Autonomous vehicles commonly operate on terrains that present challenges for human access. Accordingly, understanding and predicting the dynamic characteristics of autonomous vehicles operating in rough environments is essential. Analyzing these chara...
Autonomous vehicles commonly operate on terrains that present challenges for human access. Accordingly, understanding and predicting the dynamic characteristics of autonomous vehicles operating in rough environments is essential. Analyzing these characteristics via actual hardware operation is possible; however, it incurs substantial costs and time. Therefore, the need to obtain a database of the dynamic characteristics through simulations has increased. In this study, a dynamic model for an autonomous vehicle was developed using RecurDyn, and a tire characteristic test was conducted to model a lug-type tire applied to the vehicle. The test results obtained were utilized to develop a UA tire model. A bump driving test and simulation of the vehicle were performed, and the reliability of the vehicle model was verified by comparing the simulated vertical acceleration and pitch rate responses with the experimental results.