ABSTRACT
This paper presents the development of a real-time capable high fidelity multi-body vehicle dynamics model based on differential algebraic equations (DAE) that is compiled into ordinary differential equations (ODE) form using index reduction, symbolic manipulation and equation sorting. This model is shown to closely match an offline high fidelity model based on high index solvers. The real-time model directly references the model parameters used by the offline model and can be distributed in executable form according to standard interfaces. The real-time performance is achieved by applying inlining of an implicit Euler solver into the model formulation to get stable execution with fixed time steps, and by parallelizing the execution over multiple processor cores. The presented approach gives a more accurate and configurable real-time model compared to the current, lookup-table based, solution.
