Goodin, C., Mange, J., Pace, S., Skorupa, T. et al., "Simulating the Mobility of Wheeled Ground Vehicles with Mercury," SAE Int. J. Commer. Veh. 10(2):2017, doi:10.4271/2017-01-0273.
Mercury is a high-fidelity, physics-based object-oriented software for conducting simulations of vehicle performance evaluations for requirements and engineering metrics. Integrating cutting-edge, massively parallel modeling techniques for soft, cohesive and dry granular soil that will integrate state-of-the-art soil simulation with high-fidelity multi-body dynamics and powertrain modeling to provide a comprehensive mobility simulator for ground vehicles. The Mercury implements the Chrono::Vehicle dynamics library for vehicle dynamics, which provides multi-body dynamic simulation of wheeled and tracked vehicles. The powertrain is modeled using the Powertrain Analysis Computational Environment (PACE), a behavior-based powertrain analysis based on the U.S. Department of Energy’s Autonomie software. Vehicle -terrain interaction (VTI) is simulated with the Ground Contact Element (GCE), which provides forces to the Chrono-vehicle solver. The driver model implements an array of tests for evaluating vehicle mobility performance. With these physics submodules, Mercury can simulate a variety of performance tests such as ride quality, maximum shock, sand slope climbing, VCI1, acceleration tests, and many others. Additionally, the open, modular framework of Mercury makes the extension of the software to new tests and physics domains fast and easy.