Next Article in Journal
Evaluation of the Indoor Air Quality in Governmental Oversight Supermarkets (Co-Ops) in Kuwait
Previous Article in Journal
Surface Alterations Induced on Endodontic Instruments by Sterilization Processes, Analyzed with Atomic Force Microscopy: A Systematic Review
Previous Article in Special Issue
Research on Optimal Landing Trajectory Planning Method between an UAV and a Moving Vessel
Open AccessArticle

Physics-Based Vehicle Simulation Using PD Servo

Department of Computer and Software, Hanyang University, Seoul 04763, Korea
Team of Mechatronics, M&D Co. Ltd., Suwon 16690, Korea
School of Games, Hongik University, Sejong 30016, Korea
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(22), 4949;
Received: 28 October 2019 / Revised: 9 November 2019 / Accepted: 13 November 2019 / Published: 17 November 2019
(This article belongs to the Special Issue Control and Soft Computing)
In this paper, we introduce a novel system for physics-based vehicle simulation from input trajectory. The proposed system approximates the physical movements of a real vehicle using a proportional derivative (PD) servo which estimates proper torques for wheels and controls a vehicle’s acceleration based on the conditions of the given trajectory. To avoid expensive simulation calculation, the input trajectory is segmented and compared to the optimized trajectories stored in a path library. Based on the similarity of the curve shape between the input and simulated trajectories, an iterative search method is introduced to generate a physically derivable trajectory for convincing simulation results. For an interaction with other objects in the virtual environment, the surface of the vehicle is subdivided into several parts and deformed individually from external forces. As demonstrated in the experimental results, the proposed system can create diverse traffic scenes with multiple vehicles in a fully automated way. View Full-Text
Keywords: vehicle simulation; PD servo; trajectory search; path optimization; physics-based simulation vehicle simulation; PD servo; trajectory search; path optimization; physics-based simulation
Show Figures

Figure 1

MDPI and ACS Style

Kang, D.; Jeong, J.; Ko, S.-W.; Kwon, T.; Kim, Y. Physics-Based Vehicle Simulation Using PD Servo. Appl. Sci. 2019, 9, 4949.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

Back to TopTop