Co-simulation study of automobile two-degree-of-freedom steering model and VTD scenario model

With the rapid development of autonomous driving technology, simulation evaluation technology has been more applications in the industry. Among them, the integration accuracy of the simulation model is the key to ensuring the effectiveness of the evaluation, and joint verification studies are needed. This paper systematically analyzes the cornering force of the front and rear tires of the vehicle during steering, solves the differential equation of the vehicle's motion, establishes a two-degree-of-freedom model, and builds a simulation model based on Matlab/Simulink; then through the steering demonstration case and the Carsim model Make a comparison to verify the effectiveness of the two-degree-of-freedom steering model. Finally, a two-degree-of-freedom steering model was used to replace the original vehicle model of the VTD software, and a joint model was constructed. The error between the preset path of the VTD scene and the response path of the two-degree-of-freedom steering model under the same torque was compared and analyzed, which confirmed The effectiveness and stability of the joint model.