The Detection Methods of Non-Level Road Based on OPCODE

Abstract

The research of vehicle dynamics performance on the flat road has been more perfect at present. Around the world ,for lack of simulation environment, the analysis of vehicle driving and handling performance on non-level road is on an explorative stage. The paper established tire road detection model by using of open source code OPCODE. The ray given off from the wheel center intersects with the road model, and obtains the precise contact point and the road normal vector. Then wrote computer program based on the established detection model and embedded it into the complex vehicle model to simulate on longitudinal and lateral slope road. The simulation results show that: each detection time reach microsecond level and in the 1ms vehicle dynamics calculation step, road detection model meet the real-time simulation, and also the detection accuracy satisfy the requirements of the whole vehicle simulation.