An Effective Algorithm of Uneven Road Surface Modeling and Calculating Reaction Forces for a Vehicle Dynamics Simulation

Abstract

Computer simulations of vehicle dynamics become more complex when a vehicle movement takes place on the uneven road surface. In such a case two problems must be solved. The first one concerns a way of road surface modeling, and the second one a way of precisely determining a place of interaction of reaction forces of the road on the vehicle wheels. In this paper triangular irregular networks (TIN) surface was used for modeling surface unevenness, and the author’s algorithm based on the efficient kd-tree data structure was developed for determining a place of an application road surface reaction forces. For calculating the reaction forces including rolling resistance force the Pacejka Magic Formula tire model was used. The solution presented in the paper is computing efficient and for this reason it can be used in the in real-time simulations not only for a vehicle dynamics but for any objects moving over an uneven surface road.

OpenCRG Models From Different Data Sources to Support Vehicle Simulations

“…Entering the field of vehicle dynamics requires not only the exact replication of the vehicle itself but the primary source of excitations to vehicles, the digital twin of the road surface. Simulation of dynamics requires the highest accuracy of the road surface to precisely calculate reaction forces at the tires' contact and consider rolling resistances on various surfaces (Tengler and Warwas, 2021). Winkler et al (2018) analyzed the road-vehicle interaction with the help of CRG (Curved Regular Grid) models.…”