Real-Time Interactive Simulation Framework for a Tandem Tractor-Trailer

In this work, a simulation framework for testing of a tandem tractor-trailer is developed. The multibody dynamics engine Vortex Studio is used as the platform for modeling and simulation. The framework includes a configurable vehicle model, Simulink controller integration, an autonomous driver model, an automated vehicle test suite, and a test scene with a complex driving track. The framework provides a platform to evaluate the stability and maneuverability of a tandem tractor-trailer equipped with different active and passive trailer steering controllers.