Abstract
Virtual testing and evaluation of commercial vehicles require an accurate and comprehensive dynamic model to replace traditional driver-based field testing, thereby shortening the development cycle of commercial vehicles. However, existing dynamic models of commercial vehicles cannot accurately simulate the driving feel, making it difficult to address and optimize problems during the development stage. To accurately simulate the driving feel, this paper focuses on a cabin model that considers the load-carrying, guiding, and K&C geometric correction characteristics of cabin mounting, a rigid-flexible combined frame model that considers the transient excitation of the powertrain, and a solid axle model that includes dynamic pitch freedom. Finally, a 155-DOF tractor-semitrailer dynamic model is built and integrated, named UniTruck. This achieves a highly realistic dynamic simulation of the driving feel. The UniTruck model is validated by comparing it with the field test data and TruckSim simulation results.