposed simulator. Comparisons between the approximated MBD model and strict MBD analysis showed negligible errors in wheel alignment characteristics, such as toe and camber angles, even under suspension geometry changes. Slalom driving experiments demonstrated that the simulator accurately reproduced dynamic responses to specific design modifications. Increasing spring stiffness reduced roll angles, while lowering the roll center height significantly altered roll behavior despite unchanged stiffness. Additionally, the simulator successfully captured diagonal roll phenomena, where roll and pitch motions couple when the front roll center is lowered. Drivers were able to subjectively distinguish these dynamic changes. The significance of this work lies in its ability to bridge the gap between computer-aided analysis and human sensory evaluation. By allowing direct input of physical component specifications and accurately simulating coupled dynamics and alignment changes, the simulator eliminates the need for complex parameter conversions. This enables engineers to evaluate vehicle dynamics and riding comfort early in the design process, facilitating more efficient automotive development through realistic virtual testing.
Provenance
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| Stage | Outcome | Tool | Model | Prompt | Attempts | Completed |
|---|---|---|---|---|---|---|
| discover | success | Crossref | — | — | 1 | 2026-06-08 |
| archive | success | canonical_url | — | — | 1 | 2026-06-09 |
| extract | success | pdftotext | — | — | 2 | 2026-06-09 |
| clean | success | clean | — | — | 1 | 2026-06-09 |
| chunk | success | chunk | — | — | 1 | 2026-06-09 |
| embed | success | embed | Qwen/Qwen3-Embedding-8B | — | 1 | 2026-06-09 |
| enrich | failed | — | — | — | 3 | 2026-07-02 |
| promote | success | — | — | — | 1 | 2026-06-08 |
| summarize | success | llm | qwen3.6-27b-prismaquant | summ-v5 | 1 | 2026-06-09 |
| tag | success | vector_similarity | — | — | 8 | 2026-06-11 |
| verify | success | — | — | — | 1 | 2026-06-09 |
Summary generated by qwen3.6-27b-prismaquant on 2026-06-09; verification: verified.
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- Methodological Resource: tool software, validation psychometrics
- Theoretical Contribution: computational model