Development of a scaled vehicle with longitudinal dynamics of an HMMWV for an ITS testbed

Rajeev Verma, Domitilla Del Vecchio, Hosam K. Fathy

Research output: Contribution to journalArticlepeer-review

68 Scopus citations


This paper applies Buckingham's π theorem to the problem of building a scaled car whose longitudinal and powertrain dynamics are similar to those of a full-size high-mobility multipurpose wheeled vehicle (HMMWV). The scaled vehicle uses hardware-in-the-loop (HIL) simulation to capture some of the scaled HMMWV dynamics physically, and simulates the remaining dynamics onboard in real time. This is performed with the ultimate goal of testing cooperative collision avoidance algorithms on a testbed comprising a number of these scaled vehicles. Both simulation and experimental results demonstrate the validity of this HIL-based scaling approach.

Original languageEnglish (US)
Pages (from-to)46-57
Number of pages12
JournalIEEE/ASME Transactions on Mechatronics
Issue number1
StatePublished - Feb 2008

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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