Validation of a Real-Time Multibody Model for an X-by-Wire Vehicle Prototype Through Field Testing

Abstract

This research focuses on the experimental validation of a real-time vehicle multibody (MB) model whose bodies are considered rigid. For this purpose, a vehicle prototype has been built and automated in order to repeat reference maneuvers. Numerous sensors on the prototype gather the most relevant magnitudes of the vehicle motion. Two low speed maneuvers involving the longitudinal and lateral vehicle dynamics have been repeated multiple times in a test area. Then, a real-time MB model of the vehicle prototype has been self-developed as well as a simulation environment that includes a true graphical environment, a true road profile, and collision detection. Subsystems like brakes and tires have also been modeled. Both test maneuvers have been simulated with the MB model in the simulation environment using inputs measured experimentally. Selected simulation variables have been compared to their experimental counterparts provided with a confidence interval (IC) that characterizes the field testing (FT) process errors. The results of the comparisons show good correlation between simulation predictions and experimental data, thus allowing to extract useful guidelines to build accurate real-time vehicle MB models. In this way, the present work aims to contribute to the scarce literature on vehicle complete validation studies.