Journal of Auto-vehicle Safety Association ISSN:2005-9396(Print) 자동차안전학회지

This paper presents the development of an integrated vehicle dynamics simulator for e-Corner systems and its validation using simulation-based reference data. The proposed simulator is built on a four-corner vehicle architecture, in which each wheel independently models driving, braking, steering, suspension, and tire dynamics, and is coupled with a six-degree-of-freedom (6-DOF) rigid vehicle body model to capture full vehicle motion. To reproduce vehicle roll, pitch, and vertical load distribution characteristics with sufficient physical fidelity, force and moment interactions among the body, suspension, and tire subsystems are explicitly formulated and numerically integrated in the time domain. An equivalent anti-roll mechanism is implemented using active suspension actuators, in which the anti-roll moment is generated from the left–right suspension stroke difference and distributed to each corner as vertical forces, enabling realistic roll suppression behavior. The developed simulator is validated through direct comparison with CarMaker reference data under identical driving conditions. Key dynamic responses, including roll angle, pitch angle, wheel normal forces, and longitudinal and lateral vehicle motions, are evaluated. The results show that the proposed model closely follows the trends of the reference data and accurately reproduces roll behavior and load transfer characteristics observed in the commercial simulator. In addition, diagonal driving enabled by the e-Corner architecture is analyzed as a representative unconventional maneuver. The proposed model consistently reproduces this motion without inducing yaw rotation, demonstrating its capability to represent the distinctive kinematic and dynamic characteristics unique to e-Corner vehicles. Overall, the proposed simulation framework provides a physically consistent and extensible basis for future studies on active suspension systems, advanced motion control strategies, and comprehensive vehicle dynamics analysis for next-generation mobility platforms.