Parra Delgado, AlbertoRodríguez, Antonio J.Zubizarreta, AsierPérez Rastelli, Joshué2024-07-292024-07-292020-11-24A. Parra, A. J. Rodríguez, A. Zubizarreta and J. Pérez, "Validation of a Real-Time Capable Multibody Vehicle Dynamics Formulation for Automotive Testing Frameworks Based on Simulation," in IEEE Access, vol. 8, pp. 213253-213265, 2020, doi: 10.1109/ACCESS.2020.3040232.2169-3536http://hdl.handle.net/2183/38279[Abstract] The growing functionalities implemented on vehicles have increased the importance ofsimulation in the design process. This complexity is mainly driven by the introduction of electri ed powertrains,Advanced Driver Assistance Systems (ADAS) and Automated Driving Systems (ADS). Additionally,the automotive industry must reduce development times and cost, while keeping exible development capabilities and ful lling demanding regulation standards for safety-critical systems. Existing testing frameworks based on simulation implement typically analytical models to ensure real-time performance, and provide limited exibility to perform Hardware in the Loop (HiL) setup based tests. In this work a vehicle modelling approach which guarantees high accuracy and real-time capabilities is proposed. Moreover, the proposed approach is validated rstly with real vehicle data, demonstrating that it can fairly reproduce the behaviour of the vehicle tested; and secondly, in a HiL setup to demonstrate the real-time execution capabilities of the approach.engCreative Commons License Attribution-NonCommercial 4.0 International (CC BY-NC 4.0)http://creativecommons.org/licenses/by-nc-sa/3.0/es/Multibody formulationVehicle modelVehicle dynamicsADASAutomotive simulation frameworkjournal articleopen accesshttps://doi.org/10.1109/ACCESS.2020.3040232