Physics Based Vehicle Terrain Interaction Model for Soft Soil off- Road Vehicle Simulations.

摘要

In the context of off-road vehicle simulations, deformable terrain models mostly fall into three categories: simple visualization of an assumed terrain deformation, use of empirical relationships for the deformation, or finite/discrete element approaches for the terrain. A real-time vehicle dynamics simulation with a physics-based tire model (brush, beam-based or Finite Element models) requires a terrain model that accurately reflects the deformation and response of the soil to all possible inputs of the tire in order to correctly simulate the response of the vehicle. The real-time requirement makes complex finite/discrete element approaches unfeasible, and the use of a ring or beam-based tire model excludes purely empirical terrain models.