Abstract
In-vehicle tests for benchmarking advanced vehicle control devices with real test drivers are time-consuming, expensive, and not reproducible. But, using Hardware-In-the-Loop Simulation (HILS), real system can be easily tested in closed loop with a simulated vehicle. Because of this advantage, commercial product for HILS has been popular. Lately, The Math Works, Inc releases the product for performing real-time rapid prototyping in PC hardware, such as xPC target, Real-Time Workshop, Virtual Reality and so on. Using theses, HILS for testing Anti-lock Brake System (ABS) was developed. This paper describes a PC based HILS that includes a simple vehicle dynamics and tire models adapted to run in real time. Reliable vehicle models for HILS require detailed modeling of suspension and tire behavior, and those models were made using dynamic model with kinematic & compliant suspension characteristics obtained by rig test and semi-empirical tire model in this paper.
