Off-road Conditions Autonomous Vehicle Dynamics Analysis And Simulation

The vehicle dynamics analysis and simulation is the basic content of the research of automatic guided vehicle, which is very important for the driving safety, control algorithm, designing new type of specialized vehicle, lowing down the developing costs.The situation of the ground is even complicated in natural world, which requires higher demands of the safety of vehicle auto-guide process, the road-planning and the control strategy. And the vehicle dynamics simulation imitates the environment of the real world, simulates the driving process according to physics disciplines, including many factors that could affect the vehicle body. So dynamics simulation can provide foundation of control strategy.In this thesis, vehicle dynamics theory is used to analysis the forth of vehicle from longitudinal, lateral and vertical directions firstly. Then multi-body theory and ADAMS simulation software are used to analysis and simulate the simple vehicle model. And according to the demands of real-time simulation, DSSL(Dynamic System Simulation Library) and Visual C++ is used to simulate the 6-freedom model of the vehicle driving process. At last, the simulation procedure is visualized using OpenGL. And a whole simulation system of auto-guide vehicle is founded, including the natural ground environment.