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The paper briefly presents two simulation models which describe the motion and dynamics of biaxial vehicles: a medium class car and 12 tons truck. The road surface may be even or uneven. The main models may be divided into coupled submodels. Their equations of motion can be derived separately. The programs can be run even on personal computers. The models are experimentally verified on even roads for typical manoeuvres recommended by ISO. The paper shows mainly the results of experimental evaluation of simulation models. It also presents steering system submodel in more detail. Its combination with other submodels describe small car motion and dynamics including the influence of steering system freeplay and dry friction.

The paper presents a model derived for real time simulation. It has been applied in low-cost PC-based autoPW driving simulator built at the University of Technology, Faculty of Transportation, Poland. The following assumptions have been done: even, horizontal road surface, no vertical, pitch and roll vibrations of the body as well unsprung masses. The normal reactions of the road are described in quasi-static way. Compliances of steering system as well as description of six aerodynamic drag components are taken into account. The tire model is based on HSRI-UMTRI model with addition of aligning moment description. The model was experimentally verified.