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The purpose of this study is to improve predicted tire forces for vehicle simulations on off-road terrain and for simulations incorporating terrain features such as curbs, pavement markers or potholes. The model presented in this paper describes the longitudinal behavior of the tire for traversing high-fidelity terrain profiles. An extended rolling radial-interradial tire model is used to estimate the pressure distribution of the tire contact patch, while a tangential spring model of the tire carcass is used to estimate tractive forces at the tire/road interface. Due to the complexity of the model real-time simulation is not possible, however it is useful for off-line simulations incorporating rough terrain or short-wavelength terrain features.

In this paper we present a project that interfaced the National Advanced Driving Simulator (NADS) with SynChrono, a module of the Project Chrono open source simulation platform, to enable real-time, physics-based simulation of multiple autonomous vehicles (AVs) interacting with manned vehicles. In this setup, a driver at NADS, at the University of Iowa, participates in a traffic scenario that involves AVs that run at the University of Wisconsin-Madison on a cluster supercomputer. The NADS simulator is a driving simulator giving the “most realistic driving simulation experience in the country” [1]. Thanks to its actuators, it can move across its 64-foot by 64-foot bay, rotate and tilt, to emulate vehicle movement and vibrations. In addition, the human driver drives in a full-size cab, surrounded by LED monitors, resulting in an immersive, high fidelity driving simulation experience.