Vehicle dynamics simulation by using hardware in the loop techniques

This paper describes a hardware in the loop (HIL) test facility for research in active safety vehicle systems. The system consists of a computer simulation of the vehicle and the vehicle surroundings. An active steering system with a real time controller and sensor hardware is integrated in the control loop. Steering interventions by both the driver and an active actuator are fed into the simulation and enable assessments of the vehicle stability and safety performance.