User's Guide: Vehicle Dynamics Blockset™

Vehicle Dynamics Blockset™
User's Guide
R2021a
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Vehicle Dynamics Blockset™ User's Guide
© COPYRIGHT 2018–2021 by The MathWorks, Inc.
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Revision History
March 2018 Online only New for Version 1.0 (Release 2018a)
September 2018 Online only Revised for Version 1.1 (Release 2018b)
March 2019 Online only Revised for Version 1.2 (Release 2019a)
Contents
Getting Started
1
Vehicle Dynamics Blockset Product Description . . . . . . . . . . . . . . . . . . . . 1-2
Key Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Acknowledgements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Required and Recommended Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

Required Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Recommended Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Engine Calibration Maps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

Engine Plant Calibration Maps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Yaw Stability on Varying Road Surfaces . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16
Vehicle Steering Gain at Different Speeds . . . . . . . . . . . . . . . . . . . . . . . . 1-27
Vehicle Lateral Acceleration at Different Speeds . . . . . . . . . . . . . . . . . . . 1-38
Frequency Response to Steering Angle Input . . . . . . . . . . . . . . . . . . . . . . 1-47
Coordinate Systems
2
Coordinate Systems in Vehicle Dynamics Blockset . . . . . . . . . . . . . . . . . . 2-2
Earth-Fixed (Inertial) Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Vehicle Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Tire and Wheel Coordinate Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
World Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Reference Applications
3
Passenger Vehicle Dynamics Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Braking Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Straight Maneuver Reference Generator . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Driver Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
iii
Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Passenger Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Visualization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
Double-Lane Change Maneuver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

Lane Change Reference Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Driver Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
Passenger Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
Visualization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
Scene Interrogation in 3D Environment . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25

Displays Subsystems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30
Swept-Sine Steering Maneuver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32

Swept Sine Reference Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33
Driver Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33
Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33
Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
Visualization Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
Slowly Increasing Steering Maneuver . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43

Slowly Increasing Steer Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-44
Driver Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-44
Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-44
Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-45
Visualization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-47
Constant Radius Maneuver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-54

Reference Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-55
Driver Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-55
Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-56
Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-56
Visualization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-58
Kinematics and Compliance Virtual Test Laboratory . . . . . . . . . . . . . . . . 3-64

Generate Mapped Suspension from Spreadsheet Data . . . . . . . . . . . . . . 3-65
Generate Mapped Suspension from Simscape Suspension . . . . . . . . . . . . 3-68
Compare Mapped and Simscape Suspension Responses . . . . . . . . . . . . . 3-70
Run a Vehicle Dynamics Maneuver in 3D Environment . . . . . . . . . . . . . . 3-73
Send and Receive Double-Lane Change Scene Data . . . . . . . . . . . . . . . . . 3-81

Run a Double-Lane Change Maneuver That Hits Cones . . . . . . . . . . . . . . 3-81
Use Simulation 3D Message Get Block to Retrieve Cone Data . . . . . . . . . 3-82
Use Simulation 3D Message Set Block to Control Traffic Signal Light . . . 3-85
iv Contents
Project Templates
4
Vehicle Dynamics Blockset Project Templates . . . . . . . . . . . . . . . . . . . . . . 4-2
Maneuver Standards
5
ISO 15037-1:2006 Standard Measurement Signals . . . . . . . . . . . . . . . . . . 5-2
Supporting Data
6
Support Package For Maneuver and Drive Cycle Data . . . . . . . . . . . . . . . . 6-2
Customize 3D Scenes for Vehicle Dynamics Simulations . . . . . . . . . . . . . . 6-3
Install Support Package and Configure Environment . . . . . . . . . . . . . . . . 6-5

Verify Software and Hardware Requirements . . . . . . . . . . . . . . . . . . . . . . 6-5
Install Support Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Configure Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Migrate Projects Developed Using Prior Support Packages . . . . . . . . . . . 6-8
Customize Scenes Using Simulink and Unreal Editor . . . . . . . . . . . . . . . . 6-9

Open Unreal Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
Reparent Actor Blueprint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
Create or Modify Scenes in Unreal Editor . . . . . . . . . . . . . . . . . . . . . . . . 6-11
Run Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
Package Custom Scenes into Executable . . . . . . . . . . . . . . . . . . . . . . . . . 6-17

Package Scene into Executable Using Unreal Editor . . . . . . . . . . . . . . . . 6-17
Simulate Scene from Executable in Simulink . . . . . . . . . . . . . . . . . . . . . 6-18
Get Started Communicating with the Unreal Engine Visualization

Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
Set Up Simulink Model to Send and Receive Data . . . . . . . . . . . . . . . . . . 6-21
C++ Workflow: Set Up Unreal Engine to Send and Receive Data . . . . . . 6-22
Blueprint Workflow: Set Up Unreal Engine to Send and Receive Data . . . 6-30
Run Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-35
Prepare Custom Vehicle Mesh for the Unreal Editor . . . . . . . . . . . . . . . . 6-36

Step 1: Setup Bone Hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36
Step 2: Assign Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-37
Step 3: Export Mesh and Armature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-39
Step 4: Import Mesh to Unreal Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-40
Step 5: Set Block Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-41
v
Vehicle Dynamics Blockset Examples
7
Scene Interrogation with Camera and Ray Tracing Reference Application
.......................................................... 7-2
Braking Test Reference Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
Double Lane Change Reference Application . . . . . . . . . . . . . . . . . . . . . . . . 7-6
Swept-Sine Steering Reference Application . . . . . . . . . . . . . . . . . . . . . . . . 7-7
Increasing Steering Reference Application . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
Constant Radius Reference Application . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
Kinematics and Compliance Virtual Test Laboratory Reference

Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10
Three-Axle Tractor Towing a Three-Axle Trailer . . . . . . . . . . . . . . . . . . . . 7-12
Two-Axle Tractor Towing a Two-Axle Trailer . . . . . . . . . . . . . . . . . . . . . . . 7-18
Follow Waypoints Around Oval Track . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-23
Read and Write Block Parameters to Excel . . . . . . . . . . . . . . . . . . . . . . . . 7-26
3D Simulation
8
3D Simulation for Vehicle Dynamics Blockset . . . . . . . . . . . . . . . . . . . . . . 8-2
3D Simulation Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Algorithm Testing and Visualization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
3D Visualization Engine Requirements and Limitations . . . . . . . . . . . . . . 8-6

Software Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
Minimum Hardware Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
How 3D Simulation for Vehicle Dynamics Blockset Works . . . . . . . . . . . . 8-8

Communication with 3D Simulation Environment . . . . . . . . . . . . . . . . . . . 8-8
Block Execution Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
Place Cameras on Actors in the Unreal Editor . . . . . . . . . . . . . . . . . . . . . 8-10

Place Camera on Static Actor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
Place Camera on Vehicle in Custom Project . . . . . . . . . . . . . . . . . . . . . . 8-13
Animate Custom Actors in the Unreal Editor . . . . . . . . . . . . . . . . . . . . . . 8-21

Set up Simulink Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-21
Set up Unreal Editor to Animate Bicycle . . . . . . . . . . . . . . . . . . . . . . . . . 8-23
Set up Camera View (Optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-38
vi Contents
Run Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-41
vii
1
Getting Started
1 Getting Started
Vehicle Dynamics Blockset Product Description

Model and simulate vehicle dynamics in a virtual 3D environment
Vehicle Dynamics Blockset™ provides fully assembled reference application models that simulate
driving maneuvers in a 3D environment. You can use the prebuilt scenes to visualize roads, traffic
signs, trees, buildings, and other objects around the vehicle. You can customize the reference models
by using your own data or by replacing a subsystem with your own model. The blockset includes a
library of components for modeling propulsion, steering, suspension, vehicle bodies, brakes, and
tires.
Vehicle Dynamics Blockset provides a standard model architecture that can be used throughout the
development process. It supports ride and handling analyses, chassis controls development, software
integration testing, and hardware-in-the-loop testing. By integrating vehicle dynamics models with a
3D environment, you can test ADAS and automated driving perception, planning, and control
software. These models let you test your vehicle with standard driving maneuvers such as a double
lane change or with your own custom scenarios.
Key Features
• Preassembled vehicle dynamics models for passenger cars and trucks
• Preassembled maneuvers for common ride and handling tests, including a double-lane change
• 3D environment for visualizing simulations and communicating scene information to Simulink®
• Libraries of propulsion, steering, suspension, vehicle body, brake, and tire components
• Combined longitudinal and lateral slip dynamic tire models
• Predictive driver model for generating steering commands that track a predefined path
• Prebuilt 3D scenes, including straight roads, curved roads, and parking lots
1-2
Acknowledgements
Acknowledgements
• Vehicle Dynamics Blockset uses the Unreal® Engine. Unreal® is a trademark or registered
trademark of Epic Games®, Inc. in the United States of America and elsewhere.
Unreal® Engine, Copyright 1998–2021, Epic Games, Inc. All rights reserved.
• Vehicle Dynamics Blockset uses fitted tire data sets provided by the Global Center for Automotive
Performance Simulation (GCAPS). GCAPS uses advanced physical data collection to develop tire
models that cover a broad range of vehicle and environmental conditions.
1-3
1 Getting Started
Required and Recommended Products
Required Products
Vehicle Dynamics Blockset product requires current versions of these products:
• MATLAB
• Simulink
Recommended Products
You can extend the capabilities of the Vehicle Dynamics Blockset using the following recommended
products.
Goal Recommended Products

Model events Stateflow®
Test closed-loop perception, planning, Automated Driving Toolbox™
and control algorithms
RoadRunner
Test vehicle-level integration Powertrain Blockset™
Optimize vehicle energy consumption,

ride and handling
Generate optimized suspension Model-Based Calibration Toolbox™
parameters
Simscape™ Multibody™
See Also
More About
• “3D Visualization Engine Requirements and Limitations” on page 8-6
1-4
Engine Calibration Maps

Calibration maps are a key part of the Mapped CI Engine and Mapped SI Engine blocks available in
the Vehicle Dynamics Blockset. Engine models use the maps to represent engine behavior and to
store optimal control parameters. Using calibration maps in control design leads to flexible, efficient
control algorithms and estimators that are suitable for electronic control unit (ECU) implementation.
To develop the calibration maps for engine plant models in the reference applications, MathWorks®
developed and used processes to measure performance data from 1.5–L spark-ignition (SI) and
compression-ignition (CI) engine models provided by Gamma Technologies LLC.
To represent the behavior of engine plants specific to your application, you can develop your own
engine calibration maps. The data required for calibration typically comes from engine dynamometer
tests or engine hardware design models.
Engine Plant Calibration Maps

The engine plant model calibration maps in the Mapped CI Engine and Mapped SI Engine blocks
affect the engine response to control inputs (for example, spark timing, throttle position, and cam
phasing).
To develop the calibration maps in the engine plant models, MathWorks used GT-POWER models from
the GT-SUITE modeling library in a Simulink-based virtual dynamometer. MathWorks used the Model-
Based Calibration Toolbox to create design-of-experiment (DoE) test plans. The Simulink-based virtual
dynamometer executed the DoE test plan on GT-POWER 1.5–L SI and CI reference engines.
MathWorks used the Model-Based Calibration Toolbox to develop the engine plant model calibration
maps from the GT-POWER.
Calibration Maps in the Mapped CI Engine Block
The Mapped CI Engine block implements these calibration maps.
1-5
1 Getting Started
Map Used For In Description

Engine brake Engine brake Mapped CI The engine brake torque lookup table is a function of
torque torque as a Engine commanded fuel mass and engine speed, Tbrake = ƒ(F,
function of N), where:
commanded
fuel mass and • Tbrake is engine torque, in N·m.
engine speed • F is commanded fuel mass, in mg per injection.
• N is engine speed, in rpm.
Engine air Engine air mass Mapped CI The air mass flow lookup table is a function of
mass flow flow as a Engine commanded fuel mass and engine speed, ṁintk =
function of ƒ(Fmax, N), where:
commanded
fuel mass and • ṁintk is engine air mass flow, in kg/s.
engine speed
• Fmax is commanded fuel mass, in mg per injection.
1-6

Engine fuel Engine fuel flow Mapped CI The engine fuel flow lookup table is a function of
flow as a function of Engine commanded fuel mass and engine speed, MassFlow=
commanded ƒ(F, N), where:
fuel mass and
engine speed • MassFlow is engine fuel mass flow, in kg/s.
• F is commanded fuel mass, in mg per injection.
Engine Engine exhaust Mapped CI The engine exhaust temperature table is a function of
exhaust temperature as Engine commanded fuel mass and engine speed, Texh= ƒ(F, N),
temperature a function of where:
commanded
fuel mass and • Texhis exhaust temperature, in K.
1-7
1 Getting Started

Brake-specific BSFC efficiency Mapped CI The brake-specific fuel consumption (BSFC) efficiency
fuel as a function of Engine is a function of commanded fuel mass and engine
consumption commanded speed, BSFC= ƒ(F, N), where:
(BSFC) fuel mass and
efficiency engine speed • BSFC is BSFC, in g/kWh.
Engine-out EO hydrocarbon Mapped CI The engine-out hydrocarbon emissions are a function

(EO) emissions as a Engine of commanded fuel mass and engine speed, EO HC=
hydrocarbon function of ƒ(F, N), where:
emissions commanded
fuel mass and • EO HC is engine-out hydrocarbon emissions, in
engine speed kg/s.
1-8

Engine-out EO carbon Mapped CI The engine-out carbon monoxide emissions are a
(EO) carbon monoxide Engine function of commanded fuel mass and engine speed,
monoxide emissions as a EO CO= ƒ(F, N), where:
emissions function of
commanded • EO CO is engine-out carbon monoxide emissions, in
fuel mass and kg/s.
Engine-out EO nitric oxide Mapped CI The engine-out nitric oxide and nitrogen dioxide
(EO) nitric and nitrogen Engine emissions are a function of commanded fuel mass and
oxide and dioxide engine speed, EO NOx= ƒ(F, N), where:
nitrogen emissions as a
dioxide function of • EO NOx is engine-out nitric oxide and nitrogen
commanded dioxide emissions, in kg/s.
fuel mass and • F is commanded fuel mass, in mg per injection.
engine speed • N is engine speed, in rpm.
1-9
1 Getting Started

Engine-out EO carbon Mapped CI The engine-out carbon dioxide emissions are a
(EO) carbon dioxide Engine function of commanded fuel mass and engine speed,
dioxide emissions as a EO CO2= ƒ(F, N), where:
commanded • EO CO2 is engine-out carbon dioxide emissions, in
fuel mass and kg/s.
Calibration Maps in the Mapped SI Engine Block
The Mapped SI Engine block implements these calibration maps.

Engine torque Engine brake Mapped SI The engine torque lookup table is a function of
torque as a Engine commanded engine torque and engine speed, T =
function of ƒ(Tcmd, N), where:
commanded
torque and • T is engine torque, in N·m.
engine speed • Tcmd is commanded engine torque, in N·m.
1-10

Engine air Engine air mass Mapped SI The engine air mass flow lookup table is a function of
mass flow flow as a Engine commanded engine torque and engine speed, ṁintk =
function of ƒ(Tcmd, N), where:
commanded
torque and • ṁintk is engine air mass flow, in kg/s.
engine speed
• Tcmd is commanded engine torque, in N·m.
Engine fuel Engine fuel flow Mapped SI The engine fuel mass flow lookup table is a function of
flow as a function of Engine commanded engine torque and engine speed,
commanded MassFlow = ƒ(Tcmd, N), where:
torque mass
and engine • MassFlow is engine fuel mass flow, in kg/s.
speed • Tcmd is commanded engine torque, in N·m.
1-11
1 Getting Started

Engine Engine exhaust Mapped SI The engine exhaust temperature lookup table is a
exhaust temperature as Engine function of commanded engine torque and engine
temperature a function of speed, Texh = ƒ(Tcmd, N), where:
commanded
torque and • Texh is exhaust temperature, in K.
Brake-specific Brake-specific Mapped SI The brake-specific fuel consumption (BSFC) efficiency

fuel fuel Engine is a function of commanded engine torque and engine
consumption consumption speed, BSFC = ƒ(Tcmd, N), where:
(BSFC) (BSFC) as a
efficiency function of • BSFC is BSFC, in g/kWh.
commanded • Tcmd is commanded engine torque, in N·m.
torque and • N is engine speed, in rpm.
engine speed
1-12

Engine-out EO hydrocarbon Mapped SI The engine-out hydrocarbon emissions are a function
(EO) emissions as a Engine of commanded engine torque and engine speed, EO
hydrocarbon function of HC = ƒ(Tcmd, N), where:
emissions commanded
torque and • EO HC is engine-out hydrocarbon emissions, in
engine speed kg/s.
• Tcmd is commanded engine torque, in N·m.
Engine-out EO carbon Mapped SI The engine-out carbon monoxide emissions are a

(EO) carbon monoxide Engine function of commanded engine torque and engine
monoxide emissions as a speed, EO CO = ƒ(Tcmd, N), where:
commanded • EO CO is engine-out carbon monoxide emissions, in
torque and kg/s.
1-13
1 Getting Started

Engine-out EO nitric oxide Mapped SI The engine-out nitric oxide and nitrogen dioxide
(EO) nitric and nitrogen Engine emissions are a function of commanded engine torque
oxide and dioxide and engine speed, EO NOx = ƒ(Tcmd, N), where:
nitrogen emissions as a
dioxide function of • EO NOx is engine-out nitric oxide and nitrogen
emissions commanded dioxide emissions, in kg/s.
torque and • Tcmd is commanded engine torque, in N·m.
engine speed • N is engine speed, in rpm.
Engine-out EO carbon Mapped SI The engine-out carbon dioxide emissions are a

(EO) carbon dioxide Engine function of commanded engine torque and engine
dioxide emissions as a speed, EO CO2 = ƒ(Tcmd, N), where:
commanded • EO CO2 is engine-out carbon dioxide emissions, in
torque and kg/s.
See Also
Mapped CI Engine | Mapped SI Engine
1-14
External Websites
• Virtual Engine Calibration: Making Engine Calibration Part of the Engine Hardware Design
Process
1-15
1 Getting Started
Yaw Stability on Varying Road Surfaces

This example shows how to run the vehicle dynamics double-lane change maneuver on different road
surfaces, analyze the vehicle yaw stability, and determine the maneuver success.
ISO 3888-2 defines the double-lane change maneuver to test the obstacle avoidance performance of a
vehicle. In the test, the driver:
• Accelerates until vehicle hits a target velocity

• Releases the accelerator pedal
• Turns steering wheel to follow path into the left lane
• Turns steering wheel to follow path back into the right lane
Typically, cones mark the lane boundaries. If the vehicle and driver can negotiate the maneuver
without hitting a cone, the vehicle passes the test.
For more information about the reference application, see “Double-Lane Change Maneuver” on page
3-14.
helpersetupdlc;
Run a Double-Lane Change Maneuver
1. Open the Lane Change Reference Generator block. By default, the maneuver is set with these
parameters:
• Longitudinal entrance velocity setpoint — 35 mph

• Vehicle width — 2 m
• Lateral reference position breakpoints and Lateral reference data — Values that specify the
lateral reference trajectory as a function of the longitudinal distance
1-16
2. In the Visualization subsystem, open the 3D Engine block. By default, the 3D Engine parameter is
set to Disabled. For the 3D visualization engine platform requirements and hardware
recommendations, see the “3D Visualization Engine Requirements and Limitations” on page 8-6.
3. Run the maneuver. As the simulation runs, view the vehicle information.
mdl = 'DLCReferenceApplication';
sim(mdl);
### Starting serial model reference simulation build

Warning: method not found.
### Successfully updated the model reference simulation target for: Driveline
### Successfully updated the model reference simulation target for: PassVeh14DOF
### Successfully updated the model reference simulation target for: SiMappedEngineV
Build Summary
Simulation targets built:
Model Action Rebuild Reason

==========================================================================================
Driveline Code generated and compiled Driveline_msf.mexw64 does not exist.
PassVeh14DOF Code generated and compiled PassVeh14DOF_msf.mexw64 does not exist.
SiMappedEngineV Code generated and compiled SiMappedEngineV_msf.mexw64 does not exist.
3 of 3 models built (0 models already up to date)

Build duration: 0h 4m 10.411s
1-17
1 Getting Started
• In the Vehicle Position window, view the vehicle longitudinal distance as a function or the lateral
distance.
• In the Visualization subsystem, open the Lane Change scope block to display the lateral
displacement as a function of time. The red and orange lines mark the cone boundaries. The blue
line marks the reference trajectory and the green line marks the actual trajectory. The green line
does come close to the red line that marks the cones.
1-18
• In the Visualization subsystem, if you enable the 3D Engine block visualization environment, you
can view the vehicle response in the AutoVrtlEnv window.
Sweep Surface Friction
Run the reference application on three road surfaces with different friction scaling coefficients. Use
the results to analyze the yaw stability and help determine the success of the maneuver.
1. In the double-lane change reference application model DLCReferenceApplication, open the

Environment subsystem. The Friction block parameter Constant value specifies the friction scaling
coefficient. By default, the friction scaling coefficient is 1.0. The reference application uses the
coefficient to adjust the friction at every time step.
2. Enable signal logging for the velocity, lane, and ISO signals. You can use the Simulink® editor or,
alternatively, these MATLAB® commands. Save the model.
• Enable signal logging for the Lane Change Reference Generator outport Lane signal.
1-19
1 Getting Started
ph=get_param('DLCReferenceApplication/Lane Change Reference Generator','PortHandles');
set_param(ph.Outport(1),'DataLogging','on');
• Enable signal logging for the Passenger Vehicle block outport signal.
ph=get_param('DLCReferenceApplication/Passenger Vehicle','PortHandles');
• In the Visualization subsystem, enable signal logging for the ISO block.
set_param([mdl '/Visualization/ISO 15037-1:2006'],'Measurement','Enable');
3. Set up a vector with the friction scaling coefficients, lambdamu, that you want to investigate. For
example, to examine friction scaling coefficients equal to 0.9, 0.95, and 1.0, at the command line
enter:
1-20
lambdamu = [0.9, 0.95, 1.0];

numExperiments = length(lambdamu);
4. Create an array of simulation inputs that sets lambdamu equal to the Friction constant block
parameter.
for idx = numExperiments:-1:1

in(idx) = Simulink.SimulationInput(mdl);
in(idx) = in(idx).setBlockParameter([mdl '/Environment/Friction'],...
'Value',['ones(4,1).*',num2str(lambdamu(idx))]);
end
5. Set the simulation stop time at 25 s. Save the model and run the simulations. If available, use
parallel computing.
set_param(mdl,'StopTime','25')
save_system(mdl)
tic;
simout = parsim(in,'ShowSimulationManager','on');
toc;
[17-Dec-2020 13:57:24] Checking for availability of parallel pool...

[17-Dec-2020 13:57:24] Starting Simulink on parallel workers...
[17-Dec-2020 13:57:25] Loading project on parallel workers...
[17-Dec-2020 13:57:25] Configuring simulation cache folder on parallel workers...
[17-Dec-2020 13:57:25] Loading model on parallel workers...
[17-Dec-2020 13:57:45] Running simulations...
[17-Dec-2020 13:58:19] Completed 1 of 3 simulation runs
[17-Dec-2020 13:59:11] Cleaning up parallel workers...
Elapsed time is 120.449498 seconds.
1-21
1 Getting Started
6. After the simulations complete, close the Simulation Data Inspector windows.
Use Simulation Data Inspector to Analyze Results
Use the Simulation Data Inspector to examine the results. You can use the UI or, alternatively,
command-line functions.
1. Open the Simulation Data Inspector. On the Simulink Toolstrip, on the Simulation tab, under
Review Results, click Data Inspector.
• In the Simulation Data Inspector, select Import.
• In the Import dialog box, clear logsout. Select simout(1), simout(2), and simout(3).
Select Import.
1-22
• Use the Simulation Data Inspector to examine the results.
2. Alternatively, use these MATLAB commands to create 6 plots. The first three plots mark the upper
lane boundary, UB, lower lane boundary, LB, and lateral vehicle distance, Y, for each run.
The next three plots provide the lateral acceleration, ay, lateral vehicle distance, Y, and yaw rate, r,
for each run.
for idx = 1:numExperiments

% Create sdi run object
simoutRun(idx)=Simulink.sdi.Run.create;
simoutRun(idx).Name=['lambdamu = ', num2str(lambdamu(idx))];
add(simoutRun(idx),'vars',simout(idx));
end
sigcolor=[1 0 0];
% Extract the maneuver upper and lower lane boundaries
ubsignal(idx)=getSignalByIndex(simoutRun(idx),1);
ubsignal(idx).LineColor = sigcolor;
lbsignal(idx)=getSignalByIndex(simoutRun(idx),2);
lbsignal(idx).LineColor = sigcolor;
end
sigcolor=[0 1 0;0 0 1;1 0 1];
% Extract the lateral acceleration, position, and yaw rate
ysignal(idx)=getSignalByIndex(simoutRun(idx),27);
ysignal(idx).LineColor =sigcolor((idx),:);
rsignal(idx)=getSignalByIndex(simoutRun(idx),77);
rsignal(idx).LineColor =sigcolor((idx),:);
asignal(idx)=getSignalByIndex(simoutRun(idx),79);
asignal(idx).LineColor =sigcolor((idx),:);
end
Simulink.sdi.view
Simulink.sdi.setSubPlotLayout(numExperiments,2);
% Plot the lateral position and lane boundaries
plotOnSubPlot(ubsignal(idx),(idx),1,true);
1-23
1 Getting Started
plotOnSubPlot(lbsignal(idx),(idx),1,true);
plotOnSubPlot(ysignal(idx),(idx),1,true);
end
% Plot the lateral acceleration, position, and yaw rate
plotOnSubPlot(asignal(idx),1,2,true);
plotOnSubPlot(ysignal(idx),2,2,true);
plotOnSubPlot(rsignal(idx),3,2,true);
end
The results are similar to these plots, which indicate that the vehicle has a yaw rate of about .66
rad/s when the friction scaling coefficient is equal to 1.
Further Analysis
To explore the results further, use these commands to extract the lateral acceleration, steering angle,
and vehicle trajectory from the simout object.
1. Extract the lateral acceleration and steering angle. Plot the data. The results are similar to this
plot. They indicate that the greatest lateral acceleration occurs when the friction scaling coefficient is
1.
figure
% Extract Data
log = get(simout(idx),'logsout');
sa=log.get('Steering-wheel angle').Values;
ay=log.get('Lateral acceleration').Values;
legend_labels{idx} = ['lambdamu = ', num2str(lambdamu(idx))];
% Plot steering angle vs. lateral acceleration
1-24
plot(sa.Data,ay.Data)
hold on
end
% Add labels to the plots
legend(legend_labels, 'Location', 'best');
title('Lateral Acceleration')
xlabel('Steering Angle [deg]')
ylabel('Acceleration [m/s^2]')
grid on
2. Extract the vehicle path. Plot the data. The results are similar to this plot. They indicate that the
greatest lateral vehicle position occurs when the friction scaling coefficient is 0.9.
figure
% Extract Data
x = log{3}.Values.Body.InertFrm.Cg.Disp.X.Data;
y = log{3}.Values.Body.InertFrm.Cg.Disp.Y.Data;
legend_labels{idx} = ['lambdamu = ', num2str(lambdamu(idx))];
% Plot vehicle location
plot(y,x)
hold on
end
title('Vehicle Path')
xlabel('Y Position [m]')
1-25
1 Getting Started
ylabel('X Position [m]')

grid on
See Also
Simulink.SimulationInput | Simulink.SimulationOutput
References
[1] ISO 3888-2: 2011. Passenger cars — Test track for a severe lane-change manoeuvre.
See Also
Related Examples
• “Send and Receive Double-Lane Change Scene Data” on page 3-81
More About
• “Double-Lane Change Maneuver” on page 3-14
• “How 3D Simulation for Vehicle Dynamics Blockset Works” on page 8-8
• Simulation Data Inspector
1-26
Vehicle Steering Gain at Different Speeds

This example shows how to use the vehicle dynamics slowly increasing steering reference application
to analyze the impact of the steering angle and speed on vehicle handling. Specifically, you can
calculate the steering gain when you run the maneuver with different speed set points. Based on the
constant speed, variable steer test defined in SAE J266, the slowly increasing steering maneuver
helps characterize the lateral dynamics of the vehicle. In the test, the driver:
• Accelerates until vehicle hits a target velocity.

• Maintains a target velocity.
• Linearly increases the steering wheel angle from 0 degrees to a maximum angle.
• Maintains the steering wheel angle for a specified time.
• Linearly decreases the steering wheel angle from maximum angle to 0 degrees.
For more information about the reference application, see “Slowly Increasing Steering Maneuver” on
page 3-43.
helpersetupsis;
Run a Slowly Increasing Steering Maneuver
1. Open the Swept Sine Reference Generator block. By default, the maneuver is set with these
parameters:
• Longitudinal speed setpoint — 50 mph

• Handwheel rate — 13.5 deg
• Maximum handwheel angle — 270 deg
1-27
1 Getting Started
3. Run the maneuver with the default settings. As the simulation runs, view the vehicle information.
mdl = 'ISReferenceApplication';
sim(mdl);

Build Summary

==========================================================================================

1-28
distance. The yellow line displays the yaw rate. The blue line shows the steering angle.
• In the Visualization subsystem, open the Yaw Rate and Steer Scope block to display the yaw rate
and steering angle versus time.
1-29
1 Getting Started
Sweep Speed Set Points
Run the slowly increasing steering angle reference application with three different speed set points.
1. In the slowly increasing steering reference application model ISReferenceApplication, open the
Slowly Increasing Steer block. The Longitudinal speed set point, xdot_r block parameter sets the
vehicle speed. By default, the speed is 50 mph.
• Enable signal logging for the Slowly Increasing Steer Ref signal outport.
1-30
mdl = 'ISReferenceApplication';
ph=get_param('ISReferenceApplication/Slowly Increasing Steer','PortHandles');
ph=get_param('ISReferenceApplication/Passenger Vehicle','PortHandles');
3. Set up a speed set point vector, xdot_r, that you want to investigate. For example, at the
command line, type:
vmax = [45, 50, 55];
numExperiments = length(vmax);
4. Create an array of simulation inputs that set the Swept Sine Reference Generator block parameter
Steering amplitude, theta_hw equal to amp.
in(idx) = in(idx).setBlockParameter([mdl '/Slowly Increasing Steer'], ...
'xdot_r', num2str(vmax(idx)));
end
5. Save the model and run the simulations. If available, use parallel computing.
save_system(mdl)
tic;
1-31
1 Getting Started
toc;

Select Import.
1-32
2. Alternatively, use these MATLAB commands to plot the longitudinal velocity, steering wheel angle,
lateral acceleration, longitudinal position, and lateral position.

simoutRun(idx).Name=['Velocity = ', num2str(vmax(idx))];
end
sigcolor=[0 1 0;0 0 1;1 0 1];
% Extract the lateral acceleration, position, and steering
xsignal(idx)=getSignalByIndex(simoutRun(idx),22);
xsignal(idx).LineColor =sigcolor((idx),:);
msignal(idx)=getSignalByIndex(simoutRun(idx),255);
msignal(idx).LineColor =sigcolor((idx),:);
ssignal(idx)=getSignalByIndex(simoutRun(idx),251);
ssignal(idx).LineColor =sigcolor((idx),:);
end
Simulink.sdi.view
Simulink.sdi.setSubPlotLayout(5,1);
% Plot the lateral position, steering angle, and lateral acceleration
plotOnSubPlot(msignal(idx),1,1,true);
plotOnSubPlot(ssignal(idx),2,1,true);
plotOnSubPlot(xsignal(idx),4,1,true);
end
The results are similar to these plots, which indicate that the greatest lateral acceleration occurs
when the vehicle velocity is 45 mph.
1-33
1 Getting Started
Further Analysis
plot.
figure
1-34
% Extract Data
firstorderfit = polyfit(sa.Data,ay.Data,1);
gain(idx)=firstorderfit(1);
legend_labels{idx} = [num2str(vmax(idx)), ' mph: Gain = ', ...
num2str(gain(idx)), ' m/(deg s^2)'];
hold on
end
grid on
2. Extract the vehicle path. Plot the data. The results are similar to this plot.
figure
% Extract Data
legend_labels{idx} = [num2str(vmax(idx)), ' mph'];
1-35
1 Getting Started

axis('equal')
plot(y,x)
hold on
end
grid on
References
[1] SAE J266. Steady-State Directional Control Test Procedures For Passenger Cars and Light Trucks.
Warrendale, PA: SAE International, 1996.
See Also
Simulink.SimulationInput | Simulink.SimulationOutput | polyfit
More About
• “Slowly Increasing Steering Maneuver” on page 3-43
1-36
1-37
1 Getting Started
Vehicle Lateral Acceleration at Different Speeds

This example shows how to use the vehicle dynamics constant radius reference application to analyze
the impact of speed on the vehicle lateral dynamics. Specifically, you can examine the lateral
acceleration when you run the maneuver with different speeds. For information about similar
maneuvers, see standards SAE J266_199601 and ISO 4138:2012.
During the maneuver, the vehicle uses a predictive driver model to maintain a pre-specified turn
radius at a set velocity.
For more information about the reference application, see “Constant Radius Maneuver” on page 3-
54.
helpersetupcr;
Run a Constant Radius Maneuver
1. Open the Reference Generator block. By default, the maneuver is set with these parameters:
• Maneuver — Constant radius

• Use maneuver-specific driver, initial position, and scene — on
• Longitudinal velocity — 35 mph
• Radius value — 100 m
2. Select the Reference Generator block 3D Engine tab. By default, the 3D Engine parameter is
Disabled. For the 3D visualization engine platform requirements and hardware recommendations,
see the “3D Visualization Engine Requirements and Limitations” on page 8-6.
1-38
mdl = 'CRReferenceApplication';
sim(mdl);

Build Summary

==========================================================================================

1-39
1 Getting Started
distance. The yellow line displays the yaw rate. The blue line shows the steering angle.
• In the Visualization subsystem, open the Steer, Velocity, Lat Accel Scope block to display the
steering angle, velocity, and lateral acceleration versus time.
Sweep Speed
Run the constant radius reference application with three different speeds. Stop the simulation if the
vehicle exceeds a lateral acceleration threshold of .5 g.
1. In the slowly increasing steering reference application model CRReferenceApplication, open the
Reference Generator block. The Longitudinal speed set point, xdot_r block parameter sets the
vehicle speed. By default, the speed is 50 mph.
• Select the Reference Generator block Stop simulation at lateral acceleration threshold
parameter.
set_param([mdl '/Reference Generator'],'cr_ay_stop','on');
1-40
• Enable signal logging for the Reference Generator Vis signal outport.
ph=get_param('CRReferenceApplication/Reference Generator','PortHandles');
ph=get_param('CRReferenceApplication/Passenger Vehicle','PortHandles');
1-41
1 Getting Started
3. Set up a speed set point vector, xdot_r, that you want to investigate. For example, at the command
line, type:
vmax = [35, 40, 45];

numExperiments = length(vmax);
4. Create an array of simulation inputs that set the Reference Generator block parameter
Longitudinal velocity reference, xdot_r equal to xdot_r.

in(idx) = in(idx).setBlockParameter([mdl '/Reference Generator'], ...
'xdot_r', num2str(vmax(idx)));
end
save_system(mdl)
tic;
toc;

6. Close the Simulation Data Inspector windows.
• In the Import dialog box, clear logsout. Select simout(1), simout(2), and simout(3). Select
Import.
1-42
2. Alternatively, use these MATLAB commands to plot the longitudinal velocity, lateral acceleration,
and the steering wheel angle.

simoutRun(idx).Name=['Velocity = ', num2str(vmax(idx))];
end
sigcolor=[0 1 0;0 0 1;1 0 1];
msignal(idx)=getSignalByIndex(simoutRun(idx),265);
msignal(idx).LineColor =sigcolor((idx),:);
end
Simulink.sdi.view
plotOnSubPlot(msignal(idx),2,1,true);
end
when the vehcile velocity is 45 mph.
1-43
1 Getting Started
Further Analysis
plot.
figure
% Extract Data
firstorderfit = polyfit(sa.Data,ay.Data,1);
gain(idx)=firstorderfit(1);
legend_labels{idx} = [num2str(vmax(idx)), ' mph: Gain = ', ...
num2str(gain(idx)), ' m/(deg s^2)'];
hold on
1-44
end
grid on
figure
% Extract Data
legend_labels{idx} = [num2str(vmax(idx)), ' mph'];
axis('equal')
plot(y,x)
hold on
end
grid on
1-45
1 Getting Started
References
[1] J266_199601. Steady-State Directional Control Test Procedures for Passenger Cars and Light
Trucks. Warrendale, PA: SAE International, 1996.
[2] ISO 4138:2012. Passenger cars -- Steady-state circular driving behaviour -- Open-loop test
methods. ISO (International Organization for Standardization), 2012.
See Also
Simulink.SimulationInput | Simulink.SimulationOutput | polyfit
More About
• “Constant Radius Maneuver” on page 3-54
1-46
Frequency Response to Steering Angle Input

This example shows how to use the vehicle dynamics swept-sine steering reference application to
analyze the dynamic steering response to steering inputs. Specifically, you can examine the vehicle
frequency response and lateral acceleration when you run the maneuver with different sinusoidal
wave steering amplitudes.
The swept-sine steering maneuver tests the vehicle frequency response to steering inputs. In the test,
the driver:
• Accelerates until the vehicle hits a target velocity.

• Commands a sinusoidal steering wheel input.
• Linearly increase the frequency of the sinusoidal wave.
For more information about the reference application, see “Swept-Sine Steering Maneuver” on page
3-32.
helpersetupsss;
Run a Swept-Sine Steering Maneuver
1. Open the Swept Sine Reference Generator block. By default, the maneuver is set with these
parameters:
• Longitudinal velocity setpoint — 30 mph

• Steering amplitude — 90 deg
• Final frequency — 0.7 Hz
1-47
1 Getting Started
mdl = 'SSSReferenceApplication';
sim(mdl);

Build Summary

==========================================================================================

1-48
distance. The yellow line is the yaw rate. The blue line is the steering angle.
• In the Visualization subsystem, open the Yaw Rate and Steer Scope block to display the yaw rate
and steering angle versus time.
1-49
1 Getting Started
Sweep Steering
Run the reference application with three different sinusoidal wave steering amplitudes.
1. In the swept-sine steering reference application model SSSReferenceApplication, open the Swept
Sine Reference Generator block. The Steering amplitude, theta_hw block parameter sets the
amplitude. By default, the amplitude is 90 deg.
• Enable signal logging for the Lane Change Reference Generator outport Lane signal.
1-50
mdl = 'SSSReferenceApplication';
open_system(mdl);
ph=get_param('SSSReferenceApplication/Swept Sine Reference Generator','PortHandles');
ph=get_param('SSSReferenceApplication/Passenger Vehicle','PortHandles');
3. Set up a steering amplitude vector, amp, that you want to investigate. For example, at the
command line, type:
amp = [60, 90, 120];

numExperiments = length(amp);
4. Create an array of simulation inputs that set the Swept Sine Reference Generator block parameter
Steering amplitude, theta_hw equal to amp.

in(idx) = in(idx).setBlockParameter([mdl '/Swept Sine Reference Generator'],...
'theta_hw',num2str(amp(idx)));
end
1-51
1 Getting Started
save_system(mdl)
tic;
toc;

Select Import.
1-52
2. Alternatively, use these MATLAB commands to plot data for each run. For example, use these
commands to plot the lateral position, steering wheel angle, and lateral acceleration. The results are
similar to these plots, which show the results for each run.

simoutRun(idx).Name=['Amplitude = ', num2str(amp(idx))];
end
sigcolor=[0 1 0;0 0 1;1 0 1];
end
Simulink.sdi.view
end
when the steering amplitude is 120 deg.
1-53
1 Getting Started
Further Analysis
plot.
figure
% Extract Data
legend_labels{idx} = ['amplitude = ', num2str(amp(idx)), '^{\circ}'];
1-54
hold on
end
grid on
figure
% Extract Data
legend_labels{idx} = ['amplitude = ', num2str(amp(idx)), '^{\circ}'];
axis('equal')
plot(y,x)
hold on
end
1-55
1 Getting Started

grid on
See Also
Simulink.SimulationInput | Simulink.SimulationOutput | fft
More About
• “Fourier Analysis and Filtering”
• “Swept-Sine Steering Maneuver” on page 3-32
1-56
2
Coordinate Systems
2 Coordinate Systems
Coordinate Systems in Vehicle Dynamics Blockset

Vehicle Dynamics Blockset uses these coordinate systems to calculate the vehicle dynamics and
position objects in the 3D visualization environment.
Environment Description Coordinate Systems

Vehicle dynamics The right-hand rule establishes the X-Y-Z “Earth-Fixed (Inertial)
in Simulink sequence and rotation of the coordinate axes Coordinate System” on page 2-
used to calculate the vehicle dynamics. The 2
Vehicle Dynamics Blockset 3D simulation
environment uses these right-handed (RH) “Vehicle Coordinate System” on
Cartesian coordinate systems defined in the SAE page 2-3
J670[2] and ISO 8855[3] standards:
“Tire and Wheel Coordinate
• Earth-fixed (inertial) Systems” on page 2-3
• Vehicle
• Tire
• Wheel
The coordinate systems can have either

orientation:
• Z-down — Defined in SAE J670[2]

• Z-up — Defined in SAE J670[2] and ISO 8855[3]
3D visualization To position objects and query the 3D visualization “World Coordinate System” on
engine environment, the Vehicle Dynamics Blockset uses page 2-5
a world coordinate system.
Earth-Fixed (Inertial) Coordinate System

The earth-fixed coordinate system (XE, YE, ZE) axes are fixed in an inertial reference frame. The
inertial reference frame has zero linear and angular acceleration and zero angular velocity. In
Newtonian physics, the earth is an inertial reference.
2-2
Axis Description
XE The XE axis is in the forward direction of the vehicle.
YE
The XE and YE axes are parallel to the ground plane. The ground plane is a
horizontal plane normal to the gravitational vector.
ZE In the Z-up orientation, the positive ZE axis points upward.
In the Z-down orientation, the positive ZE axis points downward.
Vehicle Coordinate System

The vehicle coordinate system axes (XV, YV, ZV) are fixed in a reference frame attached to the vehicle.
The origin is at the vehicle sprung mass.
Z-Down Orientation
Axis Description
XV The XV axis points forward and is parallel to the vehicle plane of symmetry.
YV The YV axis is perpendicular to the vehicle plane of symmetry.
ZV
In the Z-down orientation:
• YV axis points to the right

• ZV axis points downward
Tire and Wheel Coordinate Systems

The tire coordinate system axes (XT, YT, ZT) are fixed in a reference frame attached to the tire. The
origin is at the tire contact with the ground.
The wheel coordinate system axes (XW, YW, ZW) are fixed in a reference frame attached to the wheel.
The origin is at the wheel center.
Z-Up Orientation1
2-3
Z-Down Orientation
Axis Description
XT XT and YT are parallel to the road plane. The intersection of the wheel plane and
YT the road plane define the orientation of the XT axis.
ZT ZT points:
• Upward in the Z-up orientation

• Downward in the Z-down orientation
XW XW and YW are parallel to the wheel plane:
1. Reprinted with permission Copyright © 2008 SAE International. Further distribution of this material is not permitted
without prior permission from SAE.
2-4
Axis Description
YW • XW is parallel to the local road plane.
• YW is parallel to the wheel-spin axis.
ZW ZW points:
• Upward in the Z-up orientation

• Downward in the Z-down orientation
World Coordinate System

The 3D visualization environment uses a world coordinate system with axes that are fixed in the
inertial reference frame.
Axis Description
X Forward direction of the vehicle
Roll — Right-handed rotation about X-axis

Y Extends to the right of the vehicle, parallel to the ground plane
Pitch — Right-handed rotation about Y-axis

Z Extends upwards
Yaw — Left-handed rotation about Z-axis
References
[1] Gillespie, Thomas. Fundamentals of Vehicle Dynamics. Warrendale, PA: Society of Automotive
Engineers, 1992.
[2] Vehicle Dynamics Standards Committee. Vehicle Dynamics Terminology. SAE J670. Warrendale,
PA: Society of Automotive Engineers, 2008.
[3] Technical Committee. Road vehicles — Vehicle dynamics and road-holding ability — Vocabulary.
ISO 8855:2011. Geneva, Switzerland: International Organization for Standardization, 2011.
2-5
See Also
More About
• “Coordinate Systems in Automated Driving Toolbox” (Automated Driving Toolbox)
External Websites
• SAE International Standards
• ISO Standards
2-6
3
Reference Applications
3 Reference Applications
Passenger Vehicle Dynamics Models

To analyze the dynamic system response in common ride and handling maneuvers, Vehicle Dynamics
Blockset provides these pre-assembled vehicle dynamics models.
Vehicle Description Vehicle Body Degrees-of-Freedom Wheel DOFs

Model (DOFs)
Passenger • Vehicle Six Two per wheel - eight total
14DOF with four
Vehicle wheels Translational Rotational Translational Rotational
• Available as Longitudinal ✓ Pitch ✓ Vertical ✓ Rolling ✓
model Lateral ✓ Yaw ✓
variant in
the Vertical ✓ Roll ✓
maneuver
reference
applications
Passenger • Vehicle Three One per wheel - four total
7DOF with four
Vehicle wheels Translational Rotational Rotational
• Available as Longitudinal ✓ Pitch Rolling ✓
model Lateral ✓ Yaw ✓
variant in
the Vertical Roll
maneuver
reference
applications
Passenger • Vehicle Three None
3DOF with ideal
Vehicle tire Translational Rotational
Longitudinal ✓ Pitch
Lateral ✓ Yaw ✓
Vertical Roll
From the Simulink start page, you can open project files that contain the vehicle models.
3-2
Passenger Vehicle Dynamics Models
See Also
Vehicle Body 3DOF | Vehicle Body 6DOF
More About
• “Coordinate Systems in Vehicle Dynamics Blockset” on page 2-2
• “Vehicle Reference Applications”
3-3
Braking Test
This reference application represents a full vehicle dynamics model undergoing a braking test,
including a split-mu test. You can create your own versions, establishing a framework to test that
your vehicle meets the design requirements under normal and extreme driving conditions. Use this
reference application in ride and handling studies and chassis controls development to characterize
the vehicle dynamics during a braking test. For information about this and similar maneuvers, see
standards SAE J299_2009014 and ISO 21994:20075.
To test advanced driver assistance systems (ADAS) and automated driving (AD) perception, planning,
and control software, you can run the maneuver in a 3D environment. For the 3D visualization engine
platform requirements and hardware recommendations, see “3D Visualization Engine Requirements
and Limitations” on page 8-6.
To create and open a working copy of the constant radius reference application, enter
vdynblksBrakingStart
This table summarizes the blocks and subsystems in the reference application. Some subsystems
contain variants.
Reference Application Description Variants

Element
Straight Maneuver Generates accelerator and brake commands to conduct a ✓
Reference Generator straight line maneuver. The acceleration begins at the specified
rate until the vehicle achieves the longitudinal velocity setpoint.
The vehicle controller maintains the longitudinal velocity
setpoint for the specified time or distance. The controller then
decelerates the vehicle.
Optionally, specify fault conditions before braking during a split-

mu test. If the vehicle speed, steering angle, or yaw rate is not
within the allowable range before braking, the block sets a fault
condition. The default values represent compliance with ISO
145126.
Driver Commands Implements the driver model that the reference application ✓
uses to generate acceleration, braking, gear, and steering
commands.
By default, Driver Commands subsystem variant is the

Predictive Driver block.
Environment Implements wind and road forces, including a constant or split ✓
friction coefficient scaling factor.
Controllers Implements controllers for engine control units (ECUs), ✓
transmissions, anti-lock braking systems (ABS), and active
differentials.
3-4
Braking Test

Element
Passenger Vehicle Implements the: ✓
• Body, suspension, and wheels

• Engine
• Steering, transmission, driveline, and brakes
Visualization Provides the vehicle trajectory, driver response, and 3D ✓
visualization.
To enable 3D visualization, set the 3D Engine block parameter

3D Engine parameter to Enabled.
For the minimum 3D visualization environment hardware

requirements, see “3D Visualization Engine Requirements and
Limitations” on page 8-6.
To override the default variant, on the Modeling tab, in the Design section, click the drop-down. In
the General section, select Variant Manager. In the Variant Manager, navigate to the variant that
you want to use. Right-click and select Override using this Choice.
Straight Maneuver Reference Generator

The Straight Maneuver Reference Generator block generates accelerator and brake commands to
conduct a straight line maneuver. The acceleration begins at the specified rate until the vehicle
achieves the longitudinal velocity setpoint. The vehicle controller maintains the longitudinal velocity
setpoint for the specified time or distance. The controller then decelerates the vehicle.
Use the Maneuver Parameters to specify the maneuver start time, velocity setpoint, acceleration,
and deceleration.
Optionally, on the Tracking Parameters tab, select Enable fault tracking before braking. Use the
parameters to specify fault conditions before braking during a split-mu test. If the vehicle speed,
steering angle, or yaw rate is not within the allowable range before braking, the block sets a fault
condition. The default values represent compliance with ISO 145126.
For more information, see Straight Maneuver Reference Generator.
Driver Commands
The Driver Commands block implements the driver model that the reference application uses to
generate acceleration, braking, gear, and steering commands. By default, if you select the Reference
Generator block parameter Use maneuver-specific driver, initial position, and scene, the
reference application selects the driver for the maneuver that you specified.
3-5
Vehicle Command Implementation

Mode Setting
Longitudinal Driver Longitudinal Driver block — Longitudinal speed-tracking controller. Based
on reference and feedback velocities, the block generates normalized
acceleration and braking commands that can vary from 0 through 1. Use
the block to model the dynamic response of a driver or to generate the
commands necessary to track a longitudinal drive cycle.
Predictive Driver Predictive Driver block — Controller that generates normalized steering,
acceleration, and braking commands to track longitudinal velocity and a
lateral reference displacement. The normalized commands can vary
between -1 to 1. The controller uses a single-track (bicycle) model for
optimal single-point preview control.
Open Loop Implements an open-loop system so that you can configure the reference
application for constant or signal-based steering, acceleration, braking,
and gear command input.
Environment
The Environment subsystem implements wind and road forces, including a constant or split friction
coefficient scaling factor.
Use the Road Track Friction block Type of surface parameter to specify the friction coefficient
scaling factor:
• Constant friction coefficient scaling factor — Constant surface friction during the
maneuver
• Split friction coefficient scaling factor — Two friction coefficients
Select this option to specify the friction scaling coefficients for a split-mu braking test. Use the
enabled parameters to set the ground friction and rectangular surface friction coefficient scaling
factors.
For more information, see Road Track Friction.
The reference application has these ground feedback variants.
Environment Variant Description

Ground Feedback 3D Engine Uses Vehicle Terrain Sensor block to implement
ray tracing in 3D environment.
Constant (default) Implements a constant or split friction coefficient
scaling factor based on the Road Track Friction
block output.
Controllers
The Controllers subsystem generates engine torque, transmission gear, brake pressure, and
differential pressure commands.
3-6
Braking Test
ECU
The ECU controller generates the engine torque command. The controller prevents over-revving the
engine by limiting the engine torque command to the value specified by model workspace variable
EngRevLim. By default, the value is 7000 rpm. If the differential torque command exceeds the limited
engine torque command, the ECU sets the engine torque command to the commanded differential
torque.
Transmission Control
The Transmission Controller subsystem generates the transmission gear command. The controller
includes these variants.
Variant Description
Transmission Implements a transmission control module (TCM) that uses Stateflow
Controller logic to generate the gear command based on the vehicle
acceleration, wheel speed, and engine speed.
Driver - No Clutch Open loop transmission control. The controller sets the gear
command to the gear request.
PRNDL Controller Implements a transmission control module (TCM) that uses Stateflow
(default) logic to generate the gear command based on the vehicle
acceleration, brake command, wheel speed, engine speed, and gear
request.
Paddles Implements a paddle controller that uses the vehicle acceleration and
engine speed to generate the gear command.
Brake Pressure Control
The Brake Controller subsystem implements a Brake Pressure Control subsystem to generate the
brake pressure command. The Brake Pressure Control subsystem has these variants.
Variant Description
Bang Bang ABS Implements an ABS feedback controller that switches between two
states to regulate wheel slip. The bang-bang control minimizes the
error between the actual slip and desired slip. For the desired slip,
the controller uses the slip value at which the mu-slip curve reaches a
peak value. This desired slip value is optimal for minimum braking
distance.
Open Loop (default) Open loop brake control. The controller sets the brake pressure
command to a reference brake pressure based on the brake
command.
3-7
Variant Description
Five-State ABS Five-state ABS control when you simulate the maneuver.1,2,3 The five-
state ABS controller uses logic-switching based on wheel deceleration
and vehicle acceleration to control the braking pressure at each
wheel.
Consider using five-state ABS control to prevent wheel lock-up,

decrease braking distance, or maintain yaw stability during the
maneuver.
The default ABS parameters are set to work on roads that have either:
• Constant friction coefficient scaling factor of 0.6.

• Split friction coefficient scaling factors of 0.6 and 0.8.
To specify the road surface, see “Environment” on page 3-6.
Active Differential Control
The Active Differential Control subsystem generates the differential pressure command. To calculate
the command, the subsystem has these variants.
Variant Description
Rear Diff Controller Implements a controller that generates the differential pressure
command based on the:
• Steer angle
• Vehicle pitch, yaw, and roll
• Brake command
• Wheel speed
• Gear
• Vehicle acceleration
No Control (default) Does not implement a controller. Sets the differential pressure
command to 0.
Passenger Vehicle
The Passenger Vehicle subsystem has an engine, controllers, and a vehicle body with four wheels.
Specifically, the vehicle contains these subsystems.
Body, Suspension, Variant Description

Wheels Subsystem
PassVeh7DOF PassVeh7DOF Vehicle with four wheels:
• Vehicle body has three degrees-of-freedom

(DOFs) — Longitudinal, lateral, and yaw
• Each wheel has one DOF — Rolling
3-8
Braking Test

Wheels Subsystem
PassVeh14DOF PassVeh14DOF Vehicle with four wheels.
(default)
• Vehicle body has six DOFs — Longitudinal,
lateral, vertical and pitch, yaw, and roll
• Each wheel has two DOFs — Vertical and
rolling
Engine Subsystem Variant Description

Mapped Engine SiMappedEngine Mapped spark-ignition (SI) engine
(default)
Steering, Transmission, Variant Description

Driveline, and Brakes
Subsystem
Driveline Driveline All Wheel Drive Configure the driveline for all-wheel, front-wheel,
Ideal Fixed model Front Wheel rear-wheel, or rear-wheel active differential drive
Gear Drive and specify the type of torque coupling.
Rear Wheel Drive

Rear Wheel Drive
Active
Differential
(default)
Transmission Ideal (default) Implements an ideal fixed gear transmission.
Brake NA Implements the heuristic response of a hydraulic
Hydraulics system when the controller applies a brake
command to a cylinder. Includes front and rear
wheel bias coefficients. The subsystem converts
the applied pressure to a cylinder spool position.
To generate the brake pressure, the spool applies
a flow downstream to the cylinders.
Visualization
When you run the simulation, the Visualization subsystem provides driver, vehicle, and response
information. The reference application logs vehicle signals during the maneuver, including steering,
vehicle and engine speed, and lateral acceleration. You can use the Simulation Data Inspector to
import the logged signals and examine the data.
Element Description
Driver Commands Driver commands:
• Handwheel angle
• Acceleration command
• Brake command
3-9
Element Description
Vehicle Response Vehicle response:
• Engine speed
• Vehicle speed
• Lateral acceleration
• ABS indicator
• Electronic stability program (ESP) indicator – Indicates when traction
control system (TCS) is active
Steer, Velocity, Lat Accel • SteerAngle — Steering angle versus time
Scope block • <xdot> — Longitudinal vehicle velocity versus time
• <ay> — Lateral acceleration versus time
Vehicle XY Plotter Vehicle longitudinal versus lateral distance
ISO 15037-1:2006 block Display ISO standard measurement signals in the Simulation Data
Inspector, including steering wheel angle and torque, longitudinal and
lateral velocity, and sideslip angle
If you enable 3D visualization on the Reference Generator block 3D Engine tab by selecting
Enabled, you can view the vehicle response in the AutoVrtlEnv window.
To smoothly change the camera views, use these key commands.
Key Camera View

1 Back left
2 Back
3 Back right
4 Left
5 Internal
6 Right
7 Front left
8 Front
9 Front right
3-10
Braking Test
Key Camera View

0 Overhead View Animated GIF
For additional camera controls, use these key commands.
Key Camera Control

Tab Cycle the view between all vehicles in the scene.
View Animated GIF
3-11
Key Camera Control

Mouse scroll wheel Control the camera distance from the vehicle.
View Animated GIF
L Toggle a camera lag effect on or off. When you enable the lag effect, the
camera view includes:
• Position lag, based on the vehicle translational acceleration

• Rotation lag, based on the vehicle rotational velocity
This lag enables improved visualization of overall vehicle acceleration and

rotation.
View Animated GIF
3-12
Braking Test
Key Camera Control

F Toggle the free camera mode on or off. When you enable the free camera
mode, you can use the mouse to change the pitch and yaw of the camera.
This mode enables you to orbit the camera around the vehicle.
View Animated GIF
References
[1] Pasillas-Lépine, William. "Hybrid modeling and limit cycle analysis for a class of five-phase anti-
lock brake algorithms." Vehicle System Dynamics 44, no. 2 (2006): 173-188.
[2] Gerard, Mathieu, William Pasillas-Lépine, Edwin De Vries, and Michel Verhaegen. "Improvements
to a five-phase ABS algorithm for experimental validation." Vehicle System Dynamics 50, no.
10 (2012): 1585-1611.
[3] Bosch, R. "Bosch Automotive Handbook." 10th ed. Warrendale, PA: SAE International, 2018.
[4] J299_200901. Stopping Distance Test Procedure. Warrendale, PA: SAE International, 2009.
[5] ISO 21994:2007. Passenger cars — Stopping distance at straight-line braking with ABS — Open-
loop test method. Geneva: ISO, 2007.
[6] ISO 14512:1999. Passenger cars — Straight-ahead braking on surfaces with split coefficient of
friction -- Open-loop test procedure. Geneva: ISO, 2007.
See Also
3D Engine | Road Track Friction | Straight Maneuver Reference Generator
More About
• “ISO 15037-1:2006 Standard Measurement Signals” on page 5-2
3-13
Double-Lane Change Maneuver

This reference application represents a full vehicle dynamics model undergoing a double-lane change
maneuver according to standard ISO 3888-2[4]. You can create your own versions, establishing a
framework to test that your vehicle meets the design requirements under normal and extreme driving
conditions. Use the reference application to analyze vehicle ride and handling and develop chassis
controls. To perform vehicle studies, including yaw stability and lateral acceleration limits, use this
reference application.
ISO 3888-2 defines the double-lane change maneuver to test the obstacle avoidance performance of a
vehicle. In the test, the driver:
• Accelerates until vehicle hits a target velocity

• Releases the accelerator pedal
• Turns steering wheel to follow path into the left lane
• Turns steering wheel to follow path back into the right lane
Typically, cones mark the lane boundaries. If the vehicle and driver can negotiate the maneuver
without hitting a cone, the vehicle passes the test.
To create and open a working copy of the double-lane change reference application project, enter
vdynblksDblLaneChangeStart
contain variants.

Element
Lane Change Reference Generates lane signals for the visualization subsystem and
Generator trajectory signals
commands.

Environment Implements wind and ground forces ✓
differentials.
3-14

Element

• Engine
visualization
Lane Change Reference Generator

Use the Lane Change Reference Generator block to generate:
• Lane signals for the Visualization subsystem — The left and right lane boundaries are a function of
the Vehicle width parameter.
• Velocity and lateral reference signals for the Predictive Driver block — Use the Lateral reference
position breakpoints and Lateral reference data parameters to specify the lateral reference
trajectory as a function of the longitudinal distance.
To specify the target velocity, use the Longitudinal entrance velocity setpoint parameter.
Driver Commands

Mode Setting
3-15
Environment
The Environment subsystem generates the wind and ground forces. The reference application has
these environment variants.

ray tracing in 3D environment
Constant (default) Implements a constant friction value
Controllers
ECU
torque.
Variant Description
request.
3-16
Variant Description
Bang Bang ABS Implements an anti-lock braking system (ABS) feedback controller
that switches between two states to regulate wheel slip. The bang-
bang control minimizes the error between the actual slip and desired
slip. For the desired slip, the controller uses the slip value at which
the mu-slip curve reaches a peak value. This desired slip value is
optimal for minimum braking distance.
command.
wheel.

maneuver. The default ABS parameters are set to work on roads that
have a constant friction coefficient scaling factor of 0.6.
Variant Description
• Steer angle
• Brake command
• Wheel speed
• Gear
command to 0.
Passenger Vehicle
3-17

Wheels Subsystem

(default)
rolling

(default)

Subsystem
Rear Wheel Drive

Rear Wheel Drive
Active
Differential
(default)
Visualization
3-18
Element Description
• Handwheel angle
• Brake command
• Engine speed
• Vehicle speed
Lane Change Scope block Lateral vehicle displacement versus time:
• Red line — Cones marking right lane boundary

• Orange line — Cones marking left lane boundary
• Blue line — Reference trajectory
• Green line — Actual trajectory
3-19
Element Description
3D Visualization
Optionally, you can enable or disable the 3D visualization environment. For the 3D visualization
engine platform requirements and hardware recommendations, see “3D Visualization Engine
Requirements and Limitations” on page 8-6. After you open the reference application, in the
Visualization subsystem, open the 3D Engine block. Set these parameters.
• 3D Engine to Enabled.
• Scene to one of the scenes, for example Straight road.
• To position the vehicle in the scene:
1 Select the position initialization method:
• Recommended for scene — Set the initial vehicle position to values recommended for
the scene
• User-specified — Set your own initial vehicle position
2 Click Update the model workspaces with the initial values to overwrite the initial vehicle
position in the model workspaces with the applied values.
When you run the simulation, view the vehicle response in the AutoVrtlEnv window.
Note
• To open and close the AutoVrtlEnv window, use the Simulink Run and Stop buttons. If you
manually close the AutoVrtlEnv window, Simulink stops the simulation with an error.
• When you enable the 3D visualization environment, you cannot step the simulation back.
3-20
Key Camera View

1 Back left
2 Back
3 Back right
4 Left
5 Internal
6 Right
7 Front left
8 Front
9 Front right
0 Overhead
View Animated GIF
3-21
Key Camera Control

View Animated GIF
View Animated GIF
3-22
Key Camera Control



rotation.
View Animated GIF
View Animated GIF
References
3-23
10 (2012): 1585-1611.
See Also
3D Engine | Mapped SI Engine | Predictive Driver | Vehicle Terrain Sensor
Related Examples
• “Yaw Stability on Varying Road Surfaces” on page 1-16
More About
• “Passenger Vehicle Dynamics Models” on page 3-2
3-24
Scene Interrogation in 3D Environment

The scene interrogation with camera and ray tracing reference application provides the Simulink
interface with the 3D visualization environment. For the minimum hardware required to run the
reference application, see “3D Visualization Engine Requirements and Limitations” on page 8-6.
The scene interrogation with camera and ray tracing reference application contains:
• One passenger vehicle with a simple driveline, combined slip wheel, and 3DOF vehicle dynamics
model.
• One camera mounted on the passenger vehicle rearview mirror.
• Steering, acceleration, gear, and braking controls.
• Vehicle light controls.
• 3D visualization environment configured for the Virtual Mcity scene.
Create and open a working copy of the camera and ray tracing reference application project.
vdynblksSceneCameraRayStart
When you run the simulation, the reference application provides this vehicle and scene information.
3-25
Window Description
AutoVrtlEnv Video output of the Unreal Engine® 3D visualization environment image feedback. By
default, the display shows the view from the Simulation 3D Scene Configuration block
Scene view parameter SimulinkVehicle1.
Key Camera View

1 Back left
2 Back
3 Back right
4 Left
5 Internal
6 Right
7 Front left
8 Front
9 Front right
0 Overhead
View Animated GIF
Key Camera Control

3-26
Window Description
Key Camera Control
View Animated GIF
View Animated GIF
L Toggle a camera lag effect on or off. When you enable the lag
effect, the camera view includes:

This lag enables improved visualization of overall vehicle

acceleration and rotation.
3-27
Window Description
Key Camera Control
View Animated GIF
F Toggle the free camera mode on or off. When you enable the
free camera mode, you can use the mouse to change the pitch
and yaw of the camera. This mode enables you to orbit the
camera around the vehicle.
View Animated GIF
SDL Video Video image output of Simulation 3D Camera Get block. By default, the display shows
Display the view specified by these parameter settings:
• Vehicle name — SimulinkVehicle1

• Vehicle mounting location — Rearview mirror
This table summarizes the parts of the reference application.
3-28
Name Description
Controls Dials and gauges that control the vehicle steering, gear, acceleration, and braking.
The braking control turns on the vehicle brake lights. Setting the gear control to R
turns on the vehicle reverse lights.
Sensors The Simulation 3D Actor Transform Get block returns the translation, rotation, and
scale for the vehicle passenger vehicle and four wheels from the 3D visualization
environment.
The Simulation 3D Camera Get block returns the camera image from the 3D
visualization environment. By default, the block returns image data for a camera
location specified by these parameter settings:
• Vehicle name — SimulinkVehicle1

• Vehicle mounting location — Rearview mirror
Dynamics Interfaces with Simulink to calculate the dynamic response of the vehicle plant and
and Controls controller. By default, the subsystem contains a simple driveline and the Vehicle 3DOF
Dual Track block vehicle dynamics model.
Implements a Light Controls subsystem that you can use to control the headlights and
signal lights.
Displays The Simulation 3D Vehicle with Ground Following block implements a passenger
vehicle in the 3D visualization environment. The block uses the vehicle position to
adjust the vehicle elevation, roll, and pitch so that the vehicle follows the ground
terrain. By default, the block has these parameter settings:
• Type — Muscle car

• Color — Red
• Name — SimulinkVehicle1
• Enable light controls — On
The Simulation 3D Scene Configuration block configures the Unreal Engine 3D

visualization environment. By default, the block has these parameter settings:
• Scene name — Virtual Mcity

• Scene view — SimulinkVehicle1
The TransformDisplay subsystem displays the translation, rotation, and scale of the
SimulinkVehicle1 vehicle body and four wheels.
The ImageDisplay subsystem displays the video image output of Simulation 3D

Camera Get block in the SDL Video Display window.
3-29
Displays Subsystems
TransformDisplay Subsystem
In the TransformDisplay subsystem, the Display block provides the translation, rotation, and scale of
the vehicle body and four wheels. Use the Constant block value to control the display.
• 1 — Translation
• 2 — Rotation
• 3 — Scale
For example, to display translation information, set the value to 1.
The display indicates that the:
• Vehicle body is at -212.5 m, 65.66 m, and 0.0112 m along the world X-, Y-, and Z- axes,
respectively.
• Wheels are at their initial positions along the world X-, Y-, and Z- axes, respectively.
The Display block provides an array of the vehicle and wheel locations.
VehicleX VehicleY VehicleZ

FrontLef tX FrontLef tY FrontLef tZ
FrontRightX FrontRightY FrontRightZ
RearLef tX RearLef tY RearLef tZ
RearRear X RearRearY RearRearZ
• Vehicle translation and rotation are along the world coordinate system axes.
• Wheel translations and rotations are with respect to their initial positions, along the world
coordinate system axes.
ImageDisplay Subsystem
In the ImageDisplay subsystem, the Level-2 MATLAB S-Function block uses the
VideoDisplayMSfcnWin function to display the video image output of Simulation 3D Camera Get
block.
3-30
See Also
Simulation 3D Actor Transform Get | Simulation 3D Camera Get | Simulation 3D Scene Configuration
| Simulation 3D Vehicle with Ground Following | Virtual Mcity
Related Examples
More About
• “Customize 3D Scenes for Vehicle Dynamics Simulations” on page 6-3
External Websites
• Unreal Engine
3-31
Swept-Sine Steering Maneuver

This reference application represents a full vehicle dynamics model undergoing a swept-sine steering
maneuver. You can create your own versions, providing a framework to test that your vehicle meets
the design requirements under normal and extreme driving conditions. Use the reference application
to analyze vehicle ride and handling and develop chassis controls. To analyze the dynamic steering
response, use this reference application.
The swept-sine steering maneuver tests the vehicle frequency response to steering inputs. In the test,
the driver:
• Accelerates until the vehicle hits a target velocity.

• Commands a sinusoidal steering wheel input.
• Linearly increase the frequency of the sinusoidal wave.
To create and open a working copy of the swept-sine steering reference application project, enter
vdynblksSweptSineSteeringStart
contain variants.

Element
Swept Sine Reference Generate the sinusoidal steering commands for a swept-sine
Generator block steering maneuver.
commands.

Environment Implements wind and road forces. ✓
differentials.

• Engine
visualization.
3-32
Swept Sine Reference Generator

Use the Swept Sine Reference block to generate the sinusoidal steering commands for a swept-sine
steering maneuver.
• Longitudinal velocity setpoint — Target velocity

• Steering amplitude — Sinusoidal wave amplitude
• Final frequency — Cut off frequency to stop the maneuver
Driver Commands

Mode Setting
Environment

3-33
Controllers
ECU
torque.
Variant Description
request.
Variant Description
command.
3-34
Variant Description
wheel.

Variant Description
• Steer angle
• Brake command
• Wheel speed
• Gear
command to 0.
Passenger Vehicle

Wheels Subsystem

(default)
rolling
3-35

(default)

Subsystem
Rear Wheel Drive

Rear Wheel Drive
Active
Differential
(default)
Visualization Subsystem
3-36
Element Description
• Handwheel angle
• Brake command
• Engine speed
• Vehicle speed
3-37
Element Description
Yaw Rate and Steer Scope Yaw rate and steering angle versus time:
block
• Yellow line — Yaw rate
• Blue lines — Steering angle
Steer vs Ay Scope block Steering angle versus lateral acceleration
Vehicle XY Plotter Plot of vehicle longitudinal versus lateral distance
3D Visualization

the scene
Note
3-38
Key Camera View

1 Back left
2 Back
3 Back right
4 Left
5 Internal
6 Right
7 Front left
8 Front
9 Front right
0 Overhead
View Animated GIF
3-39
Key Camera Control

View Animated GIF
View Animated GIF
3-40
Key Camera Control



rotation.
View Animated GIF
View Animated GIF
References
3-41
10 (2012): 1585-1611.
See Also
3D Engine | Longitudinal Driver | Mapped SI Engine | Vehicle Terrain Sensor
Related Examples
• “Frequency Response to Steering Angle Input” on page 1-47
More About
3-42
Slowly Increasing Steering Maneuver

This reference application represents a full vehicle dynamics model undergoing a slowly increasing
steering maneuver according to standard SAE J2664. You can create your own versions, establishing a
framework to test that your vehicle meets the design requirements under normal and extreme driving
conditions. Use the reference application to analyze vehicle ride and handling and develop chassis
controls. To characterize the steering and lateral vehicle dynamics, use this reference application.
Based on the constant speed, variable steer test defined in SAE J2664, the slowly increasing steering
maneuver helps characterize the lateral dynamics of the vehicle. In the test, the driver:
• Accelerates until vehicle hits a target velocity.

• Maintains a target velocity.
• Linearly increases the steering wheel angle from 0 degrees to a maximum angle.
• Maintains the steering wheel angle for a specified time.
• Linearly decreases the steering wheel angle from maximum angle to 0 degrees.
To create and open a working copy of the increasing steering reference application project, enter
vdynblksIncreasingSteeringStart
contain variants.

Element
Slowly Increasing Steer Generates steering, accelerator, and brake commands.
block
commands.

differentials.

• Engine
3-43

Element
visualization
Slowly Increasing Steer Block

Use the Slowly Increasing Steering block to generate steering, accelerator, and brake commands for
a slowly increasing steering maneuver.
• Longitudinal speed setpoint — Target velocity setpoint

• Handwheel rate — Linear rate to increase steering wheel angle
• Maximum handwheel angle — Maximum steering wheel angle
Driver Commands

Mode Setting
Environment
3-44

Controllers
ECU
torque.
Variant Description
request.
Variant Description
3-45
Variant Description
command.
wheel.

Variant Description
• Steer angle
• Brake command
• Wheel speed
• Gear
command to 0.
Passenger Vehicle

Wheels Subsystem

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Wheels Subsystem
(default)
rolling

(default)

Subsystem
Rear Wheel Drive

Rear Wheel Drive
Active
Differential
(default)
Visualization
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Element Description
• Handwheel angle
• Brake command
• Engine speed
• Vehicle speed
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Element Description
Yaw Rate and Steer Scope Yaw rate and steering angle versus time:
block
• Yellow line — Yaw rate
• Blue lines — Steering angle
Vehicle XY Plotter Plot of vehicle longitudinal versus lateral distance
3D Visualization
the scene
Note
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Key Camera View

1 Back left
2 Back
3 Back right
4 Left
5 Internal
6 Right
7 Front left
8 Front
9 Front right
0 Overhead
View Animated GIF
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Key Camera Control

View Animated GIF
View Animated GIF
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Key Camera Control



rotation.
View Animated GIF
View Animated GIF
References
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10 (2012): 1585-1611.
See Also
Related Examples
• “Vehicle Steering Gain at Different Speeds” on page 1-27
More About
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Constant Radius Maneuver

This reference application represents a full vehicle dynamics model undergoing a constant radius test
maneuver. For information about similar maneuvers, see standards SAE J266_199601[4] and ISO
4138:2012[5]. You can create your own versions, establishing a framework to test that your vehicle
meets the design requirements under normal and extreme driving conditions. Use this reference
application in ride and handling studies and chassis controls development to characterize the
steering and lateral vehicle dynamics.
You can configure the reference application for open-loop and closed-loop tests:
• Open-loop — Maintain the target velocity and steering wheel angle to determine the lateral
acceleration, side-slip characteristics, and steering angles for specific accelerations and
subsequent test maneuvers. For the open-loop test, set the Reference Generator block Maneuver
parameter to Increasing Steer.
• Closed-loop — Use the predictive driver to maintain a prespecified turn radius at different
velocities for drivability and handling performance studies. For the closed-loop test, set the
Reference Generator block Maneuver parameter to Constant radius.
To create and open a working copy of the constant radius reference application, enter
vdynblksConstRadiusStart
contain variants.

Element
Reference Generator Sets the parameters that configure the maneuver and 3D ✓
block visualization environment. By default, the block is set for the
constant radius maneuver with the 3D simulation engine
environment disabled.
For the minimum 3D visualization environment hardware

requirements, see “3D Visualization Engine Requirements and
Limitations” on page 8-6.
To enable 3D visualization, on the 3D Engine tab, select

Enabled.
commands.

differentials.
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Element

• Engine
Visualization Provides the vehicle trajectory and driver response ✓
Reference Generator
The Reference Generator block sets the parameters that configure the maneuver and 3D simulation
environment. By default, the block is set for the constant radius maneuver with the 3D simulation
engine environment disabled.
Use the Maneuver parameter to specify the type of maneuver. You can specify the double lane
change, swept sine, sine with dwell, and slowly increasing maneuvers.
If you select the Use maneuver-specific driver, initial position, and scene parameter, the
reference application sets the driver, initial position, and scene for the maneuver that you specified.
For more information, see Reference Generator.
Driver Commands

Mode Setting
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Environment

Controllers
ECU
torque.
Variant Description
request.
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Variant Description
command.
wheel.

Variant Description
• Steer angle
• Brake command
• Wheel speed
• Gear
command to 0.
Passenger Vehicle
3-57

Wheels Subsystem

(default)
rolling

(default)

Subsystem
Rear Wheel Drive

Rear Wheel Drive
Active
Differential
(default)
Visualization
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Element Description
• Handwheel angle
• Brake command
• Engine speed
• Vehicle speed
If you enable 3D visualization on the Reference Generator block 3D Engine tab by selecting
Enabled, you can view the vehicle response in the AutoVrtlEnv window.
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Key Camera View

1 Back left
2 Back
3 Back right
4 Left
5 Internal
6 Right
7 Front left
8 Front
9 Front right
0 Overhead
View Animated GIF
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Key Camera Control

View Animated GIF
View Animated GIF
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Key Camera Control



rotation.
View Animated GIF
View Animated GIF
References
3-62
10 (2012): 1585-1611.
[5] ISO 4138:2012. Passenger cars — Steady-state circular driving behaviour — Open-loop test
methods. Geneva: ISO, 2012.
See Also
3D Engine | Driver Commands | Reference Generator
Related Examples
• “Vehicle Lateral Acceleration at Different Speeds” on page 1-38
More About
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Kinematics and Compliance Virtual Test Laboratory

Model-Based Calibration Toolbox allows you to generate optimized suspension parameters for the
Independent Suspension - Mapped and Solid Axle Suspension - Mapped blocks by using the
kinematics (K) and compliance (C) virtual test laboratory.
To create and open a working copy of the K and C virtual test laboratory reference application, enter
vdynblksKandCTestLabStart
The K and C virtual test laboratory contains vehicle, test system, and test control subsystems. The
vehicle system has two variants:
• Simscape Multibody Vehicle — Vehicle with a Simscape Multibody suspension system

• VDBS Vehicle — Vehicle with an Independent Suspension - Mapped block
This table summarizes the virtual test laboratory tests.
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Test Objective Method

Generate Mapped Use measured vertical The virtual test lab uses Model-Based Calibration
Suspension from force and suspension Toolbox to fit camber angle, toe angle, and vertical
Spreadsheet Data geometry data to force response models for the data. The virtual
generate calibrated test lab then uses the response models to generate
suspension parameters suspension parameters for the suspension blocks.
for the mapped
suspension blocks.
Note You can use a

third-party simulation
model to generate the
measured suspension
data.
Generate Mapped Use a Simscape The virtual test lab uses Model-Based Calibration
Suspension from Multibody suspension Toolbox to perform a Sobol sequence design of
Simscape Suspension system to generate experiments (DoE) on the suspension height and
calibrated suspension handwheel angle operating points. At each
parameters for the operating point, the reference application
suspension mapped stimulates the Simscape Multibody suspension
blocks. system with a chirp signal over a frequency range
of 0.1 to 2 Hz. The virtual test lab then uses the
data to fit the suspension vertical force, camber
angle, and toe angle with a Gaussian process
model (GPM) as a function of the suspension state.
Finally, the reference application uses the GPM to
generate suspension parameters for the
suspension blocks.
Compare Mapped and Compare the mapped The virtual test laboratory stimulates the
Simscape Suspension suspension with the Simscape Multibody suspension at one operating
Responses Simscape Multibody point and then compares the response to the
suspension results. mapped suspension.
Generate Mapped Suspension from Spreadsheet Data

The virtual test lab uses Model-Based Calibration Toolbox to fit camber angle, toe angle, and vertical
force response models for the data. The virtual test lab then uses the response models to generate
suspension parameters for the suspension blocks.
Generate Mapped Suspension Calibration
1 Use the Spreadsheet file field to provide a data file. By default, the reference application has
KandCTestData.xlsx containing required data. The table summarizes the data file
requirements for generating calibrated tables.
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Data Description Data Requirements for

Generating Mapped
Suspension Tables
z Vertical axis suspension height, in Required
m
zdot Vertical axis suspension height Required
velocity breakpoints, in m/s
str Steering angle, in rad Required
Fz Vertical axis suspension force, in Required
N
ca Camber angle, in rad Required
ta Toe angle, in rad Required
2 Click Generate mapped suspension calibration to generate response surface models in
Model-Based Calibration Toolbox.
The model browser opens when the process completes. You can view the camber angle, ca, toe
angle, ta, and vertical force, Fz, response model fits for the data.
Apply Calibration to Mapped Suspension Model

1 Click Apply calibration to mapped suspension model. The virtual test lab uses the response
models to generate calibrated suspension and breakpoint data.
2 Click OK to update the model workspace and suspension blocks.
In the Model Explorer, you can view the generated suspension parameters.
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Parameter Model Workspace Description

Variable
Axle breakpoints, f_susp_axl_bp Axle breakpoints, P, dimensionless.
f_susp_axl_bp
Vertical axis f_susp_dz_bp Vertical axis suspension height breakpoints, M,
suspension height in m.
breakpoints,
f_susp_dz_bp
Vertical axis f_susp_dzdot_bp Vertical axis suspension height velocity
suspension height breakpoints, N, in m/s.
velocity breakpoints,
f_susp_dzdot_bp
Vertical axis f_susp_fmz M-by-N-by-O-by-P-by-4 array of output values as
suspension force and a function of:
moment responses,
f_susp_fmz • Vertical suspension height, M
• Vertical suspension height velocity, N
• Steering angle, O
• Axle, P
• 4 output types
• 1 — Vertical force, in N·m

• 2 — User-defined
• 3 — Stored energy, in J
• 4 — Absorbed power, in W
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Variable
Suspension geometry f_susp_geom M-by-O-by-P-by-3 array of geometric suspension
responses, values as a function of:
f_susp_geom
• Vertical suspension height, M
• Axle, P
• 3 output types
• 1 — Camber angle, in rad

• 2 — Caster angle, in rad
• 3 — Toe angle, in rad
Steering angle f_susp_strgdelta_bp Steering angle breakpoints, O, in rad.
breakpoints,
f_susp_strgdelta_bp
Generate Mapped Suspension from Simscape Suspension

The virtual test lab uses Model-Based Calibration Toolbox to perform a Sobol sequence design of
experiments (DoE) on the suspension height and handwheel angle operating points. At each
operating point, the reference application stimulates the Simscape Multibody suspension system with
a chirp signal over a frequency range of 0.1 to 2 Hz. The virtual test lab then uses the data to fit the
suspension vertical force, camber angle, and toe angle with a Gaussian process model (GPM) as a
function of the suspension state. Finally, the reference application uses the GPM to generate
suspension parameters for the suspension blocks.
The test laboratory exercises the suspension system with the DOE settings contained in the DOEMAT
array. To view the DOEMAT array values, open the Model Explorer.
Element Description
DOEMAT(1,1) Suspension height
DOEMAT(1,2) Handwheel angle
DOEMAT(1,3) Chirp signal amplitude
DOEMAT(1,4) Starting chirp frequency
DOEMAT(1,5) Ending chirp frequency
DOEMAT(1,6) Simulation time to complete chirp signal frequency range
The generation can take time to run and slow other computer processes. View progress in the
MATLAB® window.
In the Model Explorer, you can view the generated suspension parameters.
3-68

Variable
Axle breakpoints, f_susp_axl_bp Axle breakpoints, P, dimensionless.
f_susp_axl_bp
Vertical axis f_susp_dz_bp Vertical axis suspension height breakpoints, M,
suspension height in m.
breakpoints,
f_susp_dz_bp
Vertical axis f_susp_dzdot_bp Vertical axis suspension height velocity
suspension height breakpoints, N, in m/s.
velocity breakpoints,
f_susp_dzdot_bp
Vertical axis f_susp_fmz M-by-N-by-O-by-P-by-4 array of output values as
suspension force and a function of:
moment responses,
f_susp_fmz • Vertical suspension height, M
• Vertical suspension height velocity, N
• Axle, P
• 4 output types
• 1 — Vertical force, in N·m

• 2 — User-defined
• 3 — Stored energy, in J
• 4 — Absorbed power, in W
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Variable
Suspension geometry f_susp_geom M-by-O-by-P-by-3 array of geometric suspension
responses, values as a function of:
f_susp_geom
• Vertical suspension height, M
• Axle, P
• 3 output types
• 1 — Camber angle, in rad

• 2 — Caster angle, in rad
• 3 — Toe angle, in rad
Steering angle f_susp_strgdelta_bp Steering angle breakpoints, O, in rad.
breakpoints,
f_susp_strgdelta_bp
Compare Mapped and Simscape Suspension Responses

The virtual test laboratory stimulates the Simscape Multibody suspension at one operating point and
then compares the response to the mapped suspension.
• To stimulate the Simscape Multibody suspension model, the test laboratory uses with the DOE
settings contained in the DOEMAT array.
During the simulation, to view the suspension system, select the Mechanics Explorers tab.
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• After the simulation completes, use the Simulation Data Inspector to compare the suspension
system response for the mapped suspension and Simscape Multibody suspension model. For
example, compare the vertical force, camber angle, and toe angle responses.
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See Also
Independent Suspension - Mapped | Solid Axle Suspension - Mapped
More About
3-72
Run a Vehicle Dynamics Maneuver in 3D Environment

This example shows how to run a vehicle dynamics maneuver in a 3D environment. By integrating
vehicle dynamics models with a 3D environment, you can test advanced driver assistance systems
(ADAS) and automated driving (AD) perception, planning, and control software. For the 3D
visualization engine platform requirements and hardware recommendations, see “3D Visualization
Engine Requirements and Limitations” on page 8-6.
1 Create and open a working copy of a maneuver reference application. For example, open the
double-lane change reference application.
2 Run the maneuver simulation. By default, the 3D environment is disabled.
information. The reference application logs vehicle signals during the maneuver, including
steering, vehicle and engine speed, and lateral acceleration. You can use the Simulation Data
Inspector to import the logged signals and examine the data.
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Element Description
• Handwheel angle
• Brake command
• Engine speed
• Vehicle speed
Lane Change Scope Lateral vehicle displacement versus time:
block
• Red line — Cones marking right lane boundary
• Orange line — Cones marking left lane boundary
• Blue line — Reference trajectory
• Green line — Actual trajectory
Steer, Velocity, Lat • SteerAngle — Steering angle versus time
Accel Scope block • <xdot> — Longitudinal vehicle velocity versus time
Inspector, including steering wheel angle and torque, longitudinal
and lateral velocity, and sideslip angle
3 Enable the 3D visualization environment. In the Visualization subsystem, open the 3D Engine
block. Set these parameters.
• Scene description to one of the scenes, for example Double lane change.
a Select the position initialization method:
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• Recommended for scene — Set the initial vehicle position to values recommended
for the scene
b Click Update the model workspaces with the initial values to overwrite the initial
vehicle position in the model workspaces with the applied values.
4 Rerun the reference application. As the simulation runs, in the AutoVrtlEnv window, view the
vehicle response.
Key Camera View

1 Back left
2 Back
3 Back right
4 Left
5 Internal
6 Right
7 Front left
8 Front
9 Front right
0 Overhead
View Animated GIF
3-75
Key Camera Control

View Animated GIF
View Animated GIF
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Key Camera Control

L Toggle a camera lag effect on or off. When you enable the lag effect,
the camera view includes:

This lag enables improved visualization of overall vehicle

acceleration and rotation.
View Animated GIF
F Toggle the free camera mode on or off. When you enable the free
camera mode, you can use the mouse to change the pitch and yaw
of the camera. This mode enables you to orbit the camera around
the vehicle.
View Animated GIF
For example, when you run the double-lane change maneuver, use the cameras to visualize the
vehicle as it changes lanes.
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• Back
• Front left
3-78
• Internal
3-79
Note
See Also
More About
3-80
Send and Receive Double-Lane Change Scene Data

This example shows you how to use the Simulation 3D Message Set and Simulation 3D Message Get
blocks to communicate with the 3D visualization environment when you run the double-lane change
maneuver. Specifically, you use the:
• Simulation 3D Message Get block to retrieve how many cones the vehicle hits during the
maneuver.
• Simulation 3D Message Set block to control the traffic signal light.
For the minimum hardware required to run the example, see the “3D Visualization Engine
Requirements and Limitations” on page 8-6.
Run a Double-Lane Change Maneuver That Hits Cones

With the 3D visualization environment enabled, run a double-lane change maneuver that hits the
cones.
1 Create and open a working copy of the double-lane change reference application project.
2 Enable the 3D visualization environment. In the Visualization subsystem, open the 3D Engine
block mask and select Enabled. Apply the changes and save the model.
Alternatively, at the MATLAB command prompt, enter this code.
See Code That Enables 3D Environment
% Enable the 3D visualization environment

set_param([mdl '/Visualization/3D Engine'],'engine3D','Enabled');
save_system(mdl)
3 In the top level of the model, set the Lane Change Reference Generator block parameters so that
the vehicle does not successfully complete the maneuver. Set these block parameters, apply the
changes, and save the model.
• Maneuver start time to 5.

• Longitudinal entrance velocity setpoint to 36.
See Code That Sets Parameters
% Set Lane Change Reference Generator block parameters

set_param([mdl '/Lane Change Reference Generator'],'t_start','5');
set_param([mdl '/Lane Change Reference Generator'],'xdot_r','36');
save_system(mdl)
4 Run the maneuver for 30 seconds. As the simulation runs, in the AutoVrtlEnv window, you can
see the vehicle hitting the cones.
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See Code That Runs Simulation
% Run simulation for 30s.

set_param(mdl,'StopTime','30');
save(mdl);
sim(mdl);
Use Simulation 3D Message Get Block to Retrieve Cone Data

Use the Simulation 3D Message Get block to retrieve how many cones the vehicle hits during the
maneuver. By default, the maneuver uses the double-lane change scene.
1 Navigate to the Visualization > 3D Engine subsystem. Right-click the 3D Engine block and select
Mask > Look Under Mask. In the Visualization > 3D Engine > 3D Engine subsystem, insert
these blocks:
• Simulation 3D Message Get

• Display
• Math Function
2 Set the Simulation 3D Message Get block parameters so that the block retrieves cone data from
the double-lane change scene. Set these block parameters, apply the changes, and save the
model.
• Signal name, SigName to NumOfConesHit

• Data type, DataType to boolean
• Message size, MsgSize to [2 15]
• Sample time to -1
3-82

% Set these Simulation 3D Message Get block parameters
visualss='DLCReferenceApplication/Visualization/3D Engine/3D Engine';
set_param([visualss '/Simulation 3D Message Get'],'SigName','NumOfConesHit');
set_param([visualss '/Simulation 3D Message Get'],'DataType','boolean');
set_param([visualss '/Simulation 3D Message Get'],'MsgSize','[2 15]');
set_param([visualss '/Simulation 3D Message Get'],'Ts','-1');
save_system(mdl)
3 Set the Math Function block Output dimensionality parameter to transpose. When you run
the simulation, the Math Function block outputs a [15 2] array.

% Set the Math Function block parameter to transpose the array
set_param([visualss '/Math Function'],'Function','transpose');
save_system(mdl)
4 Connect the Simulation 3D Message Get, Math Function, and Display blocks as shown. Confirm
the block parameters. Save the model.
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5 Verify that the Simulation 3D Scene Configuration block executes before the Simulation 3D
Message Get block. That way, the Unreal Engine 3D visualization environment prepares the data
before the Simulation 3D Message Get block receives it. To check the block execution order,
right-click the blocks and select Properties. On the General tab, confirm these Priority
settings:
• Simulation 3D Scene Configuration — 0

• Simulation 3D Message Get — 1
For more information about execution order, see “Control and Display Execution Order”.
6 Run the maneuver. As the simulation runs, the display block updates with the ReadMsg boolean
value 1 when the vehicle hits the corresponding cone.
The results indicate that the vehicle hits SM_Cone20 and SM_Cone30 during the maneuver.
3-84
This table provides the Double Lane Change scene cone name that corresponds to the ReadMsg
array element.
Simulation 3D Unreal® Editor Cone Simulation 3D Unreal Editor Cone

Message Get Block Name Message Get Block Name
ReadMsg Value Array Element
ReadMsg(1,1) SM_Cone5 ReadMsg(2,1) SM_Cone10
Use Simulation 3D Message Set Block to Control Traffic Signal Light

1 Navigate to the Visualization > 3D Engine subsystem. Right-click the 3D Engine block and select
Mask > Look Under Mask. In the Visualization > 3D Engine > 3D Engine subsystem, insert
these blocks:
• Simulation 3D Message Set

• Repeating Sequence Stair
2 Set the Simulation 3D Message Set block parameters so that the block sends traffic signal data to
the double-lane change scene. Set these block parameters, apply the changes, and save the
model.
• Signal name, SigName to TrafficLight1

• Sample time to -1
3-85
This table provides the scene traffic signal light color that corresponds to the WriteMsg value in
the Double Lane Change scene.
Simulation 3D Message Set Block TrafficLight1 Color

WriteMsg Value
0 Red
1 Yellow
2 Green

% Set Simulation 3D Message Set block parameters
set_param([visualss '/Simulation 3D Message Set'],'SigName','TrafficLight1');
set_param([visualss '/Simulation 3D Message Set'],'Ts','-1');
save_system(mdl)
3 Set the Repeating Sequence Stair block parameters to send a command that corresponds to red,
yellow, and green traffic light signals. Set these block parameters, apply the changes, and save
the model.
• Vector of output values: to [0 0 0 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2

2 2 2 2 2 2].'
• Sample time to 1
3-86
• Output data type to int32
Alternatively, at the MATLAB command prompt, enter this code. Apply the block changes and
save the model.

% Set Repeating Sequence Stair block parameters
open_system([visualss '/Repeating Sequence Stair']);
set_param([visualss '/Repeating Sequence Stair'],'OutValues',"[0 0 0 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2
set_param([visualss '/Repeating Sequence Stair'],'tsamp','1');
set_param([visualss '/Repeating Sequence Stair'],'OutDataTypeStr','int32');
4 Connect the blocks as shown. Confirm the block parameters and signal connections. Save the
model.
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5 Verify that the Simulation 3D Message Set block executes before the Simulation 3D Scene
Configuration block. That way, Simulation 3D Message Set prepares the signal data before the
Unreal Engine 3D visualization environment receives it. To check the block execution order,
right-click the blocks and select Properties. On the General tab, confirm these Priority
settings:
• Simulation 3D Scene Configuration — 0

• Simulation 3D Message Set — -1
For more information about execution order, see “Control and Display Execution Order”.
6 Run the maneuver. As the simulation runs, in the AutoVrtlEnv window, you can see the
TrafficLight1 light change from red to yellow to green.
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Time Range (s) WriteMsg Value TrafficLight1 Color

0–3 0 Red
3–5 1 Yellow
5–30 2 Green
See Also
3D Engine | Double Lane Change | Simulation 3D Message Get | Simulation 3D Message Set |
Simulation 3D Scene Configuration
Related Examples
• “Double Lane Change Reference Application” on page 7-6
More About
3-89
• “Get Started Communicating with the Unreal Engine Visualization Environment” on page 6-20
3-90
4
Project Templates
4 Project Templates
Vehicle Dynamics Blockset Project Templates

Vehicle Dynamics Blockset provides preassembled vehicle dynamics models that you can use to
analyze the dynamic system response to common ride and handling tests. Use the templates to create
vehicle dynamic model variants for the maneuver reference applications. Open project files that
contain the vehicle models from the Simulink start page.
1 In Simulink, on the Simulation tab, select New > Project > New Project.
In the Simulink start page, browse to Vehicle Dynamics Blockset and select Passenger 3DOF
Vehicle, Passenger 7DOF Vehicle, or Passenger 14DOF Vehicle.
2 In the Create Project dialog box, in Project name, enter a project name.
3 In Folder, enter a project folder or browse to the folder to save the project.
4 Click OK.
If the folder does not exist, the dialog box prompts you to create it. Click Yes.
The software compiles the project and populates the project folders. All models and supporting
files are in place for you to customize your vehicle dynamics model.
This table summarizes the vehicle dynamics project templates.
Vehicle Description Vehicle Body Degrees-of-Freedom Wheel DOFs

Model (DOFs)
Passeng • Vehicle with Six Two per wheel - eight total
er four wheels
14DOF • Available as Translational Rotational Translational Rotational
Vehicle model Longitudinal ✓ Pitch ✓ Vertical ✓ Rolling ✓
variant in Lateral ✓ Yaw ✓
the
maneuver Vertical ✓ Roll ✓
reference
applications
Passeng • Vehicle with Three One per wheel - four total
er 7DOF four wheels
Vehicle • Available as Translational Rotational Rotational
model Longitudinal ✓ Pitch Rolling ✓
variant in Lateral ✓ Yaw ✓
the
maneuver Vertical Roll
reference
applications
Passeng • Vehicle with Three None
er 3DOF ideal tire
Vehicle Translational Rotational
Longitudinal ✓ Pitch
Lateral ✓ Yaw ✓
Vertical Roll
4-2
Vehicle Dynamics Blockset Project Templates
See Also
More About
4-3
5
Maneuver Standards
5 Maneuver Standards
ISO 15037-1:2006 Standard Measurement Signals

You can configure the maneuver reference applications to display ISO 15037-1:2006[1] standard
measurement signals in the Simulation Data Inspector, including steering wheel angle and torque,
longitudinal and lateral velocity, and sideslip angle.
To configure the ISO signal display, in the reference application Visualization subsystem, open the
ISO 15037-1:2006 block. Select Enabled. After you run the maneuver, the Simulation Data Inspector
opens with standard measurements.
For example, to display the ISO signals when you run the double lane change maneuver:
1 Create and open a working copy of the double-lane change reference application project.
2 In the Visualization subsystem, open the ISO 15037-1:2006 block. Select Enabled. Save the
reference application.
3 Run the maneuver. As the simulation runs, view the ISO standard measurement signals in the
Simulation Data Inspector, including steering wheel angle and torque, longitudinal and lateral
velocity, and sideslip angle.
References
[1] ISO 15037-1:2006. Road vehicles -- Vehicle dynamics test methods -- Part 1: General conditions for
passenger cars. ISO (International Organization for Standardization), 2014.
5-2
ISO 15037-1:2006 Standard Measurement Signals
See Also
More About
External Websites
• International Organization for Standardization
5-3
6
Supporting Data
6 Supporting Data
Support Package For Maneuver and Drive Cycle Data

This example shows how to install additional maneuver and drive cycle data from a support package.
By default, the Drive Cycle Source block has the FTP-75 drive cycle data. The support package has
drive cycles that include the gear shift schedules, for example JC08 and CUEDC.
1 In the Drive Cycle Source block, click Install additional drive cycles to start the installer.
2 Follow the instructions and default settings provided by the installer to complete the installation.
3 On the Select a support package screen, select the data you want to add:
Accept or change the Installation folder and click Next.
Note You must have write permission for the Installation folder.
See Also
Drive Cycle Source
6-2
Customize 3D Scenes for Vehicle Dynamics Simulations
Customize 3D Scenes for Vehicle Dynamics Simulations

Vehicle Dynamics Blockset comes installed with prebuilt 3D scenes in which to simulate and visualize
the vehicles modeled in Simulink. These 3D scenes are visualized using the Unreal Engine from Epic
Games. By using the Unreal Editor, you can customize these scenes or simulate within the scenes
from your own custom project.
By using the Unreal Editor and the Vehicle Dynamics Blockset Interface for Unreal Engine 4 Projects
support package, you can customize these scenes. You can also use the Unreal Editor and the support
package to simulate within scenes from your own custom project.
With custom scenes, you can co-simulate in both Simulink and the Unreal Editor so that you can
modify your scenes between simulation runs. To customize scenes, you should be familiar with
creating and modifying scenes in the Unreal Editor.
To customize 3D scenes, follow these steps:
1 “Install Support Package and Configure Environment” on page 6-5

2 “Migrate Projects Developed Using Prior Support Packages” on page 6-8
3 “Customize Scenes Using Simulink and Unreal Editor” on page 6-9
4 “Package Custom Scenes into Executable” on page 6-17
See Also
Related Examples
More About
6-3
6 Supporting Data
External Websites
• Unreal Engine
• Unreal Engine 4 Documentation
6-4
Install Support Package and Configure Environment

To customize scenes in the Unreal and use them in Simulink, you must install and configure the
Vehicle Dynamics Blockset Interface for Unreal Engine 4 Projects support package.
Verify Software and Hardware Requirements

Before installing the support package, make sure that your environment meets the minimum software
and hardware requirements described in “3D Visualization Engine Requirements and Limitations” on
page 8-6. In particular, verify that you have Visual Studio® 2019 installed. This software is required
for using the Unreal Editor to customize scenes.
Install Support Package

To install the Vehicle Dynamics Blockset Interface for Unreal Engine 4 Projects support package,
follow these steps:
1 On the MATLAB Home tab, in the Environment section, select Add-Ons > Get Add-Ons.
2 In the Add-On Explorer window, search for the Vehicle Dynamics Blockset Interface for Unreal
Engine 4 Projects support package. Click Install.
Note You must have write permission for the installation folder.
Configure Environment
The Vehicle Dynamics Blockset Interface for Unreal Engine 4 Projects support package includes these
components:
• An Unreal project, AutoVrtlEnv.uproject, and its associated files. The project includes
editable versions of the prebuilt 3D scenes that you can select from the Scene description
parameter of the Simulation 3D Scene Configuration block. To use this project, you must copy the
file to a folder on your local machine.
• A plugin file, MathWorkSimulation.uplugin. This plugin establishes the connection between
MATLAB and the Unreal Editor and is required for co-simulation. You must copy this plugin to
your local installation of the editor.
6-5
6 Supporting Data
To copy the project to a local folder and the plugin to your Unreal Editor installation, follow these
one-time steps. Use the “Code That Configures Scene Configuration (Steps 1–4)” on page 6-6.
St Description
ep
1 Specify the location of the support package project files and a local folder destination.
Note You must have write permission for the local folder destination.
2 Specify the location of the Unreal Engine installation, for example C:\Program Files\Epic
Games\UE_4.23.
3 Copy the MathWorksSimulation plugin to the Unreal Engine plugin folder.
4 Copy the support package folder that contains the AutoVrtlEnv.uproject files to the local
folder destination.
Code That Configures Scene Configuration (Steps 1–4)

%% STEP1
% Specify the location of the support package project files and a local folder destination
% Note: Only one path is supported. Select latest download path.
dest_root = "C:\Local";
src_root = fullfile(matlabshared.supportpkg.getSupportPackageRoot, ...
"toolbox", "shared", "sim3dprojects", "spkg");
%% STEP2
% Specify the location of the Unreal Engine installation.
ueInstFolder = "C:\Program Files\Epic Games\UE_4.23";
%% STEP3
% Copy the MathWorksSimulation plugin to the Unreal Engine plugin folder.
mwPluginName = "MathWorksSimulation";
mwPluginFolder = fullfile(src_root, "plugins");
uePluginFolder = fullfile(ueInstFolder, "Engine", "Plugins");
uePluginDst = fullfile(uePluginFolder, "Marketplace", "MathWorks");
cd(uePluginFolder)
foundPlugins = dir("**/" + mwPluginName + ".uplugin");
if ~isempty(foundPlugins)
numPlugins = size(foundPlugins, 1);
msg2 = cell(1, numPlugins);
pluginCell = struct2cell(foundPlugins);
msg1 = "Plugin(s) already exist here:" + newline + newline;

for n = 1:numPlugins
msg2{n} = " " + pluginCell{2,n} + newline;
end
msg3 = newline + "Please remove plugin folder(s) and try again.";
msg = msg1 + msg2 + msg3;
warning(msg);
else
copyfile(fullfile(mwPluginFolder, 'mw_simulation', 'MathWorksSimulation'), uePluginDst);
disp("Successfully copied MathWorksSimulation plugin to UE4 engine plugins!")
end
%% STEP4
% Copy the support package folder that contains the AutoVrtlEnv.uproject
% files to the local folder destination.
projFolderName = "AutoVrtlEnv";
projSrcFolder = fullfile(src_root, "project", projFolderName);
projDstFolder = fullfile(dest_root, projFolderName);
if ~exist(projDstFolder, "dir")
copyfile(projSrcFolder, projDstFolder);
end
If you want to use a project developed using a prior release of the Vehicle Dynamics Blockset
Interface for Unreal Engine 4 Projects support package, you must migrate the project to make it
compatible with Unreal Editor 4.23. See “Migrate Projects Developed Using Prior Support Packages”
6-6
on page 6-8. Otherwise, you can “Customize Scenes Using Simulink and Unreal Editor” on page 6-
9.
See Also
More About
6-7
6 Supporting Data
Migrate Projects Developed Using Prior Support Packages

After you install the Vehicle Dynamics Blockset Interface for Unreal Engine 4 Projects support
package as described in “Install Support Package and Configure Environment” on page 6-5, you may
need to migrate your project. If your Simulink model uses an Unreal Engine executable or project
developed using a prior release of the support package, you must migrate the project to make it
compatible with Unreal Editor 4.23. Follow these steps:
1 Open Unreal Engine 4.23. For example, navigate to C:\Program Files\Epic Games
\UE_4.23\Engine\Binaries\Win64 and open UE4Editor.exe.
2 Use the Unreal Project Browser to open the project that you want to migrate.
3 Follow the prompts to open a copy of the project. The editor creates a new project folder in the
same location as the original, appended with 4.23. Close the editor.
4 In a file explorer, remove the space in the migrated project folder name. For example, rename
MyProject 4.23 to MyProject4.23.
5 Use MATLAB to open the migrated project in Unreal Editor 4.23. For example, if you have a
migrated project saved to the C:/Local folder, use this MATLAB code:
path = fullfile('C:','Local','MyProject4.23','MyProject.uproject');
editor = sim3d.Editor(path);
open(editor);
Note The R2020a support package includes changes in the implementation of some actors.
Therefore, if the original project contains actors that are placed in the scene, some of them might
not fully migrate to Unreal Editor 4.23. To check, examine the Output Log.
The log might contain error messages. For more information, see the Unreal Engine 4
Documentation or contact MathWorks Technical Support.
6 Optionally, after you migrate the project, you can use the project to create an Unreal Engine
executable. See “Package Custom Scenes into Executable” on page 6-17.
After you migrate the project, you can create custom scenes. See “Customize Scenes Using Simulink
and Unreal Editor” on page 6-9.
See Also
More About
6-8
Customize Scenes Using Simulink and Unreal Editor

After you install the Vehicle Dynamics Blockset Interface for Unreal Engine 4 Projects support
package as described in “Install Support Package and Configure Environment” on page 6-5, you can
simulate in custom scenes simultaneously from both the Unreal Editor and Simulink. By using this co-
simulation framework, you can add vehicles and sensors to a Simulink model and then run this
simulation in your custom scene.
To use a project that you developed using a prior release of the support package, first migrate the
project to be compatible with Unreal Engine 4.23. See “Migrate Projects Developed Using Prior
Support Packages” on page 6-8.
Open Unreal Editor

If you open your Unreal project file directly in the Unreal Editor, Simulink is unable to establish a
connection with the editor. To establish this connection, you must open your project from a Simulink
model or use a MATLAB function.
The first time that you open the Unreal Editor, you might be asked to rebuild UE4Editor DLL files or
the AutoVrtlEnv module. Click Yes to rebuild these files or modules. The editor also prompts you
that new plugins are available. Click Manage Plugins and verify that the MathWorks Interface
plugin is installed. This plugin is the MathWorksSimulation.uplugin file that you copied into your
Unreal Editor installation in “Install Support Package and Configure Environment” on page 6-5.
When the editor opens, you can ignore any warning messages about files with the name
'_BuiltData' that failed to load.
If you receive a warning that the lighting needs to be rebuilt, from the toolbar above the editor
window, select Build > Build Lighting Only. The editor issues this warning the first time you open
a scene or when you add new elements to a scene. To use the lighting that comes installed with
AutoVrtlEnv in Vehicle Dynamics Blockset, see “Use AutoVrtlEnv Project Lighting in Custom
Scene” on page 6-12.
Open Unreal Editor from Simulink
1 Open a Simulink model configured to simulate in the 3D environment. At a minimum, the model
must contain a Simulation 3D Scene Configuration block.
2 In the Simulation 3D Scene Configuration block of this model, set the Scene source parameter
to Unreal Editor.
3 In the Project parameter, browse for the project file that contains the scenes that you want to
customize.
For example, this sample path specifies the AutoVrtlEnv project that comes installed with the
Vehicle Dynamics Blockset Interface for Unreal Engine 4 Projects support package.
C:\Local\AutoVrtlEnv\AutoVrtlEnv.uproject
This sample path specifies a custom project.
Z:\UnrealProjects\myProject\myProject.uproject
4 Click Open Unreal Editor. The Unreal Editor opens and loads a scene from your project.
6-9
6 Supporting Data
Open Unreal Editor Using Command-Line Function
To open the AutoVrtlEnv.uproject file that was copied from the Vehicle Dynamics Blockset
Interface for Unreal Engine 4 Projects support package, specify the path to where you copied this
project. For example, if you copied the AutoVrtlEnv.uproject to C:/Local/AutoVrtlEnv, use
this code:
path = fullfile('C:','Local','AutoVrtlEnv','AutoVrtlEnv.uproject');
open(editor);
The editor opens the AutoVrtlEnv.uproject file. By default, the project displays the Straight
Road scene.
To open your own project, use the same commands used to open the AutoVrtlEnv.uproject file.
Update the path variable with the path to your .uproject file. For example, if you have a project
saved to the C:/Local folder, use this code:
path = fullfile('C:','Local','myProject','myProject.uproject');
open(editor);
Reparent Actor Blueprint
Note If you are using a scene from the AutoVtrlEnv project that comes installed with the Vehicle
Dynamics Blockset Interface for Unreal Engine 4 Projects support package, skip this section.
However, if you create a new scene based off of one of the scenes in this project, then you must
complete this section.
The first time that you open a custom scene from Simulink, you need to associate, or reparent, this
project with the Sim3dLevelScriptActor level blueprint used in Vehicle Dynamics Blockset. The
level blueprint controls how objects interact with the 3D environment once they are placed in it.
Simulink returns an error at the start of simulation if the project is not reparented. You must reparent
each scene in a custom project separately.
To reparent the level blueprint, follow these steps:
1 In the Unreal Editor toolbar, select Blueprints > Open Level Blueprint.
2 In the Level Blueprint window, select File > Reparent Blueprint.
3 Click the Sim3dLevelScriptActor blueprint. If you do not see the Sim3dLevelScriptActor
blueprint listed, use these steps to check that you have the MathWorksSimulation plugin
installed and enabled:
a In the Unreal Editor toolbar, select Settings > Plugins.

b In the Plugins window, verify that the MathWorks Interface plugin is listed in the installed
window. If the plugin is not already enabled, select the Enabled check box.
If you do not see the MathWorks Interface plugin in this window, repeat step 3 in
“Configure Environment” on page 6-5 and reopen the editor from Simulink.
c Close the editor and reopen it from Simulink.
4 Close the Level Blueprint window.
6-10
Create or Modify Scenes in Unreal Editor

After you open the editor, you can modify the scenes in your project or create new scenes.
Open Scene
In the Unreal Editor, scenes within a project are referred to as levels. Levels come in several types,
and scenes have a level type of map.
To open a prebuilt scene from the AutoVrtlEnv.uproject file, in the Content Browser pane
below the editor window, navigate to the Content > Maps folder. Then, select the map that
corresponds to the scene you want to modify.
Unreal Editor Map Vehicle Dynamics Blockset Scene

HwCurve Curved Road
DblLnChng Double Lane Change
BlackLake Open Surface
LargeParkingLot Large Parking Lot
SimpleLot Parking Lot
HwStrght Straight Road
USCityBlock US City Block
USHighway US Highway
Note The AutoVrtlEnv.uproject file does not include the Virtual Mcity scene.
To open a scene within your own project, in the Content Browser pane, navigate to the folder that
contains your scenes.
Send Data to Scene
The Simulation 3D Message Get block retrieves data from the Unreal Engine 3D visualization
environment. To use the block, you must configure scenes in the Unreal Engine environment to send
data to the Simulink model.
For detailed information about using the block to send data to the scenes, see “Get Started
Communicating with the Unreal Engine Visualization Environment” on page 6-20.
Receive Data from Scene
The Simulation 3D Message Set block sends data to the Unreal Engine 3D visualization environment.
To use the block, you must configure scenes in the Unreal Engine environment to receive data from
the Simulink model.
For detailed information about using the block to receive data from the scene, see “Get Started
Communicating with the Unreal Engine Visualization Environment” on page 6-20.
Create New Scene
To create a new scene in your project, from the top-left menu of the editor, select File > New Level.
6-11
6 Supporting Data
Alternatively, you can create a new scene from an existing one. This technique is useful if you want to
use one of the prebuilt scenes in the AutoVtrlEnv project as a starting point for creating your own
scene. To save a version of the currently opened scene to your project, from the top-left menu of the
editor, select File > Save Current As. The new scene is saved to the same location as the existing
scene.
Add Assets to Scene
In the Unreal Editor, elements within a scene are referred to as assets. To add assets to a scene, you
can browse or search for them in the Content Browser pane at the bottom and drag them into the
editor window.
When adding assets to a scene that is in the AutoVrtlEnv project, you can choose from a library of
driving-related assets. These assets are built as static meshes and begin with the prefix SM_. Search
for these objects in the Content Browser pane.
For example, to add a traffic cone to a scene in the AutoVrtlEnv project:

1 In the Content Browser pane at the bottom of the editor, navigate to the Content folder.
2 In the search bar, search for SM_Cone. Drag the cone from the Content Browser into the editing
window. You can then change the position of the cone in the editing window or on the Details
pane on the right, in the Transform section.
The Unreal Editor uses a left-hand Z-up coordinate system, where the Y-axis points to the right. The
vehicle blocks in Vehicle Dynamics Blockset uses a right-hand Z-down coordinate system, where the
Y-axis points to the right. When positioning objects in a scene, keep this coordinate system difference
in mind.
For more information on modifying scenes and adding assets, see Unreal Engine 4 Documentation.
To migrate assets from the AutoVrtlEnv project into your own project file, see Migrating Assets in
the Unreal Engine documentation.
Use AutoVrtlEnv Project Lighting in Custom Scene
To use the lighting that comes installed with the AutoVrtlEnv project in Vehicle Dynamics Blockset,
follow these steps.
1 On the World Settings tab, clear Force no precomputed lighting.
6-12
2 Under Build, select Lighting Quality > Production to rebuild the maps with production
quality. Rebuilding large maps can take time.
Run Simulation
Verify that the Simulink model and Unreal Editor are configured to co-simulate by running a test
simulation.
1 In the Simulink model, click Run.
Because the source of the scenes is the project opened in the Unreal Editor, the simulation does
not start. Instead, you must start the simulation from the editor.
2 Verify that the Diagnostic Viewer window in Simulink displays this message:
In the Simulation 3D Scene Configuration block, you set the scene source
to 'Unreal Editor'. In Unreal Editor, select 'Play' to view the scene.
This message confirms that Simulink has instantiated vehicles and other assets in the Unreal
Engine 3D environment.
3 In the Unreal Editor, click Play. The simulation runs in the scene currently open in the Unreal
Editor. If your Simulink model contains vehicles, these vehicles drive through the scene that is
open in the editor.
To control the view of the scene during simulation, in the Simulation 3D Scene Configuration block,
select the vehicle name from the Scene view parameter. To change the scene view as the simulation
runs, use the numeric keypad in the editor. The table shows the position of the camera displaying the
scene, relative to the vehicle selected in the Scene view parameter.
Key Camera View

1 Back left
2 Back
3 Back right
4 Left
5 Internal
6 Right
7 Front left
6-13
6 Supporting Data
Key Camera View

8 Front View Animated GIF
9 Front right
0 Overhead
Key Camera Control

View Animated GIF
6-14
Key Camera Control

View Animated GIF


rotation.
View Animated GIF
6-15
6 Supporting Data
Key Camera Control

View Animated GIF
To restart a simulation, click Run in the Simulink model, wait until the Diagnostic Viewer displays the
confirmation message, and then click Play in the editor. If you click Play before starting the
simulation in your model, the connection between Simulink and the Unreal Editor is not established,
and the editor displays an empty scene.
If you are co-simulating a custom project, to enable the numeric keypad, copy the
DefaultInput.ini file from the support package installation folder to your custom project folder.
For example, copy DefaultInput.ini from:
C:\ProgramData\MATLAB\SupportPackages\<MATLABRelease>\toolbox\shared\sim3dprojects\driving\AutoVr
to:
C:\<yourproject>.project\Config
After tuning your custom scene based on simulation results, you can then package the scene into an
executable. For more details, see “Package Custom Scenes into Executable” on page 6-17.
See Also
Simulation 3D Scene Configuration | sim3d.Editor
External Websites
• Unreal Engine
6-16
Package Custom Scenes into Executable

When you finish modifying a custom scene as described in “Customize Scenes Using Simulink and
Unreal Editor” on page 6-9, you can package the project file containing this scene into an executable.
You can then configure your model to simulate from this executable by using the Simulation 3D Scene
Configuration block. Executable files can improve simulation performance and do not require opening
the Unreal Editor to simulate your scene. Instead, the scene runs by using the Unreal Engine that
comes installed with Vehicle Dynamics Blockset.
Package Scene into Executable Using Unreal Editor

1 Open the project containing the scene in the Unreal Editor. You must open the project from a
Simulink model that is configured to co-simulate with the Unreal Editor.
2 In the Unreal Editor toolbar, select Settings > Project Settings to open the Project Settings
window.
3 In the left pane, in the Project section, click Packaging.
4 In the Packaging section, set or verify the options in the table. If you do not see all these
options, at the bottom of the Packaging section, click the Show Advanced expander
Packaging Option Enable or Disable

Use Pak File Enable
Cook everything in the project content Disable
directory (ignore list of maps below)
Cook only maps (this only affects Enable
cookall)
Create compressed cooked packages Enable
Exclude editor content while cooking Enable
5 Specify the scene from the project that you want to package into an executable.
a In the List of maps to include in a packaged build option, click the Adds Element
button .
b Specify the path to the scene that you want to include in the executable. By default, the
Unreal Editor saves maps to the /Game/Maps folder. For example, if the /Game/Maps folder
has a scene named myScene that you want to include in the executable, enter /Game/Maps/
myScene.
c Add or remove additional scenes as needed.
6 Specify the required asset directories to include in the executable. These directories are located
in the MathWorksSimulation plugin.
Under Additional Asset Directories to Cook, click the Adds Element button to add
elements and specify these directories:
• /MathWorksSimulation/Characters
6-17
6 Supporting Data
• /MathWorksSimulation/VehiclesCommon
• /MathWorksSimulation/Vehicles
• /MathWorksSimulation/Weather
7 Rebuild the lighting in your scenes. If you do not rebuild the lighting, the shadows from the light
source in your executable file are incorrect and a warning about rebuilding the lighting displays
during simulation. In the Unreal Editor toolbar, select Build > Build Lighting Only.
8 Close the Project Settings window.
9 In the top-left menu of the editor, select File > Package Project > Windows > Windows (64-
bit). Select a local folder in which to save the executable, such as to the root of the project file
(for example, C:/Local/myProject).
Note Packaging a project into an executable can take several minutes. The more scenes that you
include in the executable, the longer the packaging takes.
Once packaging is complete, the folder where you saved the package contains a
WindowsNoEditor folder that includes the executable file. This file has the same name as the
project file.
Note If you repackage a project into the same folder, the new executable folder overwrites the
old one.
Suppose you package a scene that is from the myProject.uproject file and save the
executable to the C:/Local/myProject folder. The editor creates a file named
myProject.exe with this path:
C:/Local/myProject/WindowsNoEditor/myProject.exe
Simulate Scene from Executable in Simulink

To improve co-simulation performance, consider configuring the Simulation 3D Scene Configuration
block to co-simulate with the project executable.
1 In the Simulation 3D Scene Configuration block of your Simulink model, set the Scene source
parameter to Unreal Executable.
2 Set the File name parameter to the name of your Unreal Editor executable file. You can either
browse for the file or specify the full path to the file by using backslashes. For example:
C:\Local\myProject\WindowsNoEditor\myProject.exe
3 Set the Scene parameter to the name of a scene from within the executable file. For example:
/Game/Maps/myScene
4 Run the simulation. The model simulates in the custom scene that you created.
If you are simulating a scene from a project that is not based on the AutoVtrlEnv project, then the
scene simulates in full screen mode. To use the same window size as the default scenes, copy the
DefaultGameUserSettings.ini file from the support package installation folder to your custom
project folder. For example, copy DefaultGameUserSettings.ini from:
6-18
C:\ProgramData\MATLAB\SupportPackages\<MATLABrelease>\toolbox\shared\sim3dprojects\automotive\Aut
to:
C:\<yourproject>.project\Config
Then, package scenes from the project into an executable again and retry the simulation.
See Also
6-19
6 Supporting Data
Get Started Communicating with the Unreal Engine

Visualization Environment
You can set up communication with Unreal Engine by using the Simulation 3D Message Get and
Simulation 3D Message Set blocks:
• Simulation 3D Message Get receives data from the Unreal Engine environment.
• Simulation 3D Message Set sends data to the Unreal Engine environment.
To use the blocks and communicate with Unreal Engine, make sure you install the Vehicle Dynamics
Blockset Interface for Unreal Engine 4 Projects support package. For more information, see “Install
Support Package and Configure Environment” on page 6-5.
Next, follow these workflow steps to set up the Simulink model and the Unreal Engine environment
and run a simulation.
Workflow Description
“Set Up Simulink Model to Send and Configure the Simulation 3D Message Get and
Receive Data” on page 6-21 Simulation 3D Message Set blocks in Simulink to send
and receive the cone location from Unreal Editor. The
steps provides the general workflow for communicating
with the editor.
The Simulation 3D Message Get and Simulation 3D

Message Set blocks can send and receive these data
types: double, single, int8, uint8, int16, uint16,
int32, uint32, and Boolean. The Simulation 3D Actor
Transform Set and Simulation 3D Actor Transform Get
blocks can send and receive only the single data type.
Set Up Unreal “C++ Workflow: Set Specific Unreal C++ workflow to send and receive
Engine to Send Up Unreal Engine to Simulink cone location data.
and Receive Data Send and Receive
Data” on page 6-22 • Simulation 3D Message Get receives data from an
Unreal Engine environment C++ actor class. In this
example workflow, you use the block to receive the
cone location from Unreal Editor.
• Simulation 3D Message Set sends data to an Unreal
Engine C++ actor class. In this example, you use the
block to set the initial cone location in the Unreal
Editor.
To follow this workflow, you should be comfortable

coding with C++ in Unreal Engine 4.23. Make sure that
you have Visual Studio 2019 installed on your computer.
“Blueprint Workflow: Generalized Unreal Editor blueprint workflow to send
Set Up Unreal Engine and receive Simulink data.
to Send and Receive
Data” on page 6-30
“Run Simulation” on page 6-35 After you set up the Simulink model and Unreal Editor
environment, run a simulation.
6-20
Get Started Communicating with the Unreal Engine Visualization Environment
Set Up Simulink Model to Send and Receive Data

Step 1: Install Support Package
If you have already downloaded and installed Unreal Engine Version 4.23 and the Vehicle Dynamics
Blockset Interface for Unreal Engine 4 Projects support package, go to the next step.
To install and configure the support package, see “Install Support Package and Configure
Environment” on page 6-5.
Step 2: Set Up Simulink Model
Open a new Simulink model. Connect the blocks as shown.
Step 3: Configure Blocks
Use these block settings to configure blocks to send and receive cone data from the Unreal Editor.
Block Parameter Settings

Constant • Constant value — [100,10,50]
Sets the initial cone location in the Unreal Editor coordinate

system (in cm, left-handed, in Z-up coordinate system)
• Interpret vector parameters as 1-D — off
• Output data type — single
Data Type Conversion • Output data type — single
6-21
6 Supporting Data

Simulation 3D Scene • Scene Source — Unreal Editor
Configuration • Project — Your_Project_Path
\TestSim3dGetSet.uproject
• Open Unreal Editor — Select to open the editor
Simulation 3D Message Get • Signal name, SigName — ConeLocGet
• Data type, DataType — single
• Message size, MsgSize — [1 3]
• Sample time — -1
Simulation 3D Message Set • Signal name, SigName — ConeLocSet
• Sample time — -1
C++ Workflow: Set Up Unreal Engine to Send and Receive Data

Step 4: Open Unreal Editor in Editor Mode
1 In the Unreal Editor, on the Edit tab, select Plugins. Make sure that the MathWorks
Interface plugin is enabled. If prompted, restart the Unreal Editor.
2 Create an Unreal Engine C++ project. Name it TestSim3dGetSet. For steps on how to create C
++ project, see the Unreal Engine 4 Documentation.
3 In the Unreal Editor, click the Edit tab in the top left corner. Select Plugins and make sure that
the MathWorks Interface plugin is enabled. If the MathWorks Interface plugin is disabled,
enable it and restart Unreal Editor, if prompted.
4 Close the Unreal.
5 If Visual Studio is not open, open it.
6 Add the MathWorksSimulation dependency to the TestSim3dGetSet project build file.
• The project build file, TestSim3dGetSet.Build.cs, is located in this

folder: ...\TestSim3dGetSet\Source\TestSim3dGetSet.
• In the build file, TestSim3dGetSet.Build.cs, edit the line 11 to add the
“MathWorksSimulation” dependency:
PublicDependencyModuleNames.AddRange(new string[] { "Core", "CoreUObject",
"Engine", "InputCore", "MathWorksSimulation"});
7 Save the change. In Visual Studio, rebuild the TestSim3dGetSet project. Close Visual Studio.
Tip Before rebuilding the project in Visual Studio, make sure that Unreal is not open.
8 Start MATLAB. Change the current folder to the location of the Unreal Engine
TestSim3dGetSet project.
9 In MATLAB, open the project:
editor = sim3d.Editor('TestSim3dGetSet.uproject');
editor.open();
6-22
Step 5: Create Actor Class

1 In the Unreal Editor, from the MathWorksSimulation C++ classes directory, select Sim3dActor.
Right-click and select Create C++ class derived from Sim3dActor.
2 Name the new Sim3dActor SetGetActorLocation. Select Public. Click Create Class.
3 Close the Unreal Editor.
Step 6: Open SetGetActorLocation.h
Visual Studio opens with new C++ files in the project folder:
6-23
6 Supporting Data
• SetGetActorLocation.h
• SetGetActorLocation.cpp
Make sure you close the Unreal Editor.
In Visual Studio, build the solution TestSim3dGetSet:
1 In the Solution Explorer, right-click Solution 'TestSim3dGetSet' (2 projects).

2 Select Build Solution.
3 After the solution builds, open SetGetActorLocation.h. Edit the file as shown.
Replacement Code: SetGetActorLocation.h
This is the replacement code for SetGetActorLocation.h.

// Copyright 2019 The MathWorks, Inc.
#pragma once
#include "Sim3dActor.h"
#include "SetGetActorLocation.generated.h"
UCLASS()
class TESTSIM3DGETSET_API ASetGetActorLocation : public ASim3dActor
{
GENERATED_BODY()
void *SignalReader;
void *SignalWriter;
public:
// Sets default values for this actor's properties
ASetGetActorLocation();
virtual void Sim3dSetup() override;

virtual void Sim3dRelease() override;
virtual void Sim3dStep(float DeltaSeconds) override;
};
Step 7: Open SetGetActorLocation.cpp
Open SetGetActorLocation.cpp and replace the block of code.
Replacement Code: Set Pointer to Parameter
This code allows you to set a pointer to the parameter Signal Name parameter for the Simulink
blocks Simulation 3D Message Set and Simulation 3D Message Get, respectively.
// Sets default values
ASetGetActorLocation::ASetGetActorLocation():SignalReader(nullptr), SignalWriter(nullptr)
{
}
Replacement Code: Access Actor Tag Name
The following code allows you to access the tag name of this actor after it is instantiated in the scene
with an assigned tag name. The code also initializes the pointers SignalReader and
SignalWriter, to initiate a link between Unreal Editor and Simulink. The variables represent these
block Signal Name parameter values:
• SignalReaderTag — Simulation 3D Message Set
6-24
• SignalWriterTag — Simulation 3D Message Get

void ASetGetActorLocation::Sim3dSetup()
{
Super::Sim3dSetup();
if (Tags.Num() != 0) {
unsigned int numElements = 3;
FString tagName = Tags.Top().ToString();
FString SignalReaderTag = tagName;

SignalReaderTag.Append(TEXT("Set"));
SignalReader = StartSimulation3DMessageReader(TCHAR_TO_ANSI(*SignalReaderTag), sizeof(float)*numElements);
FString SignalWriterTag = tagName;

SignalWriterTag.Append(TEXT("Get"));
SignalWriter = StartSimulation3DMessageWriter(TCHAR_TO_ANSI(*SignalWriterTag), sizeof(float)*numElements);
}
}
Additional Code: Read and Write Data During Run Time
Add this code to allow Unreal Engine to read the data value set by Simulation 3D Message Set and
then write back to Simulation 3D Message Get during run time. Unreal Engine uses this data to set
the location value of the actor.
void ASetGetActorLocation::Sim3dStep(float DeltaSeconds)
{
float array[3];
int statusR = ReadSimulation3DMessage(SignalReader, sizeof(float)*numElements, array);
FVector NewLocation;
NewLocation.X = array[0];
NewLocation.Y = array[1];
NewLocation.Z = array[2];
SetActorLocation(NewLocation);
float fvector[3] = { NewLocation.X, NewLocation.Y, NewLocation.Z };
int statusW = WriteSimulation3DMessage(SignalWriter, sizeof(float)*numElements ,fvector);
}
Additional Code: Stop Simulation
Add this code so that Unreal Engine stops when you press the Simulink stop button. The code
destroys the pointer SignalReader and SignalWriter.
void ASetGetActorLocation::Sim3dRelease()
{
Super::Sim3dRelease();
if (SignalReader) {
StopSimulation3DMessageReader(SignalReader);
}
SignalReader = nullptr;
if (SignalWriter) {
StopSimulation3DMessageWriter(SignalWriter);
}
SignalWriter = nullptr;
}
Entire Replacement Code: SetGetActorLocation.cpp
This is the entire replacement code for SetGetActorLocation.cpp.

#include "SetGetActorLocation.h"
// Sets default values

ASetGetActorLocation::ASetGetActorLocation():SignalReader(nullptr), SignalWriter(nullptr)
6-25
6 Supporting Data
{
}
void ASetGetActorLocation::Sim3dSetup()
{
Super::Sim3dSetup();
if (Tags.Num() != 0) {
FString tagName = Tags.Top().ToString();
FString SignalReaderTag = tagName;

SignalReaderTag.Append(TEXT("Set"));
SignalReader = StartSimulation3DMessageReader(TCHAR_TO_ANSI(*SignalReaderTag), sizeof(float)*numElements);
FString SignalWriterTag = tagName;

SignalWriterTag.Append(TEXT("Get"));
SignalWriter = StartSimulation3DMessageWriter(TCHAR_TO_ANSI(*SignalWriterTag), sizeof(float)*numElements);
}
}
void ASetGetActorLocation::Sim3dStep(float DeltaSeconds)

{
float array[3];
int statusR = ReadSimulation3DMessage(SignalReader, sizeof(float)*numElements, array);
FVector NewLocation;
NewLocation.X = array[0];
NewLocation.Y = array[1];
NewLocation.Z = array[2];
SetActorLocation(NewLocation);
float fvector[3] = { NewLocation.X, NewLocation.Y, NewLocation.Z };
int statusW = WriteSimulation3DMessage(SignalWriter, sizeof(float)*numElements ,fvector);
}
void ASetGetActorLocation::Sim3dRelease()
{
if (SignalReader) {
StopSimulation3DMessageReader(SignalReader);
}
SignalReader = nullptr;
if (SignalWriter) {
StopSimulation3DMessageWriter(SignalWriter);
}
SignalWriter = nullptr;
}
Step 8: Build the Visual Studio Project and Open Unreal Editor
Press F5 on the keyboard to run the Visual Studio solution TestSim3dGetSet. The Unreal Editor
opens.
Note In the Unreal Editor, save the current level by clicking Save Current (located in the top left)
and name it TestMap. Add this level as default to Project Settings by clicking on Edit > Project
Settings > Maps&Modes. Then select TestMap as the default value for the Editor Startup Map and
Game Default Map. Close Project Settings to save the default values.
6-26
Step 9: Check Actor
On the World Outliner tab, check that the new instantiated actor, SetGetActorLocation1, is
listed.
6-27
6 Supporting Data
Step 10: Add Mesh
Click on the actor that you created in “Step 9: Check Actor” on page 6-27.
1 In the Details panel, click on Add Component to add a mesh to the actor SetConeLocation1.
Choose Cone as the default mesh.
2 Find the property tags for actor SetConeLocation1. Add a tag by clicking on the plus sign next
to 0 Array elements. Name it ConeLoc.
6-28
Step 11: Set Cone Location
On the Details tab, click Cone. Set the cone to X = 0.0, Y = 0.0, and Z = 0.0. Also set the actor
Mobility property to Movable.
Step 12: Set Parent Class and Save Scene
Set the parent class.
1 Under Blueprints, click Open Level Blueprint, and select Class Settings.
2 In the Class Options, set Parent Class to Sim3dLevelScriptActor.
6-29
6 Supporting Data
Save the Unreal Editor scene.
Step 13: Run Simulation
Run the simulation. Go to “Run Simulation” on page 6-35.
Reference: C++ Functions for Sending and Receiving Simulink Data
Call these C++ functions from Sim3dSetup, Sim3dStep, and Sim3dRelease to send and receive
Simulink data.
To C++ Functions
Receive data StartSimulation3DMessageReader
ReadSimulation3DMessage
StopSimulation3DMessageReader
Send data StartSimulation3DMessageWriter
WriteSimulation3DMessage
StopSimulation3DMessageWriter
Blueprint Workflow: Set Up Unreal Engine to Send and Receive Data

Step 4: Configure Scenes to Receive Data
To use the Simulation 3D Message Set block, you must configure scenes in the Unreal Engine
environment to receive data from the Simulink model:
1 In the Unreal Editor, instantiate the Sim3DGet actor that corresponds to the data type you want
to receive from the Simulink model. This example shows the Unreal Editor Sim3DGet data types.
6-30
2 Specify an actor tag name that matches the Simulation 3D Message Set block Signal name
parameter.
3 Navigate to the Level Blueprint.
4 Find the blueprint method for the Sim3DGet actor class based on the data type and size that you
want to receive from the Simulink model.
For example, in Unreal Editor, this diagram shows that Read Scalar Integer is the method
for Sim3DGetInteger actor class to receive int32 data type of size scalar.
5 Compile and save the scene.
Step 5: Configure Scenes to Send Data
To configure scenes in the Unreal Engine environment to send data to the Simulink model:
1 In the Unreal Editor, instantiate the Sim3DSet actor that corresponds to the data type you want
to send to the Simulink model. This example shows the Unreal Editor Sim3DSet data types.
6-31
6 Supporting Data
2 Specify an actor tag name that matches the Simulation 3D Message Get block Signal name
parameter.
3 Navigate to the Level Blueprint.
4 Find the blueprint method for the Sim3DSet actor class based on the data type and size specified
by the Simulation 3D Message Get block Data type and Message size parameters.
For this example, the array size is 3. The Unreal Editor diagram shows that Write Array
Float is the method for the Sim3DSetFloat3 actor class that sends float data type of array size
3.
5 Compile and save the scene.
Note Optionally, for better performance, set Read Array Float Max Num Elements to Num El in
the Actor Blueprint.
6-32
Step 6: Create Blueprint
In the Unreal Editor, create a level blueprint connecting the Get and Set actors.
1 Set the actor tag values.
• Sim3dGetFloat1 — Simulation 3D Message Set block Signal name, SigName parameter

value, for example ConeLocSet
• Sim3dSetFloat1 — Simulation 3D Message Get block Signal name, SigName parameter
value, for example ConeLocGet
2 Set the parent class.
a Under Blueprints, click Open Level Blueprint, and select Class Settings.
6-33
6 Supporting Data
b In the Class Options, set Parent Class to Sim3dLevelScriptActor.
3 In the level blueprint, make the connections, for example:
Step 7: Run Simulation
Run the simulation. Go to “Run Simulation” on page 6-35.
6-34
Run Simulation
After you configure the Simulink model and Unreal Editor environment, you can run the simulation.
Note At the BeginPlay event, Simulink does not receive data from the Unreal Editor. Simulink
receives data at Tick events.
Run the simulation.
1 In the Simulink model, click Run.
Because the source of the scenes is the project opened in the Unreal Editor, the simulation does
not start.
2 Verify that the Diagnostic Viewer window in Simulink displays this message:
In the Simulation 3D Scene Configuration block, you set the scene source
to 'Unreal Editor'. In Unreal Editor, select 'Play' to view the scene.
This message confirms that Simulink has instantiated the vehicles and other assets in the Unreal
Engine 3D environment.
3 In the Unreal Editor, click Play. The simulation runs in the scene currently open in the Unreal
Editor.
You can send and receive these data types: double, single, int8, uint8, int16, uint16, int32,
uint32, boolean. The code in “Step 7: Open SetGetActorLocation.cpp” on page 6-24 reads single
data type values (or float values) from Simulink.
See Also
ASim3dActor | Sim3dRelease | Sim3dSetup | Sim3dStep | Simulation 3D Message Get |
Simulation 3D Message Set | Simulation 3D Scene Configuration
More About
• “Animate Custom Actors in the Unreal Editor” on page 8-21
• “Place Cameras on Actors in the Unreal Editor” on page 8-10
External Websites
• Unreal Engine
6-35
6 Supporting Data
Prepare Custom Vehicle Mesh for the Unreal Editor

This example shows you how to create a vehicle mesh that is compatible with the project in the
Vehicle Dynamics Blockset Interface for Unreal Engine 4 Projects support package. You can specify
the mesh in the Simulation 3D Vehicle or Simulation 3D Vehicle with Ground Following block to
visualize the vehicle in the Unreal Editor when you run a simulation.
Before you start, install the Vehicle Dynamics Blockset Interface for Unreal Engine 4 Projects support
package. See “Customize 3D Scenes for Vehicle Dynamics Simulations” on page 6-3.
To create a compatible custom vehicle mesh, follow these workflow steps.
Step Description
“Step 1: Setup Bone In a 3D creation environment, setup the vehicle mesh bone hierarchy and
Hierarchy” on page 6-36 specify part names.
“Step 2: Assign Materials” Optionally, assign materials to the vehicle parts.
on page 6-37
“Step 3: Export Mesh and Export the vehicle mesh and armature in .fbx file format.
Armature” on page 6-39
“Step 4: Import Mesh to Import the vehicle mesh into the Unreal Editor.
Unreal Editor” on page 6-
40
“Step 5: Set Block Setup the Simulation 3D Vehicle or Simulation 3D Vehicle with Ground
Parameters” on page 6- Following block parameters.
41
Note To create the mesh, this example uses the 3D creation software Blender® Version 2.80.
Step 1: Setup Bone Hierarchy

1 Import a vehicle mesh into a 3D modeling tool, for example Blender.
2 To ensure that this mesh is compatible with the animation components in the Vehicle Dynamics
Blockset Interface for Unreal Engine 4 Projects support package, use this naming convention for
the vehicle parts in the mesh.
Vehicle Part Name

Chassis VehicleBody
Front left wheel Wheel_FL
Front right wheel Wheel_FR
Rear left wheel Wheel_RL
Rear right wheel Wheel_RR
Steering wheel Wheel_Steering
Left headlight Lights_Headlight_Left
Right headlight Lights_Headlight_Right
6-36
Vehicle Part Name

Left indicator light Indicator_L
Right indicator light Indicator_R
Number plate Vehicle_Plate
Brake lights Lights_Brake
Reverse lights Lights_Reverse
Front left brake caliper BrakeCaliper_FL
Front right brake caliper BrakeCaliper_FR
Rear left brake caliper BrakeCaliper_RL
Rear right brake caliper BrakeCaliper_RR
3 Set the vehicle body object, VehicleBody as the parent of the wheel objects and other vehicle
objects.
Step 2: Assign Materials

Optionally, assign material slots to vehicle parts. In this example, the mesh uses one material for the
chassis and one for the four wheels.
6-37
6 Supporting Data
1 Create and assign material slots to the vehicle chassis. Confirm that the first vehicle slot
corresponds to the vehicle body. For example, this image shows the hierarchy in Blender.
2 Create and assign material slots to the wheels.
6-38
Step 3: Export Mesh and Armature

Export the mesh and armature in the .fbx file format. For example, in Blender:
1 On the Object Types pane, select Armature and Mesh.
2 On the Transform pane, set:
• Scale to 1.00
• Apply Scalings to All Local
• Forward to X Forward
6-39
6 Supporting Data
• Up to Z Up
Select Apply Unit.
3 On the Geometry pane:
• Set Smoothing to Face

• Select Apply Modifiers
4 On the Armature pane, set:
• Primary Bone Axis to X Axis

• Secondary Bone Axis to Z Axis
Select Export FBX.
Step 4: Import Mesh to Unreal Editor

1 Open the Unreal Engine AutoVrtlEnv.uproject project in the Unreal Editor.
2 In the editor, import the FBX as a skeletal mesh. Assign the Skeleton to the
SK_PassengenerVehicle_Skeleton asset.
6-40
Step 5: Set Block Parameters

In your Simulink model, set these Simulation 3D Vehicle or Simulation 3D Vehicle with Ground
Following block parameters:
• Type to Custom.
• Path to the path in the Unreal Engine project that contains the imported mesh.
See Also
Simulation 3D Vehicle with Ground Following | Simulation 3D Scene Configuration | Simulation 3D
Vehicle
More About
External Websites
• Blender
6-41
7
Vehicle Dynamics Blockset Examples

7 Vehicle Dynamics Blockset Examples
Scene Interrogation with Camera and Ray Tracing Reference

Application
Interrogate a 3D scene with a vehicle dynamics model by using a camera and ray tracing reference
application project.
To create or modify other scenes, you need the Vehicle Dynamics Blockset Interface for Unreal
Engine 4 Projects support package. For more information, see “Customize 3D Scenes for Vehicle
Dynamics Simulations” on page 6-3.
For the minimum hardware required to run the example, see “3D Visualization Engine Requirements
For more information about the reference application, see “Scene Interrogation in 3D Environment”
on page 3-25.
See Also
Simulation 3D Actor Transform Get | Simulation 3D Camera Get | Simulation 3D Scene Configuration
| Simulation 3D Vehicle with Ground Following | Vehicle Body 3DOF
More About
7-2
Scene Interrogation with Camera and Ray Tracing Reference Application
External Websites
• Unreal Engine
7-3
Braking Test Reference Application

Simulate a full vehicle dynamics model undergoing a braking test, including a split-mu test. You can
create your own versions, establishing a framework to test that your vehicle meets the design
requirements under normal and extreme driving conditions. Use this reference application in ride and
handling studies and chassis controls development to characterize the vehicle dynamics during a
braking test. For information about this and similar maneuvers, see standards SAE J299_200901 and
ISO 21994:2007.
For more information about the reference application, see “Braking Test” on page 3-4.
References
[1] J299_200901. Stopping Distance Test Procedure. Warrendale, PA: SAE International, 2009.
[2] ISO 21994:2007. Passenger cars — Stopping distance at straight-line braking with ABS — Open-
loop test method. Geneva: ISO, 2007.
[3] ISO 14512:1999. Passenger cars — Straight-ahead braking on surfaces with split coefficient of
friction -- Open-loop test procedure. Geneva: ISO, 2007.
See Also
3D Engine | Road Track Friction | Straight Maneuver Reference Generator
More About
7-4
Braking Test Reference Application
7-5
Double Lane Change Reference Application

Simulate a full vehicle dynamics model undergoing a double-lane change maneuver according to
standard ISO 3888-2. You can create your own versions, establishing a framework to test that your
vehicle meets the design requirements under normal and extreme driving conditions. Use the
reference application for vehicle dynamics ride and handling analysis and chassis controls
development, including yaw stability and lateral acceleration limits.
For more information about the reference application, see “Double-Lane Change Maneuver” on page
3-14.
References
See Also
3D Engine | Mapped SI Engine | Predictive Driver | Vehicle Terrain Sensor
Related Examples
More About
7-6
Swept-Sine Steering Reference Application
Swept-Sine Steering Reference Application

Simulate a full vehicle dynamics model undergoing a swept-sine steering maneuver. You can create
your own versions, providing a framework to test that your vehicle meets the design requirements
under normal and extreme driving conditions. Use the reference application for vehicle dynamics ride
and handling analysis and chassis controls development, including the dynamic steering response.
For more information about the reference application, see “Swept-Sine Steering Maneuver” on page
3-32.
See Also
Related Examples
• “Frequency Response to Steering Angle Input” on page 1-47
More About
7-7
Increasing Steering Reference Application

Simulate a full vehicle dynamics model undergoing a slowly increasing steering maneuver according
to standard SAE J266. You can create your own versions, establishing a framework to test that your
vehicle meets the design requirements under normal and extreme driving conditions. Use the
reference application for lateral vehicle dynamics ride and handling analysis and chassis controls
development, including the steering response.
For more information about the reference application, see “Slowly Increasing Steering Maneuver” on
page 3-43.
References
See Also
Related Examples
• “Vehicle Steering Gain at Different Speeds” on page 1-27
More About
7-8
Constant Radius Reference Application
Constant Radius Reference Application

Simulate a full vehicle dynamics model undergoing a constant radius maneuver. You can create your
own versions, providing a framework to test that your vehicle meets the design requirements under
normal and extreme driving conditions. Use the reference application for vehicle dynamics ride and
handling analysis and chassis controls development, including the dynamic steering response.
For more information about the reference application, see “Constant Radius Maneuver” on page 3-54.
References
[2] ISO 4138:2012. Passenger cars — Steady-state circular driving behaviour — Open-loop test
methods. Geneva: ISO, 2012.
See Also
3D Engine | Driver Commands | Reference Generator
Related Examples
• “Vehicle Lateral Acceleration at Different Speeds” on page 1-38
More About
7-9
Kinematics and Compliance Virtual Test Laboratory Reference

Application
Generate optimized suspension parameters for the vehicle dynamics mapped suspension blocks.
Generate Mapped Suspension from Spreadsheet Data uses Model-Based Calibration Toolbox™
to generate calibrated suspension parameters from measured vertical force and suspension geometry
data.
Generate Mapped Suspension from Simscape Suspension uses a Simscape™ Multibody™

suspension system to generate calibrated suspension parameters for the mapped suspension blocks.
Compare Mapped and Simscape Suspension Responses compares the mapped suspension with
the Simscape Multibody suspension results.
For more information about the reference application, see “Kinematics and Compliance Virtual Test
Laboratory” on page 3-64.
See Also
Independent Suspension - Mapped | Solid Axle Suspension - Mapped
7-10
Kinematics and Compliance Virtual Test Laboratory Reference Application
More About
7-11
Three-Axle Tractor Towing a Three-Axle Trailer

This example shows how to use a three degree-of-freedom (DOF) hitch to tow a three-axle trailer with
a three-axle tractor. To steer and drive the tractor, the model uses a sinusoidal wave steering input
and an axle torque applied to the rear wheels.
To view the simulation in the 3D visualization environment, use the Vehicle Monitor 3D variant. Right-
click the Vehicle Monitor block and select Variant > Label Mode Active Choice > Vehicle Monitor
3D. See Run Simulation in 3D Visualization Environment.
To implement the tractor and trailer, by default, the three DOF model uses the Vehicle Body 3DOF
and Trailer Body 3DOF blocks. You can use the Toggle Between 3DOF and 6DOF button to
configure a six DOF model that uses the Vehicle Body 6 DOF block, Trailer Body 6DOF block, and a
6DOF hitch subsystem. See Six Degree-of-Freedom Model.
Model
Run Simulation
On the Simulation tab, click Run. As the simulation runs, the Vehicle Position window provides the
trace of the tractor and trailer.
7-12
Three-Axle Tractor Subsystem
To steer and drive the tractor, the three-axle tractor subsystem uses a sinusoidal wave steering input
and an axle torque applied to the rear wheels. The subsystem includes models for the wheels,
suspension, and vehicle body.
7-13
Three-Axle Trailer Subsystem
The three-axle trailer subsystem includes models for the wheels, suspension, and the trailer body.
Hitch Subsystem
When you select the three DOF model variant, the hitch model allows relative longitudinal, lateral,
and yaw motion between the tractor and trailer. To limit the longitudinal and lateral motion, the hitch
model implements a stiff translational spring-damper in the xy plane of the vehicle-fixed reference
frame. The resulting spring-damper forces approximately limits the relative motion between the
tractor and trailer to yaw rotation about a vertical axis at the hitch connection point. The hitch model
transfers the vertical hitch force from the trailer to the tractor.
When you select the six DOF model variant, the hitch model allows relative longitudinal, lateral,
vertical, and yaw motion between the tractor and trailer. The hitch model implements another
7-14
translational spring-damper along the z-axis of the vehicle-fixed reference frame. The effects of hitch
moments due to the relative rotations of the hitches are considered negligible.
• Spring forces are linear functions of the planar distance from the tractor hitch location to the first
trailer front hitch location in the inertial reference frame.
• Damper forces are linear functions of the planar velocity from the tractor hitch location to the first
7-15
Run Simulation in 3D Visualization Environment
In the Vehicle Monitor subsystem, use the Vehicle Monitor 3D variant to visualize the tractor and
trailer in the 3D simulation environment.
1 Right-click the Vehicle Monitor block and select Variant > Label Mode Active Choice >
Vehicle Monitor 3D.
2. Click Run. In the AutoVrtlEnv window, view the tractor and trailer in the 3D visualization
environment. You can use the key numbers to change camera views of the tractor and trailer. For
example, press 7 for a front left camera view.
Six Degree-of-Freedom Model
To implement a 6 DOF tractor, trailer and hitch model, click Toggle Between 3DOF and 6DOF.
Then, on the Simulation tab, click Run.
7-16
To view the simulation in the 3D visualization environment, use the Vehicle Monitor 3D variant.
See Also
Trailer Body 3DOF | Trailer Body 6DOF | Vehicle Body 3DOF | Vehicle Body 6DOF
More About
• “Two-Axle Tractor Towing a Two-Axle Trailer” on page 7-18
7-17
Two-Axle Tractor Towing a Two-Axle Trailer

This example shows how to use a hitch to tow a two-axle trailer with a two-axle tractor. To steer and
drive the tractor, the model uses a sinusoidal wave steering input and an axle torque applied to the
rear wheels.
To implement the tractor and trailer, by default, the three degree-of-freedom (DOF) model uses the
Vehicle Body 3DOF and Trailer Body 3DOF blocks. You can use the Toggle Between 3DOF and
6DOF button to configure a six DOF model that uses the Vehicle Body 6 DOF block, Trailer Body
6DOF block, and a 6DOF hitch subsystem. See Six Degree-of-Freedom Model.
Model
Run Simulation
trace of the tractor and trailer.
7-18
Two-Axle Vehicle Subsystem
To steer and drive the tractor, the two-axle tractor subsystem uses a sinusoidal wave steering input
and an axle torque applied to the rear wheels. The subsystem includes models for the wheels,
suspension, and vehicle body.
Two-Axle Trailer Subsystem
The two-axle trailer subsystem includes models for the wheels, suspension, and the trailer body.
7-19
Hitch Subsystem
When you select the three DOF model variant, the hitch model allows relative longitudinal, lateral,
and yaw motion between the tractor and trailer. To limit the longitudinal and lateral motion, the hitch
model implements a stiff translational spring-damper in the xy plane of the vehicle-fixed reference
frame. The resulting spring-damper forces approximately limits the relative motion between the
tractor and trailer to yaw rotation about a vertical axis at the hitch connection point. The hitch model
transfers the vertical hitch force from the trailer to the tractor.
When you select the six DOF model variant, the hitch model allows relative longitudinal, lateral,
vertical, and yaw motion between the tractor and trailer. The hitch model implements another
translational spring-damper along the z-axis of the vehicle-fixed reference frame. The effects of hitch
moments due to the relative rotations of the hitches are considered negligible.
• Spring forces are linear functions of the planar distance from the tractor hitch location to the first
• Damper forces are linear functions of the planar velocity from the tractor hitch location to the first
7-20
Six Degree-of-Freedom Model
To implement a six DOF tractor, trailer and hitch model, click Toggle Between 3DOF and 6DOF.
Then, on the Simulation tab, click Run.
7-21
See Also
Trailer Body 3DOF | Trailer Body 6DOF | Vehicle Body 3DOF | Vehicle Body 6DOF
More About
• “Three-Axle Tractor Towing a Three-Axle Trailer” on page 7-12
7-22
Follow Waypoints Around Oval Track

This example simulates a 3 degree-of-freedom (DOF) vehicle driving around an oval track that is
specified by waypoints. The model loads a minimum number of waypoints and uses a MATLAB®
function to determine the next heading waypoint.
To create your own track and use it Unreal®, you can use RoadRunner and a RoadRunner plugin. To
simulate a vehicle on the track in Unreal, you need the Vehicle Dynamics Blockset™ Interface for
Unreal Engine® 4 Projects support package. For more information, see “Install Support Package and
Configure Environment” on page 6-5.
Load Waypoints
On the model canvas, click Load Waypoints to load a minimum number of waypoints and
corresponding reference poses. This action loads waypoints that specify an oval track like the Indy
500 racing track.
7-23
The waypoints are specified as the X and Y locations in the Z -down vehicle coordinate system, in m.
The reference poses are specified in deg.
Loading the waypoints also creates equally spaced intermediate waypoints and reference poses for
the straight-line and circular portions of the track.
Run Simulation
trace of the vehicle as it moves around the track.
Oval Track Reference
The Oval Track Reference block includes a MATLAB® Function block that determines the next
heading waypoint based on the current vehicle position and pose. The reference block then provides
the vehicle commands to the driver block.
7-24
See Also
MATLAB Function | Predictive Driver | Vehicle Body 3DOF
More About
• “Install Support Package and Configure Environment” on page 6-5
• “Export to Unreal” (RoadRunner)
• “RoadRunner”
7-25
Read and Write Block Parameters to Excel

If you manage model data in external files, you can use scripts to pass the data between the data file
and a Simulink® model. This example shows you how to read block parameter data from and write
parameter data to an Excel® data file. Specifically, the example provides functions that read and
write Mapped SI Engine parameter data. You can adapt the functions to read and write parameters
for additional blocks.
Open Mapped SI Engine Block
Open the Mapped SI Engine block in the double-lane change reference application.
Open the Double-Lane Change Reference Application
workDir = pwd;
vdynblksDblLaneChangeStart;
cd(workDir);
Set a variable equal to the block path.
bp = 'SiMappedEngineV/Mapped SI Engine'; % block path
In the DLCReferenceApplication model, navigate to Passenger Vehicle > Ideal Mapped

Engine > SiMappedEngineV. Open the Mapped SI Engine block. The Breakpoints for
commanded torque, Breakpoints for engine speed input, Number of cylinders, Crank
revolutions per power stroke, and Total displaced volume parameters are set to workspace
variables.
The functions in the example overwrite the workspace variables with the values in the data file.
Specify Data File Configuration
First, specify the file name. This example file SiEngineData.xlsx contains three sheets. The first
sheet contains scalar values for commanded torque breakpoints, breakpoints for engine speed input
breakpoints, number of cylinders, crank revolutions, and total displaced volume. The second sheet
contains a table values for the brake torque map. The third sheet contains table values for the fuel
torque map.
fileName = 'SiEngineData.xlsx';
Note that the first sheet in the file specifies the Number of cylinders, Ncyl parameter as 6.
7-26
Next, define the configuration data for the engine subsystem. This example sets a configuration for
double variables of size scalar, vector, or a 2D array.
• Scalar data structure specifies the data on the first sheet.

• Vector data structure specifies the data on the second sheet.
• Array data structure specifies the data on the third sheet.
engData = struct(); % engine parameter data
% Scalar data
engData.Ncyl = struct('xlSheet','Main', 'xlRange','C7:C7', 'slBlockPath',bp, 'slBlockParam','Ncyl
engData.Cps = struct('xlSheet','Main', 'xlRange','C8:C8', 'slBlockPath',bp, 'slBlockParam','Cps')
engData.Vd = struct('xlSheet','Main', 'xlRange','C9:C9', 'slBlockPath',bp, 'slBlockParam','Vd');
% Vector data
engData.t_bpt = struct('xlSheet','Main', 'xlRange','C3:R3', 'slBlockPath',bp, 'slBlockParam','f_t
engData.n_bpt = struct('xlSheet','Main', 'xlRange','C4:R4', 'slBlockPath',bp, 'slBlockParam','f_t
% 2D array data
engData.torque = struct('xlSheet','Brake Torque', 'xlRange','B2:Q17', 'slBlockPath',bp, 'slBlockP
engData.fuel = struct('xlSheet','Fuel Map', 'xlRange','B2:Q17', 'slBlockPath',bp, 'slBlockParam',
Read Mapped SI Engine Block Parameters
Update the Mapped SI Engine block to the values specified in the data file.
Read Data File and Update Parameters
Use this code to read the data file and update the Mapped SI Engine block parameters.
f = fields(engData);
for idx = 1:length(f)
try
var = getfield(engData, f{idx});
% read value from Excel
val = readmatrix(fileName, 'Sheet',var.xlSheet, 'Range',var.xlRange);
% open Simulink model
mdl = fileparts(var.slBlockPath);
open_system(mdl);
% set parameter value and save model
set_param(var.slBlockPath, var.slBlockParam, mat2str(val));
save_system(mdl);
catch ME
% return any error info
7-27
disp(getReport(ME, 'extended', 'hyperlinks', 'on'))

fprintf('\nContinuing to next variable...\n\n');
end
end
fprintf('Done writing values to Simulink\n')
Done writing values to Simulink
In the DLCReferenceApplication model, navigate to Passenger Vehicle > Ideal Mapped

Engine > SiMappedEngineV. Open the Mapped SI Engine block. The Breakpoints for
commanded torque, Breakpoints for engine speed input, Number of cylinders, Crank
revolutions per power stroke, and Total displaced volume parameters are set to the values
specified in the data file. Confirm that the Brake torque map and Fuel flow map parameters are
the same as the values specified in the data file.
Write Modified Parameters to Data File
In the Mapped SI Engine block, change the Number of cylinders, NCyl parameter from 6 to 8.
Click Apply. Save the model.
Alternatively, use this code to update the parameter and save the model.
set_param(bp,'Ncyl','8');
save_system('SiMappedEngineV');
Write Parameter Data to File
Create a copy of the data file. Write the modified parameter data to the copy of the data file.
copyfile('SiEngineData.xlsx','SiEngineDataCopy.xlsx','f');
fileName = 'SiEngineDataCopy.xlsx';
7-28
Next, use this code to write the Mapped SI Engine block Breakpoints for commanded torque,
Breakpoints for engine speed input, Number of cylinders, Crank revolutions per power
stroke, Total displaced volume, Brake torque map, and Fuel flow map parameters to the data
file.
% Read data from Simulink model then write to Excel

f = fields(engData);
for idx = 1:length(f)
try
var = getfield(engData, f{idx});
% open Simulink model
mdl = fileparts(var.slBlockPath);
open_system(mdl);
% read value from Simulink
val = str2num(get_param(var.slBlockPath, var.slBlockParam));
% write value to Excel
writematrix(val, fileName, 'Sheet',var.xlSheet, 'Range',var.xlRange);
catch ME
% return any error info
disp(getReport(ME, 'extended', 'hyperlinks', 'on'))
fprintf('\nContinuing to next variable...\n\n');
end
end
fprintf('Done writing values to Excel\n')
Done writing values to Excel
Open the file with the modified data. Confirm that the number of cylinders in the data file is 8.
See Also
Mapped SI Engine
Related Examples
• “Double Lane Change Reference Application” on page 7-6
7-29
8
3D Simulation
8 3D Simulation
3D Simulation for Vehicle Dynamics Blockset

Vehicle Dynamics Blockset provides a co-simulation framework that models driving algorithms in
Simulink and visualizes their performance in a 3D environment. This 3D simulation environment uses
the Unreal Engine from Epic Games.
Simulink blocks related to the 3D simulation environment can be found in the Vehicle Dynamics
Blockset > Vehicle Scenarios > Sim3D block library. These blocks provide the ability to:
• Configure prebuilt scenes in the 3D simulation environment.

• Place and move vehicles within these scenes.
• Set up cameras the vehicles.
• Simulate camera outputs based on the environment around the vehicle.
This simulation tool is commonly used to supplement real data when developing, testing, and
verifying the vehicle performance of automated driving algorithms. In conjunction with a vehicle
model, you can use these blocks to perform realistic closed-loop simulations that encompass the
entire automated driving stack, from perception to control.
For more details on the simulation environment, see “How 3D Simulation for Vehicle Dynamics
Blockset Works” on page 8-8.
3D Simulation Blocks
Scenes
To configure a model to co-simulate with the 3D simulation environment, add a Simulation 3D Scene
Configuration block to the model. Using this block, you can choose from a set of prebuilt 3D scenes
where you can test and visualize your vehicle performance. The following image is from the Virtual
Mcity scene.
8-2
The toolbox includes these scenes.
Scene Description
Straight Road Straight road segment
Curved Road Curved, looped road
Parking Lot Empty parking lot
Double Lane Change Straight road with barrels and traffic signs that
are set up for executing a double lane change
maneuver
Open Surface Flat, black pavement surface with no road objects
US City Block City block with intersections, barriers, and traffic
lights
US Highway Highway with cones, barriers, traffic lights, and
traffic signs
Large Parking Lot Parking lot with parked cars, cones, curbs, and
traffic signs
Virtual Mcity City environment that represents the University
of Michigan proving grounds (see Mcity Test
Facility); includes cones, barriers, an animal,
traffic lights, and traffic signs
If you have the Vehicle Dynamics Blockset Interface for Unreal Engine 4 Projects support package,
then you can modify these scenes or create new ones. For more details, see “Customize 3D Scenes for
Vehicle Dynamics Simulations” on page 6-3.
8-3
8 3D Simulation
Vehicles, Tractors, and Trailers
To define a virtual vehicle in a scene, add a Simulation 3D Vehicle with Ground Following, Simulation
3D Vehicle, Simulation 3D Tractor, or Simulation 3D Trailer block to your model. Using the blocks,
you can control the movement of the vehicle by supplying the X, Y, and yaw values that define its
position and orientation at each time step.
You can also specify the color and type of vehicle. The toolbox includes these vehicle types:
• Box Truck
• Hatchback
• Muscle Car
• Sedan
• Small Pickup Truck
• Sport Utility Vehicle
• Conventional Tractor
• Two-Axle Trailer
• Three-Axle Trailer
Communication
You can define virtual sensors and attach them at various positions on the vehicles. The toolbox
includes these sensor modeling and configuration blocks.
Block Description
Simulation 3D Camera Get Provides an interface to an ideal camera in the
3D visualization environment. The image output
is a red, green, and blue (RGB) array.
Simulation 3D Actor Transform Get Gets the actor translation, rotation, and scale for
the Simulink simulation environment.
Simulation 3D Actor Transform Set Sets the actor translation, rotation, and scale in
the Unreal Engine 3D visualization environment
Simulation 3D Message Get Retrieves data from the Unreal Engine 3D
visualization environment.
Simulation 3D Message Set Sends data to the Unreal Engine 3D visualization
environment.
Algorithm Testing and Visualization

Vehicle Dynamics Blockset Interface for Unreal Engine 4 Projects 3D simulation blocks provide the
tools for testing and visualizing path planning, vehicle control, and perception algorithms.
Closed-Loop Systems
After you design and test a perception system within the 3D simulation environment, you can then
use it to drive a control system that actually steers a vehicle. In this case, rather than manually set up
a trajectory, the vehicle uses the perception system to drive itself. By combining perception and
control into a closed-loop system in the 3D simulation environment, you can develop and test more
complex algorithms, such as lane keeping assist and adaptive cruise control.
8-4
See Also
More About
8-5
8 3D Simulation
3D Visualization Engine Requirements and Limitations

Vehicle Dynamics Blockset provides an interface to a 3D simulation environment that is visualized
using the Unreal Engine from Epic Games. Version 4.23 of this visualization engine comes installed
with Vehicle Dynamics Blockset. When simulating in the 3D environment, keep these requirements
and limitations in mind.
Software Requirements
To use the Vehicle Dynamics Blockset 3D visualization engine, consider these minimum hardware
requirements:
• A Windows® 64-bit platform. If you do not enable the 3D visualization engine, Vehicle Dynamics
Blockset runs on Windows, Mac, and Linux® 64-bit platforms.
• Visual Studio 2019.
• Microsoft® DirectX®. If it is not already installed on your machine, Vehicle Dynamics Blockset
prompts you to install the software the first time you enable 3D visualization.
If you are customizing scenes, verify that your Unreal Engine project is compatible with the Unreal
Engine version supported by your MATLAB release.
MATLAB Release Unreal Engine Version

R2018a — R2019b 4.19
R2020a — R2021a 4.23
Minimum Hardware Requirements

To use the Vehicle Dynamics Blockset 3D visualization engine, consider these minimum hardware
requirements:
• Graphics card (GPU) — Virtual reality-ready with 8 GB of on-board RAM

• Processor (CPU) — 2.60 GHz
• Memory (RAM) — 12 GB
Limitations
The 3D visualization engine and blocks do not support:
• Code generation.
• Model reference.
• Multiple instances of the Simulation 3D Scene Configuration block.
• Multiple instances of the same actor tag. To refer to the same scene actor when you use the 3D
block pairs (e.g. Simulation 3D Actor Transform Get and Simulation 3D Actor Transform Set),
specify the same Tag for actor in 3D scene, Actortag parameter.
• Parallel simulations.
• Rapid accelerator mode.
8-6
3D Visualization Engine Requirements and Limitations
In addition, when using these blocks in a closed-loop simulation, all 3D simulation environment blocks
must be in the same subsystem.
See Also
More About
• “Scene Interrogation in 3D Environment” on page 3-25
External Websites
• Unreal Engine
8-7
8 3D Simulation
How 3D Simulation for Vehicle Dynamics Blockset Works

The vehicle dynamics models run programmable maneuvers in a photorealistic 3D visualization
environment. Vehicle Dynamics Blockset integrates the 3D simulation environment with Simulink so
that you can query the world around the vehicle for virtually testing perception, control, and planning
algorithms. The Vehicle Dynamics Blockset visualization environment uses the Unreal Engine by Epic
Games.
Understanding how this simulation environment works can help you troubleshoot issues and
customize your models.
Communication with 3D Simulation Environment

When you use Vehicle Dynamics Blockset to run your algorithms, Simulink co-simulates the
algorithms in the visualization engine.
In the Simulink environment, Vehicle Dynamics Blockset:
• Determines the next position of objects by using 3D visualization environment feedback and
vehicle dynamics models.
• Configures the 3D visualization environment, specifically:
• Ray tracing
• Scene capture cameras
• Initial object positions
In the visualization engine environment, Vehicle Dynamics Blockset positions the objects and uses ray
tracing to query the environment.
The diagram summarizes the communication between Simulink and the visualization engine.
Block Execution Order

During simulation, the 3D simulation blocks follow a specific execution order:
1 The vehicle blocks initialize the vehicles and send their X, Y, and Yaw signal data to the
Simulation 3D Scene Configuration block.
2 The Simulation 3D Scene Configuration block receives the vehicle data and sends it to the sensor
blocks.
3 The sensor blocks receive the vehicle data and use it to accurately locate and visualize the
vehicles.
8-8
How 3D Simulation for Vehicle Dynamics Blockset Works
The Priority property of the blocks controls this execution order. To access this property for any
block, right-click the block, select Properties, and click the General tab. By default, Simulation 3D
Vehicle with Ground Following blocks have a priority of -1, Simulation 3D Scene Configuration blocks
have a priority of 0, and sensor blocks have a priority of 1.
If your sensors are not detecting vehicles in the scene, it is possible that the 3D simulation blocks are
executing out of order. Try updating the execution order and simulating again. For more details on
execution order, see “Control and Display Execution Order”.
Also be sure that all 3D simulation blocks are located in the same subsystem. Even if the blocks have
the correct Priority settings, if they are located in different subsystems, they still might execute out
of order.
See Also
Related Examples
More About
• “Scene Interrogation in 3D Environment” on page 3-25
External Websites
• Unreal Engine
8-9
8 3D Simulation
Place Cameras on Actors in the Unreal Editor

To visualize objects in an Unreal Editor scene, you can place cameras on static or custom actors in
the scene. To start, you need the Vehicle Dynamics Blockset Interface for Unreal Engine 4 Projects
support package. See “Install Support Package and Configure Environment” on page 6-5.
To follow this workflow, you should be comfortable using Unreal Engine. Make sure that you have
Visual Studio 2019 installed on your computer.
Place Camera on Static Actor

Follow these steps to place a Simulation 3D Camera Get block that is offset from a cone in the Unreal
Editor. Although this example uses the To Video Display block from Computer Vision Toolbox™, you
can use a different visualization block to display the image.
1 In a Simulink model, add the Simulation 3D Scene Configuration, Simulation 3D Camera Get, and
To Video Display blocks.
Set these block parameters. In the Simulation 3D Scene Configuration block, select Open
Unreal Editor.

Configuration • Project — Specify the path and name of the support
package project file. For example, C:\Local
\AutoVrtlEnv\AutoVrtlEnv.uproject
8-10

Simulation 3D Camera Get • Sensor identifier — 1
• Vehicle name — Scene Origin
• Vehicle mounting location — Origin
• Specify offset — on
• Relative translation [X, Y, Z] — [-5, 0, 1]
This offsets the camera location from the cone mounting

location, 5 m behind, and 1 m up.
2 In the Unreal Editor, from the Modes tab, add a Sim 3D Scene Cap to the world, scene, or map.
3 In the Unreal Editor, from the Modes tab, add a Cone to the world, scene, or map.
4 On the World Outliner tab, right-click the Sim3DSceneCap and attach it to the Cone.
8-11
8 3D Simulation
5 On the Details tab, under Transform, add a location offset of -500,0,100 in the X, Y, and Z
world coordinate system, respectively. This attaches the camera 500 cm behind the cone and 100
cm above it. The values match the Simulation 3D Camera Get block parameter Relative
translation [X, Y, Z] value.
6 On the Details tab, under Actor, tag the Sim3DSceneCap with the name Camera1.
7 Run the simulation.
a In the Simulink model, click Run.
8-12
Because the source of the scenes is the project opened in the Unreal Editor, the simulation
does not start.
b Verify that the Diagnostic Viewer window in Simulink displays this message:
In the Simulation 3D Scene Configuration block, you set the scene

source to 'Unreal Editor'. In Unreal Editor, select 'Play' to view the
scene.
This message confirms that Simulink has instantiated the vehicles and other assets in the
Unreal Engine 3D environment.
c In the Unreal Editor, click Play. The simulation runs in the scene currently open in the
Unreal Editor.
Observe the results in the To Video display window. The window displays the image from the
camera.
Place Camera on Vehicle in Custom Project

Follow these steps to create a custom Unreal Engine project and place a camera on a vehicle in the
project. Although the example uses the To Video Display block from Computer Vision Toolbox, you can
use a different visualization block to display the image.
1 In a Simulink model, add the Simulation 3D Scene Configuration, Simulation 3D Camera Get, and
To Video Display blocks.
8-13
8 3D Simulation
Save the model.

2 Create a new project using the Vehicle Advanced template from the Epic Games Launcher by
Epic Games.
a In the Epic Games Launcher, launch Unreal Engine 4.23.
For more information about the Epic Games Launcher, see Unreal Engine.
b Select the New Project tab. On the Blueprint or C++ tab, select Vehicle Advanced. For
more information about the Epic Games Launcher, see Unreal Engine.
8-14
The Epic Games Launcher creates a new project and opens the Unreal Editor.
c Save the project. Close the Unreal Editor.
3 Open the Simulink model that you saved in step 1. Set these block parameters. In the Simulation
3D Scene Configuration block, select Open Unreal Editor.

Configuration • Project — Specify the path an project that you saved in
step 2. For example, myProjectPath
\myProject.uproject
Simulation 3D Camera Get • Sensor identifier — 1
• Vehicle name — Scene Origin
• Vehicle mounting location — Origin
4 In the Simulation 3D Scene Configuration block, select Open Unreal Editor.
5 In the Unreal Editor, from the Modes tab, add a Sim 3D Camera to the world, scene, or map.
8-15
8 3D Simulation
8-16
6 On the vehicle VehicleBlueprint, drag and drop a camera. Choose a vehicle socket or bone to
attach the camera to.
8-17
8 3D Simulation
7 On the Details tab, tag the Sim3dCamera1 with the name Camera1.
8 Set the parent class.
a Under Blueprints, click Open Level Blueprint, and select Class Settings.
8-18
b In the Class Options, set Parent Class to Sim3dLevelScriptActor.
9 Save the project.

does not start.

scene.
Unreal Editor.
Observe the results in the To Video Display window.
8-19
8 3D Simulation
See Also
Simulation 3D Camera Get | Simulation 3D Scene Configuration
More About
• “Animate Custom Actors in the Unreal Editor” on page 8-21
External Websites
• Unreal Engine
8-20
Animate Custom Actors in the Unreal Editor

Follow these steps to animate a custom actor in the Unreal Editor. Before you start, make sure you
that you have Visual Studio 2019 and the Vehicle Dynamics Blockset Interface for Unreal Engine 4
Projects support package installed on your machine. For more information, see “Install Support
Package and Configure Environment” on page 6-5.
Additionally, make sure that:
• You are comfortable coding with C++ in Unreal Engine.

• Your Unreal Editor C++ project contains a skeletal actor mesh. This example uses a bicycle mesh.
This examples provides the workflow for animating a bicycle actor. The general workflow is adapted
from the Unreal Engine Vehicle User Guide.
Set up Simulink Model

Step 1: Set up Simulink Model
Open a new Simulink model and add these blocks:
• Two Ramp blocks

• Constant block
• Simulation 3D Actor Transform Set block
• Simulation 3D Scene Configuration block
8-21
8 3D Simulation
Connect and name the blocks as shown.
Step 2: Configure Blocks
Configure blocks with these parameter settings.

Simulation 3D Scene • Scene source — Unreal Editor
Configuration • Project — Name and location of the installed support package
project file, for example, C:\Local\AutoVrtlEnv
\AutoVrtlEnv.uproject.
• Scene view — Scene Origin
Simulation 3D Actor • Actor Setup tab:
Transform Set
• Tag for actor in 3D scene, ActorTag — Bike1
Note This tag should match the Unreal Editor tag name in
“Step 6: Instantiate the Bicycle Actor” on page 8-36.
• Number of parts per actor to set, NumberOfParts — 3
• Initial Values tab:
• Initial array values to translate actor per part,

Translation — [0 0 0;0 0 0;0 0 0]
• Initial array values to rotate actor per part, Rotation —
[0 0 0;0 0 0;0 0 0]
• Initial array values to scale actor per part, Scale — [1 1
1;1 1 1;1 1 1]
Translation Ramp • Slope — [0.35 0 0;0 0 0;0 0 0]
Rotation Ramp • Slope — [0 0 0;0 -pi/5 0;0 -pi/5 0]
Scale Constant • Constant value — [1 1 1;1 1 1;1 1 1]
8-22
Set up Unreal Editor to Animate Bicycle

Step 3: Set up Animation Instance
1 In your Simulink model, use the Simulation 3D Scene Configuration block Open Unreal Editor
parameter to open the Unreal Editor.
2 Select File > New C++ Class. In the Choose Parent Class dialog box, select Show All
Classes. Search for AnimInst. Add the AnimInstance parent class.
3 Name the new C++ class SimulinkBikeAnimInst. Click Create Class.
In the Unreal Editor Message dialog box, click No to not open the Output Log.
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8 3D Simulation
4 In Visual Studio 2019, open the C:\Local\AutoVrtlEnv\AutoVrtlEnv.sln file. Navigate to

the SimulinkBikeAnimInst.h and SimulinkBikeAnimInst.h source files.
Edit the files as shown.
Tip For this example, the code includes FWheelRotation and RWheelRotation properties to
animate the bicycle wheel rotation. You can add additional properties to animate other parts of
the bicycle.
Code: SimulinkBikeAnimInst.h
#pragma once
#include "CoreMinimal.h"
#include "Animation/AnimInstance.h"
8-24
#include "SimulinkBikeAnimInst.generated.h"
/**
*
*/
UCLASS(transient, Blueprintable, hideCategories = AnimInstance, BlueprintType)
class AUTOVRTLENV_API USimulinkBikeAnimInst : public UAnimInstance
{
GENERATED_UCLASS_BODY()
public:
UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = WheelRotation)
float FWheelRotation;
UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = WheelRotation)

float RWheelRotation;
};
Code: SimulinkBikeAnimInst.cpp
#include "SimulinkBikeAnimInst.h"
USimulinkBikeAnimInst::USimulinkBikeAnimInst(const FObjectInitializer& ObjectInitializer)

: Super(ObjectInitializer) {
FWheelRotation = 0.0f;
RWheelRotation = 0.0f;
}
6 In Visual Studio, build the solution.
Step 4: Create Animation Blueprint
2 In the Unreal Editor, on the Content Browser tab, under View Options, select Show Engine
Content and Show Plugin Content.
8-25
8 3D Simulation
3 Add the animation mesh. On the Content Browser tab, navigate to MathWorksSimulation
Content > Vehicles > Bicyclist > Meshes.
8-26
4 Select Add New > Animation > Animation Blueprint.
5 In the Create Animation Blueprint dialog box, select:
• Parent Class: SimulinkBikeAnimInst

• Target Skeleton: SK_Bicycle_Skeleton
8-27
8 3D Simulation
Click OK.
6 Name the blueprint BikeAnimation. Right-click and select Save.
8-28
7 Open the BikeAnimation blueprint. Make the connections as shown.
Make sure that you set:
• Bone to Modify to the correct bone

• Rotation Mode to Replace Existing
• Rotation Space to Bone Space
8-29
8 3D Simulation
8 Compile and save the project.
Step 5: Create Bicycle Actor C++ Class
1 In the Unreal Editor, on the Content Browser tab, under View Options, select Show Engine
Content and Show Plugin Content.
8-30
2 From the MathWorksSimulation C++ Classes folder, select Sim3dActor.
8-31
8 3D Simulation
Right-click and select Create C++ class derived from Sim3dActor.
Tip If you do not see the MathWorksSimulation C++ Classes folder, use these steps to check that
you have the MathWorksSimulation plugin installed and enabled:
a In the Unreal Editor toolbar, select Edit > Plugins.

b In the Plugins window, verify that the MathWorks Interface plugin is listed in the installed
window. If the plugin is not already enabled, select the Enabled check box.
If you do not see the MathWorks Interface plugin in this window, repeat step 3 in
“Configure Environment” on page 6-5 and reopen the editor from Simulink.
c Close the editor and reopen it from Simulink.
3 Name the new Sim3dActor BicycleActor. Select Public. Click Create Class.
4 In Visual Studio, navigate to BicycleActor.h and BicycleActor.cpp.
8-32
Edit the files as shown.
Tip For this example, the code includes logic to animate the bike body (BIKE_BODY), front
wheel (FRONT_WHEEL), and rear wheel (REAR_WHEEL). You can add additional logic to animate
other parts of the bicycle.
Code: BicycleActor.h
#pragma once
#include "CoreMinimal.h"
#include "Sim3dActor.h"
#include "BicycleActor.generated.h"
UCLASS()
class AUTOVRTLENV_API ABicycleActor : public ASim3dActor
{
GENERATED_BODY()
// Reference to animation blueprint and skeletal mesh

UClass* BicycleAnimation;
USkeletalMesh* BicycleMesh;
//Enum for parts that we want to control from simulink

enum {
BIKE_BODY = 0,
FRONT_WHEEL = 1,
REAR_WHEEL =2,
NumberOfParts = 3
};
enum {
X = 0,
Y = 1,
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8 3D Simulation
Z = 2
};
enum {
PITCH = 0,
ROLL = 1,
YAW = 2
};
public:
//Containers to receive data from Simulink
float Translation[NumberOfParts][3];
float Rotation[NumberOfParts][3];
float Scale[NumberOfParts][3];
ABicycleActor();
//Override functions for enabling Simulink to control this actor

virtual void Sim3dInit() override;
virtual void Sim3dSetup() override;
virtual void Sim3dStep(float DeltaSeconds) override;
virtual void Sim3dRelease() override;
//Some helper functions

void SetMesh(FString MeshRef);
void SetAnim(FString AnimRef);
//Function to update position/orientation of actor at each step

virtual void Transform();
// Returns Mesh subobject

class USkeletalMeshComponent* GetMesh() const;
//Reference to skeletal mesh component

UPROPERTY(Category = Bicyclist,
VisibleDefaultsOnly,
BlueprintReadOnly,
meta = (AllowPrivateAccess = "true"))
class USkeletalMeshComponent* Mesh;
protected:
virtual int GetNumberOfParts() { return (NumberOfParts); }
};
// Returns Mesh subobject

FORCEINLINE USkeletalMeshComponent* ABicycleActor::GetMesh() const {
return Mesh;
}
Code: BicycleActor.cpp
#include "BicycleActor.h"
#include "SimulinkBikeAnimInst.h"
#include "AutoVrtlEnv.h"
#include "Math/UnrealMathUtility.h"
ABicycleActor::ABicycleActor() {
//Create mesh component

Mesh = CreateOptionalDefaultSubobject<USkeletalMeshComponent>(TEXT("ABicycleMesh"));
RootComponent = Mesh;
}
void ABicycleActor::Sim3dInit() {
Super::Sim3dInit();
}
void ABicycleActor::Sim3dSetup() {
SetMesh(TEXT("/MathWorksSimulation/Vehicles/Bicyclist/Meshes/SK_Bicycle"));
SetAnim(TEXT("/MathWorksSimulation/Vehicles/Bicyclist/Meshes/BikeAnimation.BikeAnimation_C"));
8-34
GetMesh()->SetSkeletalMesh(BicycleMesh);
GetMesh()->SetAnimationMode(EAnimationMode::AnimationBlueprint);
GetMesh()->SetAnimInstanceClass(BicycleAnimation);
Transform();
}
void ABicycleActor::Sim3dStep(float DeltaTime) {

Transform();
}
void ABicycleActor::Sim3dRelease() {
}
void ABicycleActor::Transform() {
//Initialize
int status = 0;
FVector ActorLocation;
FRotator ActorRotation;
FVector ActorScale;
USimulinkBikeAnimInst* Animation = NULL;
Animation = Cast<USimulinkBikeAnimInst>(GetMesh()->GetAnimInstance());
//Read data from simulink

status = ReadSimulation3DActorTransform(readerTransform, Translation, Rotation, Scale);
//Set bicycle position and orientation

ActorLocation.Set(Translation[BIKE_BODY][X], Translation[BIKE_BODY][Y], Translation[BIKE_BODY][Z]);
ActorRotation.Pitch = Rotation[BIKE_BODY][PITCH];
ActorRotation.Roll = Rotation[BIKE_BODY][ROLL];
ActorRotation.Yaw = Rotation[BIKE_BODY][YAW];
//Unit conversion from simulink to UE, meteres to cm and radians to degrees

ActorLocation = ActorLocation * 100.0f;
ActorRotation = FMath::RadiansToDegrees(ActorRotation);
ActorScale.Set(Scale[BIKE_BODY][X], Scale[BIKE_BODY][Y], Scale[BIKE_BODY][Z]);
SetActorLocation(ActorLocation);
SetActorRotation(ActorRotation);
SetActorScale3D(ActorScale);
//Set properies in animation blueprint

Animation->FWheelRotation = FMath::RadiansToDegrees(Rotation[FRONT_WHEEL][ROLL]);
Animation->RWheelRotation = FMath::RadiansToDegrees(Rotation[REAR_WHEEL][ROLL]);
//Unit conversion from UE to simulink

ActorLocation = GetActorLocation();
ActorLocation = ActorLocation * .01f; // cm -> m
ActorRotation = GetActorRotation();
ActorRotation = FMath::DegreesToRadians(ActorRotation);
ActorScale = GetActorScale3D();
Translation[BIKE_BODY][X] = ActorLocation.X;
Translation[BIKE_BODY][Y] = ActorLocation.Y;
Translation[BIKE_BODY][Z] = ActorLocation.Z;
Rotation[BIKE_BODY][X] = ActorRotation.Pitch;
Rotation[BIKE_BODY][Y] = ActorRotation.Roll;
Rotation[BIKE_BODY][Z] = ActorRotation.Yaw;
Scale[BIKE_BODY][X] = ActorScale.X;
Scale[BIKE_BODY][Y] = ActorScale.Y;
Scale[BIKE_BODY][Z] = ActorScale.Z;
Translation[FRONT_WHEEL][X] = 0.0f;
Translation[FRONT_WHEEL][Y] = 0.0f;
Translation[FRONT_WHEEL][Z] = 0.0f;
Translation[REAR_WHEEL][X] = 0.0f;
Translation[REAR_WHEEL][Y] = 0.0f;
Translation[REAR_WHEEL][Z] = 0.0f;
Rotation[FRONT_WHEEL][PITCH] = 0.0f;
Rotation[FRONT_WHEEL][ROLL] = FMath::DegreesToRadians(Animation->FWheelRotation);
Rotation[FRONT_WHEEL][YAW] = 0.0f;
Rotation[REAR_WHEEL][PITCH] = 0.0f;
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8 3D Simulation
Rotation[REAR_WHEEL][ROLL] = FMath::DegreesToRadians(Animation->RWheelRotation);
Rotation[REAR_WHEEL][YAW] = 0.0f;
Scale[FRONT_WHEEL][X] = 1.0f;
Scale[FRONT_WHEEL][Y] = 1.0f;
Scale[FRONT_WHEEL][Z] = 1.0f;
Scale[REAR_WHEEL][X] = 1.0f;
Scale[REAR_WHEEL][Y] = 1.0f;
Scale[REAR_WHEEL][Z] = 1.0f;
//Write data back to simulink

WriteSimulation3DActorTransform(writerTransform, Translation, Rotation, Scale);
}
void ABicycleActor::SetMesh(FString MeshPath) {

BicycleMesh =
Cast<USkeletalMesh>(StaticLoadObject(USkeletalMesh::StaticClass(), NULL, *MeshPath));
}
void ABicycleActor::SetAnim(FString AnimPath) {

BicycleAnimation = StaticLoadClass(USimulinkBikeAnimInst::StaticClass(), NULL, *AnimPath);
}
Tip In the code, make sure to use relative paths when you specify the mesh and animation asset
locations.
void ABicycleActor::Sim3dSetup() {
SetMesh(TEXT("/MathWorksSimulation/Vehicles/Bicyclist/Meshes/SK_Bicycle"));
SetAnim(TEXT("/MathWorksSimulation/Vehicles/Bicyclist/Meshes/BikeAnimation.BikeAnimation_C"));
GetMesh()->SetSkeletalMesh(BicycleMesh);
GetMesh()->SetAnimationMode(EAnimationMode::AnimationBlueprint);
GetMesh()->SetAnimInstanceClass(BicycleAnimation);
Transform();
}

6 Save the project and build the solution.
Step 6: Instantiate the Bicycle Actor
2 Place the Bicycle Actor in the scene.
8-36
3 Set the tag to the same value as the Simulation 3D Actor Transform Set block Tag for actor in
3D scene, ActorTag. For this example, set the value to Bike1.
8-37
8 3D Simulation
Set up Camera View (Optional)

Optionally, set up a camera view to override the default view. You can use either Simulink or a level
blueprint to set up the camera view. For the recommended option, use Simulink.
Step 7: Use Simulink (Recommended)
To setup a camera view that follows along with the bicycle:
1 Add these blocks to the model.
• One Ramp block

• One Add block
8-38
• Three Constant blocks

• Simulation 3D Actor Transform Set block
Connect and name the blocks as shown.
2 Set these block parameters.

Simulation 3D Actor • Tag for actor in 3D scene, ActorTag — MainCamera1
Transform Set: Camera
Control
CamTranslation • Constant value — [0 -5.1 0.56]
CamRotation • Constant value — [0 0 deg2rad(85)]
CamScale • Constant value — [1 1 1]
Step 7: Use Level Blueprint
To override the default camera view:
1 Add a camera actor. Assign it as a child of the BicycleActor.

2 Use the Transform settings to specify the location and viewing angle.
8-39
8 3D Simulation
3 Open the level blueprint.
8-40
4 In the level blueprint, make these connections. If you right-click on the Event Graph to find
nodes, clear Context Sensitive. If you have a CameraActor, you can drag it to the Event Graph
from the World Outliner view in the editor.
5 Save the project. Close the Unreal Editor.
Run Simulation
After you configure the Simulink model and Unreal Editor environment, run a simulation.
8-41
8 3D Simulation
1 In your Simulink model, make sure that you have set the Simulation 3D Scene Configuration
parameters to these values:
• Scene source — Unreal Editor

• Project — Name and location of the installed support package project file, for example,
C:\Local\AutoVrtlEnv\AutoVrtlEnv.uproject.
• Scene view — Scene Origin
2 Use the Simulation 3D Scene Configuration block Open Unreal Editor parameter to open the
Unreal Editor.
does not start.

scene.
Unreal Editor.
See Also
Simulation 3D Actor Transform Set | Simulation 3D Scene Configuration
More About
• “Place Cameras on Actors in the Unreal Editor” on page 8-10
External Websites
• Unreal Engine
8-42

User's Guide: Vehicle Dynamics Blockset™

Uploaded by

User's Guide: Vehicle Dynamics Blockset™

Uploaded by

Vehicle Dynamics Blockset™

Latest news: www.mathworks.com

Sales and services: www.mathworks.com/sales_and_services

User community: www.mathworks.com/matlabcentral

Technical support: www.mathworks.com/support/contact_us

The MathWorks, Inc.

Required and Recommended Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

Engine Calibration Maps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

Yaw Stability on Varying Road Surfaces . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16

Vehicle Steering Gain at Different Speeds . . . . . . . . . . . . . . . . . . . . . . . . 1-27

Vehicle Lateral Acceleration at Different Speeds . . . . . . . . . . . . . . . . . . . 1-38

Frequency Response to Steering Angle Input . . . . . . . . . . . . . . . . . . . . . . 1-47

Braking Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Double-Lane Change Maneuver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

Scene Interrogation in 3D Environment . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25

Swept-Sine Steering Maneuver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32

Slowly Increasing Steering Maneuver . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43

Constant Radius Maneuver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-54

Kinematics and Compliance Virtual Test Laboratory . . . . . . . . . . . . . . . . 3-64

Run a Vehicle Dynamics Maneuver in 3D Environment . . . . . . . . . . . . . . 3-73

Send and Receive Double-Lane Change Scene Data . . . . . . . . . . . . . . . . . 3-81

Customize 3D Scenes for Vehicle Dynamics Simulations . . . . . . . . . . . . . . 6-3

Install Support Package and Configure Environment . . . . . . . . . . . . . . . . 6-5

Migrate Projects Developed Using Prior Support Packages . . . . . . . . . . . 6-8

Customize Scenes Using Simulink and Unreal Editor . . . . . . . . . . . . . . . . 6-9

Package Custom Scenes into Executable . . . . . . . . . . . . . . . . . . . . . . . . . 6-17

Get Started Communicating with the Unreal Engine Visualization

Prepare Custom Vehicle Mesh for the Unreal Editor . . . . . . . . . . . . . . . . 6-36

Braking Test Reference Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

Double Lane Change Reference Application . . . . . . . . . . . . . . . . . . . . . . . . 7-6

Swept-Sine Steering Reference Application . . . . . . . . . . . . . . . . . . . . . . . . 7-7

Increasing Steering Reference Application . . . . . . . . . . . . . . . . . . . . . . . . . 7-8

Constant Radius Reference Application . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9

Kinematics and Compliance Virtual Test Laboratory Reference

Three-Axle Tractor Towing a Three-Axle Trailer . . . . . . . . . . . . . . . . . . . . 7-12

Two-Axle Tractor Towing a Two-Axle Trailer . . . . . . . . . . . . . . . . . . . . . . . 7-18

Follow Waypoints Around Oval Track . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-23

Read and Write Block Parameters to Excel . . . . . . . . . . . . . . . . . . . . . . . . 7-26

3D Visualization Engine Requirements and Limitations . . . . . . . . . . . . . . 8-6

How 3D Simulation for Vehicle Dynamics Blockset Works . . . . . . . . . . . . 8-8

Place Cameras on Actors in the Unreal Editor . . . . . . . . . . . . . . . . . . . . . 8-10

Animate Custom Actors in the Unreal Editor . . . . . . . . . . . . . . . . . . . . . . 8-21

Vehicle Dynamics Blockset Product Description

Required and Recommended Products

Goal Recommended Products

Optimize vehicle energy consumption,

Engine Calibration Maps

Engine Plant Calibration Maps

Calibration Maps in the Mapped CI Engine Block

The Mapped CI Engine block implements these calibration maps.

Map Used For In Description

Map Used For In Description

Map Used For In Description

Engine-out EO hydrocarbon Mapped CI The engine-out hydrocarbon emissions are a function

Map Used For In Description

Map Used For In Description

Calibration Maps in the Mapped SI Engine Block

The Mapped SI Engine block implements these calibration maps.

Map Used For In Description

Map Used For In Description

Map Used For In Description

Brake-specific Brake-specific Mapped SI The brake-specific fuel consumption (BSFC) efficiency

Map Used For In Description

Engine-out EO carbon Mapped SI The engine-out carbon monoxide emissions are a

Map Used For In Description

Engine-out EO carbon Mapped SI The engine-out carbon dioxide emissions are a

Yaw Stability on Varying Road Surfaces

• Accelerates until vehicle hits a target velocity

Run a Double-Lane Change Maneuver

• Longitudinal entrance velocity setpoint — 35 mph

### Starting serial model reference simulation build

Simulation targets built:

Model Action Rebuild Reason

3 of 3 models built (0 models already up to date)

Sweep Surface Friction

1. In the double-lane change reference application model DLCReferenceApplication, open the