Real time hardware-in-the-loop vehicle simulation

The models used to simulate an engine, driveline, vehicle, and tire/road-surface models are described. Several control units was linked together to provide a generic real-time hardware-in-the-loop (HITL) simulation is described. The HITL simulation structure and models were designed generically so that they can be utilized for developing a variety of control systems. Generic real-time HITL simulation can use analytical and experimental data, accepts vehicle test parameters as input, and provides real-time, portable dynamic simulation