In order to evaluate the vehicle dynamic characteristics including the nonlinear characteristics of the tire and the suspension elements, a tire-suspension hardware-in-the-loop simulation (HILS) system was developed by authors. In this system, the real-time vehicle dynamic analysis is executed with multibody vehicle model. The real-time multibody dynamic analysis requires high computational efficiency because complex multibody dynamic model describes large matrix calculation. The purpose of this study is to improve the computational efficiency of the multibody dynamic analysis for the enhancement of analytical accuracy and stability in this system. Matrix libraries were applied to solve the differential algebraic equation of multibody dynamics, and the performance of real-time calculation was examined.

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