Agricultural tractor dynamics simulation research based on a driving simulator with real-time human-machine interaction

Vehicle dynamics simulation based on the driving simulator has great application potential. Compared with field tests, it has the advantages of low cost, high reproducibility, safety, and controllability. Compared with commercial dynamics simulation software, it can realize real-time human-machine interaction by providing a highly immersed virtual scene and operational environment. In order to verify the feasibility of agricultural tractor dynamics simulation based on the driving simulator, the dynamics model of 8 degrees of freedom (8DOF) was built using MATLAB/Simulink and Visio Studio, and the human-machine interaction environment composed of the tractor cab, data acquisition system, controller, central server and display system was constructed. Secondly, the simulation software based on the dynamics model was developed based on the virtual reality engine of Unity3D. Finally, Carsim was applied as the feasibility verification tool with similar tractor models and virtual environments. The turning road test, undulating road test, and cross-slope road test were carried out in the driving simulator and Carsim with the same simulation conditions. Yaw rate and roll angle given by both platforms above were analyzed with statistical methods and error analysis. The results showed that dynamics curves of the simulator had high shape similarity with the curves of Carsim. No significant difference was demonstrated between curves of the simulator and Carsim. There was a relative error from 6.34% to 19.63% in yaw rate data from the simulator compared with Carsim results. Likewise, the relative error for roll angle data given by the simulator ranged from 6.12% to 20.72%. The results verified the feasibility of high-accuracy dynamics simulation in the driving simulator. Our research laid the foundation for further research and application of agricultural tractor dynamics simulation based on driving simulators with real-time human-machine interaction.