简介：Thesubsystemsynthesismethodhasbeendevelopedinordertoimprovecomputationalefficiencyforamultibodyvehicledynamicsmodel.Usingthesubsystemsynthesismethod,equationsofmotionofthebasebodyandeachsubsystemcanbesolvedseparately.Inthesubsystemsynthesismethod,variouscoordinatesystemscanbeusedandvariousintegrationmethodscanbeappliedineachsubsystem,aslongastheeffectivemassmatrixandtheeffectiveforcevectorareproperlyproduced.Inthispaper,comparativestudyhasbeencarriedoutforthesubsystemsynthesismethodwithCartesiancoordinatesandwithjointrelativecoordinates.Twodifferentintegrationmethodssuchasanexplicitintegratorandanexplicitimplicitintegratorareemployed.Inordertoseetheaccuracyandcomputationalefficiencyfromthedifferentmodelsbasedonthedifferentcoordinatesystemsanddifferentintegrationmethods,aroughterrainrunsimulationshasbeencarriedoutwitha6×6off-roadmultibodyvehiclemodel.