Forecasting characteristics of curvilinear motion of a self-driving wheeled vehicle

A spatial nonlinear dynamical model of a passenger car was developed in the multibody simulation software «Universal Mechanism». The model includes spatial models of suspension, steering, brake and transmission systems. Control system and tire mathematical models were developed in the Matlab/Simulink and linked to the vehicle MBS model as DLLs. The control system includes a set of steering, braking and gearbox shifting laws for following a target path. The model was used for the simulation of the passenger car movement on a race course. The results of the simulation proved efficiency of the developed control laws.