<s>
CarSim	B-Application
is	O
a	O
commercial	O
software	O
package	O
that	O
predicts	O
the	O
performance	O
of	O
vehicles	O
in	O
response	O
to	O
driver	O
controls	O
(	O
steering	O
,	O
throttle	O
,	O
brakes	O
,	O
clutch	O
,	O
and	O
shifting	O
)	O
in	O
a	O
given	O
environment	O
(	O
road	O
geometry	O
,	O
coefficients	O
of	O
friction	O
,	O
wind	O
)	O
.	O
</s>
<s>
CarSim	B-Application
is	O
produced	O
and	O
distributed	O
by	O
an	O
American	O
company	O
,	O
Mechanical	O
Simulation	O
Corporation	O
,	O
using	O
technology	O
that	O
originated	O
at	O
the	O
University	O
of	O
Michigan	O
Transportation	O
Research	O
Institute	O
(	O
UMTRI	O
)	O
in	O
Ann	O
Arbor	O
,	O
Michigan	O
.	O
</s>
<s>
Starting	O
in	O
1998	O
,	O
real-time	O
versions	O
of	O
CarSim	B-Application
have	O
been	O
available	O
for	O
testing	O
hardware	O
in	O
the	O
loop	O
(	O
HIL	O
)	O
.	O
</s>
<s>
The	O
math	O
models	O
are	O
used	O
directly	O
in	O
over	O
350	O
driving	B-Application
simulators	I-Application
to	O
provide	O
physics	O
models	O
that	O
have	O
been	O
validated	O
over	O
most	O
conditions	O
of	O
interest	O
.	O
</s>
<s>
The	O
main	O
applications	O
of	O
the	O
CarSim	B-Application
software	O
are	O
:	O
</s>
<s>
In	O
these	O
applications	O
,	O
CarSim	B-Application
simulates	O
the	O
basic	O
vehicle	O
dynamic	O
behavior	O
as	O
a	O
plug-in	O
to	O
controller	O
design	O
software	O
such	O
as	O
Simulink	B-Application
(	O
from	O
Mathworks	O
)	O
,	O
LabVIEW	B-Application
(	O
from	O
National	O
Instruments	O
)	O
,	O
Activate	O
(	O
from	O
solidThinking	B-Algorithm
)	O
,	O
or	O
custom	O
code	O
(	O
MATLAB	B-Language
,	O
Visual	O
Basic	O
,	O
C/C	O
++	O
,	O
etc	O
.	O
)	O
</s>
<s>
Researchers	O
and	O
others	O
use	O
the	O
CarSim	B-Application
math	O
models	O
in	O
driving	B-Application
simulators	I-Application
,	O
ranging	O
from	O
low-cost	O
systems	O
using	O
game	O
controller	O
up	O
to	O
full-scale	O
large	O
motion	O
simulators	O
such	O
as	O
the	O
Toyota	O
simulator	O
.	O
</s>
