Accurate real-time truck simulation via semirecursive formulation and Adams–Bashforth–Moulton algorithm

  • Yongjun PanEmail author
  • Yansong He
  • Aki Mikkola
Research Paper


In this paper, a tailored four-step Adams–Bashforth–Moulton (ABM) algorithm is applied to a semirecursive formulation to perform a real-time simulation of a semitrailer truck. In the ABM algorithm, each integration step involves two function evaluations, namely predictor and corrector. This is fundamentally different when compared to the classic fourth-order Runge–Kutta (RK) integrator approach that contains four function evaluations. A semitrailer truck under investigation is modeled in term of a semirecursive method and simulated by using the presented ABM algorithm. The results show that the four-step ABM method can reduce CPU time almost 50% for solving the truck dynamics with very similar accuracy, in comparison to the fourth-order RK method. The presented ABM algorithm could be used in the semirecursive formulation to carry out accurate real-time simulation of medium-large vehicle systems.


Numerical algorithm Semirecursive formulation Vehicle dynamics Computational efficiency 



This work was supported by the National Natural Science Foundation of China (Grant 11702039) and the Fundamental Research Funds for the Central Universities of China (Grant 106112017CDJXY330002). We also thank Javier García de Jalón for the seminal idea.


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Copyright information

© The Chinese Society of Theoretical and Applied Mechanics; Institute of Mechanics, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.School of Automotive EngineeringChongqing UniversityChongqingChina
  2. 2.Department of Mechanical EngineeringLappeenranta University of TechnologyLappeenrantaFinland

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