A Study on the Real-Time Analysis of a 6×6 Autonomous Vehicle

6×6 자율주행 차량의 실시간 해석을 위한 연구

  • 조두호 (부산대학교 기계설계공학과) ;
  • 이정한 (부산대학교 기계설계공학과) ;
  • 이기창 (현대기아자동차 남양연구소) ;
  • 유완석 (부산대학교 기계공학부)
  • Published : 2009.12.01


In multibody dynamic analysis, one of the most important problems is to reduce computation times for real-time simulation. This paper presents the derivation procedure of equations of motion of a 6${\times}$6 autonomous vehicle in terms of chassis local coordinates which do not require coordinates transformation matrix to enhance efficiency for real-time dynamic analysis. Also, equations of motion are derived using the VT(velocity transformation) technique and symbolic computation method coded by MATLAB. The Jacobian matrix of the equations of motion of a system is derived from symbolic operations to apply the implicit integration method. The analysis results were compared with ADAMS results to verify the accuracy and approve the feasibility of real time analysis.


Chassis local coordinates;Implicit integratoin;Symbolic computation;System Jacobian matrix;Real-time dynamic analysis


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