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Open AccessArticle

Physics-Based Vehicle Simulation Using PD Servo

1
Department of Computer and Software, Hanyang University, Seoul 04763, Korea
2
Team of Mechatronics, M&D Co. Ltd., Suwon 16690, Korea
3
School of Games, Hongik University, Sejong 30016, Korea
*
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(22), 4949; https://doi.org/10.3390/app9224949
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
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Kang, D.; Jeong, J.; Ko, S.-W.; Kwon, T.; Kim, Y. Physics-Based Vehicle Simulation Using PD Servo. Appl. Sci. 2019, 9, 4949.

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