Development of new machines or resolution of existing problems can be expensive and time consuming for industrials. Having the possibility to work on these subjects with a numerical model of the vehicle is a huge advantage which must be exploited. To have a complete model of the vehicle, a combination of software and way of communications between them are used in order to combine a complex Multiphysics model, including hydraulic (hydrostatic transmission, pipes, valves, …), mechanic (1D, 3D, tires, tires-soil contact, terrain …) and other necessary physics depending on the model (electric, …), a realistic environment with 3D views of the vehicle, statics and dynamics actors, captors (camera, Lidar, Radar, etc.), the possibility to control the vehicle with steering wheel and pedals and the use of a programming interface to couple the model with a calculator (the same as the one who is in the vehicle) integrating the complete command control of the machine.
The following paper presents the method used to combine these three steps and how to use a complete model easily in order, for example, to study the vehicle behavior, test the relevance of the strategies of command control, or to implement autonomous tasks.