In this study, a real time simulation program of vehicle motion is developed using Kane's method and symbolic computation. To get the program most efficient, the formulation of the equations of motion is made specific for the dynamic analysis of the vehicle modelled as 15 degrees of freedom multi-body system. Also the formulation is made with least number of equations and coordinates with the assistance of symbolic computation package, MACSYMA. Roll, pitch, and yaw as well as the coordinate of the steer, tire model are included in order to express the motion appropriately to the level that the driving simulation can be made fairly realistic while it can be executed in real time.
This developed program is tested for the simulations of five cases and its results are compared with those of commercial package, DADS. It is also discussed how the program can be further improved to make it more efficient with respect to the numerical computational effort that it can be executed in personal computers.
