Chrono VEHICLE module tutorials

The Chrono distribution contains several demos for modeling and simulating ground vehicle systems with the VEHICLE module.

Chrono::Vehicle provides support for both wheeled and tracked vehicles, in a template-based framework. These templates are parameterized models of various vehicles and vehicle subsystems.

In addition to the main library, the VEHICLE module also creates a library of pre-defined VEHICLE models which currently contains:

• Wheeled vehicle models
  • HMMWV: off-road 4-wheel vehicle
  • Sedan: passenger car
  • Citybus: passenger bus
  • MAN: truck models (3 different variants: 5t, 7t, and 10t)
  • UAZ: minibus model of the UAZ-452 vehicle
  • Generic: generic wheeled vehicle (sandbox for testing various configurations and subsystems)
• Tracked vehicle models
  • M113: tracked vehicle

Selected vehicle demos:

• demo_VEH_HMMWV - off-road 4WD wheeled vehicle (from the Vehicle models library)
• demo_VEH_HMMWV_DefSoil - wheeled vehicle on SCM deformable terrain (Bekker-Wong-type)
• demo_VEH_HMMWV_Parallel - wheeled vehicle on granular terrain simulation with the PARALLEL module
• demo_VEH_M113 - tracked vehicle (from the Vehicle models library)
• demo_VEH_M113_DefSoil - tracked vehicle on SCM deformable terrain (Bekker-Wong-type)
• demo_VEH_M113_Parallel - tracked vehicle simulation with the PARALLEL module
• demo_VEH_SteeringController - using a lateral steering controller for a double-lane change maneuver
• demo_VEH_CRGTerrain - demonstration of the optional interface to OpenCRG
• demo_VEH_ArticulatedVehicle - demonstration of extending Chrono::Vehicle (articulated chassis)
• demo_VEH_TactorTrailer - demonstration of extending Chrono::Vehicle (tractor-trailer vehicle)
• demo_VEH_TwoCars - demonstration of using multiple vehicles in a single simulation
• demo_VEH_WheeledJSON - wheeled vehicle defined through JSON specification files
• demo_VEH_TrackedJSON - tracked vehicle defined through JSON specification files
• demo_VEH_DeformableSoil - demonstration of location-dependent soil parameters in SCM deformable terrain
• demo_VEH_MovingPatch - demonstration of the moving patch feature for granular terrain
• demo_VEH_RigidTerrain - demonstration of using multiple patches for a rigid terrain model
• demo_VEH_SuspensionTestRigPlatform - demonstration of the wheeled vehicle suspension test rig with tire actuation
• demo_VEH_SuspensionTestRigPushrod - demonstration of the wheeled vehicle suspension test rig with direct spindle actuation
• demo_VEH_TireTestRig - demonstration of the single tire test rig
• demo_VEH_TrackTestRig - demonstration of the tracked vehicle track assembly test rig