“…The range of models begins with the point mass models embedded in the automotive performance simulations that are more focused on powertrain performance (McCullough et al, 2006;Schmid et al, 1998;Xiaoping and Shu, 2002;Rakha et al, 2001), to commercial rigid body dynamics codes that model the individual track blocks and the detailed contact interactions of the running gear elements (Sandu and Freeman, 2005;Slattengren, 2000;Ma and Perkins, 2002). Between these extremes are well-known modelling tools such as the NATO Reference Mobility Model (NRMM) vehicle dynamics (VEHDYN) module and several commercial and custom purpose-driven modelling tools (Priddy, 1995).…”