FASIM_C++ - A versatile developing environment for vehicle dynamics simulation

Hiller, Manfred; Schuster, Christian; Adamski, Dirk

doi:10.1533/cras.1997.0037

Cited by 12 publications

(3 citation statements)

References 1 publication

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“…Early projects, e.g., FASIM C++ [29], have paved the way for modeling vehicle dynamics. Later on, such systems have reached the maturity to assist ADAS development [30].…”

Section: Related Workmentioning

confidence: 99%

Multi-level vehicle dynamics modeling and export for ADAS prototyping in a 3D driving environment

Bücs

Aristizabal

Leupers

et al. 2017

2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)

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Advanced Driver Assistance Systems (ADAS) have evolved into comprehensive hardware and software driven components with exponentially growing complexity. Model-Based Design (MBD) is traditionally employed to accelerate the designvalidation-refinement cycle of such systems by reducing the occurrence of late nonconformities. However, MBD testing facilities can not provide a fully realistic verification environment compared to real test drives. Moreover, even road tests are limited, e.g., to reproduce driving situations and to test applications likely to cause property damage. Thus, this paper proposes to utilize driving simulators alongside MBD tools to achieve a fully virtual ADAS design and test environment. To put this idea in practice, the multi-level Vehicle Component Modeling and eXport (VCMX) framework is presented as the main contribution of this work. Finally, the combined tool support is evaluated by designing two ADAS from scratch so to highlight the advantages of utilizing VCMX especially in early prototyping stages of such applications.

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“…Early projects, e.g., FASIM C++ [29], have paved the way for modeling vehicle dynamics. Later on, such systems have reached the maturity to assist ADAS development [30].…”

Section: Related Workmentioning

confidence: 99%

Multi-level vehicle dynamics modeling and export for ADAS prototyping in a 3D driving environment

Bücs

Aristizabal

Leupers

et al. 2017

2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)

View full text Add to dashboard Cite

show abstract

“…Based on these results specific driving maneuvers can be chosen, limiting drastically the number of experiments. To simulate the vehicle dynamics, the mechanics of the vehicle is modeled as a multibody system and together with the non-mechanic components, such as hydraulics, sensors, driver and surroundings integrated into an overall mechatronic vehicle model by means of the vehicle dynamics simulation environment FASIM C++ [15].…”

Section: Preliminariesmentioning

confidence: 99%

Multibody system dynamics and mechatronics

Hiller

Hirsch

2006

Z. angew. Math. Mech.

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Mechatronics as an interdisciplinary combination of domains of mechanical engineering, electrical engineering, electronics, and computer science has developed in industry and universities since the eighties of the last century, and it is meanwhile fully established in many technical areas. The main focus of the mechatronic approach is to extend and to complete the design process of mechanical and more general engineering systems by incorporating from the very beginning sensors and controllers -which includes also the required information processing -and thus being able to generate partly intelligent products. The components and modules of such systems originate from mechanical engineering, from electrical engineering or from other engineering domains. Methods for describing and designing these components and modules are based in the fields of applied mechanics, electrical engineering, system theory, control and automation theory, and information processing. In particular, in mechatronic systems like robots, manipulation systems, machine tools, or all kinds of vehicles, the multibody systems approach offers a powerful tool to model the mechanical properties of the system in an appropriate manner. In this paper, methodologies for the development of formalisms and software for modeling and simulation of multibody and mechatronic systems will be presented and illustrated by examples from automotive systems and robotics.

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“…Applications of part of these research results in static and dynamic analysis of multi-link systems, mainly for automotive, have been proposed and also software tools developed, e.g. (Hiller et al, 1997). Static and sometimes dynamic modeling of statically undetermined legged robots by means of compliances has been already addressed in the literature, e.g.…”

Section: Introductionmentioning

confidence: 99%

Equilibrium analysis of multi-limbs walking and climbing robots

Zoppi

Molfino

2006

Auton Robot

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The paper discusses the complex problem of assessing online the static equilibrium of statically-indeterminate climbing and walking robots (CLAWARs) with quasi-static locomotion. The method proposed is general and works for whatever number of legs and ropes operated by actuated winches connecting the robot to the environment. The configuration of the robot is assigned. First, the compliance of the robot body, of the legs and the compliances of the ground and the ropes are modeled as localized elasticities. The static equilibrium problem of the resulting model is statically-determinate under the hypothesis that the foot and rope points (where the ropes are fixed to the robot body) are joined to the ground by bilateral constraints. Since these constraints are unilateral (the feet are contact points and can detach from the ground, and the ropes can become slack), it is necessary to apply an iterative solving procedure in order to solve the static equilibrium problem. The method presented in the paper is a fast and effective alternative to nonlinear analysis of a finite element model of the robot at any assigned configuration. As an example, we consider the case of the heavy-duty CLAWAR Roboclimber

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FASIM_C++ - A versatile developing environment for vehicle dynamics simulation

Cited by 12 publications

References 1 publication

Multi-level vehicle dynamics modeling and export for ADAS prototyping in a 3D driving environment

Multi-level vehicle dynamics modeling and export for ADAS prototyping in a 3D driving environment

Multibody system dynamics and mechatronics

Equilibrium analysis of multi-limbs walking and climbing robots

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