Bicycle Model

Implement a single track 3DOF rigid vehicle body to calculate longitudinal, lateral, and yaw motion

Libraries:
Automated Driving Toolbox / Driving Scenario and Sensor Modeling
Vehicle Dynamics Blockset / Vehicle Body

Description

Note

Simulating models with the Bicycle Model block requires Simulink^® 3D Animation™.

The Bicycle Model block implements a rigid two-axle single track vehicle body model to calculate longitudinal, lateral, and yaw motion. The block accounts for body mass, aerodynamic drag, and weight distribution between the axles due to acceleration and steering. There are two types of Bicycle Model blocks.

Block	Implementation
Bicycle Model - Velocity Input	Block assumes that the external longitudinal velocity is quasi-steady state so the longitudinal acceleration is approximately zero. Since the motion is quasi-steady, the block calculates only lateral forces using the tire slip angles and linear cornering stiffness.
Bicycle Model - Force Input	Block uses the external longitudinal force to accelerate or brake the vehicle. Block calculates lateral forces using the tire slip angles and linear cornering stiffness.

Block

Implementation

Bicycle Model - Velocity Input Bicycle model block with velocity input ports WhlAngF and xdotin.

Block assumes that the external longitudinal velocity is quasi-steady state so the longitudinal acceleration is approximately zero.
Since the motion is quasi-steady, the block calculates only lateral forces using the tire slip angles and linear cornering stiffness.

Bicycle Model - Force Input Bicycle model block with force input ports WhlAngF, FxF and FxR.

Block uses the external longitudinal force to accelerate or brake the vehicle.
Block calculates lateral forces using the tire slip angles and linear cornering stiffness.

To calculate the normal forces on the front and rear axles, the block uses rigid-body vehicle motion, suspension system forces, and wind and drag forces. The block resolves the force and moment components on the rigid vehicle body frame.

Ports

Input

expand all

WhlAngF — Wheel angle
`scalar`

Front wheel angle, in rad.

FxF — Force Input: Total longitudinal force on the front axle
`scalar`

Longitudinal force on the front axle, Fx_F, along vehicle-fixed x-axis, in N.

Bicycle Model - Force Input block input port.

FxR — Force Input: Total longitudinal force on the rear axle
`scalar`

Longitudinal force on the rear axle, Fx_R, along vehicle-fixed x-axis, in N.

Bicycle Model - Force Input block input port.

xdotin — Velocity Input: Longitudinal velocity
`scalar`

Vehicle CG velocity along vehicle-fixed x-axis, in m/s.

Bicycle Model - Velocity Input block input port.

Output

expand all

Info — Bus signal
bus

Bus signal containing these block values.

Signal						Description	Value	Units
`InertFrm`	`Cg`	`Disp`	`X`			Vehicle CG displacement along the earth-fixed X-axis	Computed	m
			`Y`			Vehicle CG displacement along the earth-fixed Y-axis	Computed	m
			`Z`			Vehicle CG displacement along the earth-fixed Z-axis	`0`	m
		`Vel`	`Xdot`			Vehicle CG velocity along the earth-fixed X-axis	Computed	m/s
			`Ydot`			Vehicle CG velocity along the earth-fixed Y-axis	Computed	m/s
			`Zdot`			Vehicle CG velocity along the earth-fixed Z-axis	`0`	m/s
		`Ang`	`phi`			Rotation of the vehicle-fixed frame about the earth-fixed X-axis (roll)	`0`	rad
			`theta`			Rotation of the vehicle-fixed frame about the earth-fixed Y-axis (pitch)	`0`	rad
			`psi`			Rotation of the vehicle-fixed frame about the earth-fixed Z-axis (yaw)	Computed	rad
	`FrntAxl`	`Disp`	`X`			Front wheel displacement along the earth-fixed X-axis	Computed	m
			`Y`			Front wheel displacement along the earth-fixed Y-axis	Computed	m
			`Z`			Front wheel displacement along the earth-fixed Z-axis	`0`	m
		`Vel`	`Xdot`			Front wheel velocity along the earth-fixed X-axis	Computed	m/s
			`Ydot`			Front wheel velocity along the earth-fixed Y-axis	Computed	m/s
			`Zdot`			Front wheel velocity along the earth-fixed Z-axis	`0`	m/s
	`RearAxl`	`Disp`	`X`			Rear wheel displacement along the earth-fixed X-axis	Computed	m
			`Y`			Rear wheel displacement along the earth-fixed Y-axis	Computed	m
			`Z`			Rear wheel displacement along the earth-fixed Z-axis	`0`	m
		`Vel`	`Xdot`			Rear wheel velocity along the earth-fixed X-axis	Computed	m/s
			`Ydot`			Rear wheel velocity along the earth-fixed Y-axis	Computed	m/s
			`Zdot`			Rear wheel velocity along the earth-fixed Z-axis	`0`	m/s
	`Hitch`	`Disp`	`X`			Hitch offset from axle plane along the earth-fixed X-axis	Computed	m
			`Y`			Hitch offset from center plane along the earth-fixed Y-axis	Computed	m
			`Z`			Hitch offset from axle plane along the earth-fixed Z-axis	Computed	m
		`Vel`	`Xdot`			Hitch offset velocity from axle plane along the earth-fixed X-axis	Computed	m
			`Ydot`			Hitch offset velocity from center plane along the earth-fixed Y-axis	Computed	m
			`Zdot`			Hitch offset velocity from axle plane along the earth-fixed Z-axis	Computed	m
	`Geom`	`Disp`	`X`			Vehicle chassis offset from axle plane along the earth-fixed X-axis	Computed	m
			`Y`			Vehicle chassis offset from center plane along the earth-fixed Y-axis	Computed	m
			`Z`			Vehicle chassis offset from axle plane along the earth-fixed Z-axis	Computed	m
		`Vel`	`Xdot`			Vehicle chassis offset velocity along the earth-fixed X-axis	Computed	m/s
			`Ydot`			Vehicle chassis offset velocity along the earth-fixed Y-axis	Computed	m/s
			`Zdot`			Vehicle chassis offset velocity along the earth-fixed Z-axis	Computed	m/s
`BdyFrm`	`Cg`	`Vel`	`xdot`			Vehicle CG velocity along the vehicle-fixed x-axis	Computed	m/s
			`ydot`			Vehicle CG velocity along the vehicle-fixed y-axis	Computed	m/s
			`zdot`			Vehicle CG velocity along the vehicle-fixed z-axis	`0`	m/s
		`Ang`	`Beta`			Body slip angle, β $β = \frac{V_{y}}{V_{x}}$	Computed	rad
		`AngVel`	`p`			Vehicle angular velocity about the vehicle-fixed x-axis (roll rate)	`0`	rad/s
			`q`			Vehicle angular velocity about the vehicle-fixed y-axis (pitch rate)	`0`	rad/s
			`r`			Vehicle angular velocity about the vehicle-fixed z-axis (yaw rate)	Computed	rad/s
		`Acc`	`ax`			Vehicle CG acceleration along the vehicle-fixed x-axis	Computed	gn
			`ay`			Vehicle CG acceleration along the vehicle-fixed y-axis	Computed	gn
			`az`			Vehicle CG acceleration along the vehicle-fixed z-axis	`0`	gn
			`xddot`			Vehicle CG acceleration along the vehicle-fixed x-axis	Computed	m/s^2
			`yddot`			Vehicle CG acceleration along the vehicle-fixed y-axis	Computed	m/s^2
			`zddot`			Vehicle CG acceleration along the vehicle-fixed z-axis	`0`	m/s^2
		`AngAcc`	`pdot`			Vehicle angular acceleration about the vehicle-fixed x-axis	`0`	rad/s
			`qdot`			Vehicle angular acceleration about the vehicle-fixed y-axis	`0`	rad/s
			`rdot`			Vehicle angular acceleration about the vehicle-fixed z-axis	Computed	rad/s
		`DCM`	Direction cosine matrix				Computed	rad
	`Forces`	`Body`	`Fx`			Net force on vehicle CG along the vehicle-fixed x-axis	Computed	N
			`Fy`			Net force on vehicle CG along the vehicle-fixed y-axis	Computed	N
			`Fz`			Net force on vehicle CG along the vehicle-fixed z-axis	`0`	N
		`Ext`	`Fx`			External force on vehicle CG along the vehicle-fixed x-axis	Computed	N
			`Fy`			External force on vehicle CG along the vehicle-fixed y-axis	Computed	N
			`Fz`			External force on vehicle CG along the vehicle-fixed z-axis	`0`	N
		`Hitch`	`Fx`			Hitch force applied to body at the hitch location along the vehicle-fixed x-axis	Input	N
			`Fy`			Hitch force applied to body at the hitch location along the vehicle-fixed y-axis	Input	N
			`Fz`			Hitch force applied to body at the hitch location along the vehicle-fixed z-axis	Input	N
		`FrntAxl`	`Fx`			Longitudinal force on front wheel, along the vehicle-fixed x-axis	Computed	N
			`Fy`			Lateral force on front wheel along the vehicle-fixed y-axis	Computed	N
			`Fz`			Normal force on front wheel, along the vehicle-fixed z-axis	Computed	N
		`RearAxl`	`Fx`			Longitudinal force on rear wheel, along the vehicle-fixed x-axis	Computed	N
			`Fy`			Lateral force on rear wheel along the vehicle-fixed y-axis	Computed	N
			`Fz`			Normal force on rear wheel, along the vehicle-fixed z-axis	Computed	N
		`Tires`	`FrntTire`	`Fx`		Front tire force, along the vehicle-fixed x-axis	Computed	N
				`Fy`		Front tire force, along the vehicle-fixed y-axis	Computed	N
				`Fz`		Front tire force, along the vehicle-fixed z-axis	Computed	N
			`RearTire`	`FxFx`		Rear tire force, along the vehicle-fixed x-axis	Computed	N
				`Fy`		Rear tire force, along the vehicle-fixed y-axis	Computed	N
				`Fz`		Rear tire force, along the vehicle-fixed z-axis	Computed	N
		`Drag`	`Fx`			Drag force on vehicle CG along the vehicle-fixed x-axis	Computed	N
			`Fy`			Drag force on vehicle CG along the vehicle-fixed y-axis	Computed	N
			`Fz`			Drag force on vehicle CG along the vehicle-fixed z-axis	Computed	N
		`Grvty`	`Fx`			Gravity force on vehicle CG along the vehicle-fixed x-axis	Computed	N
			`Fy`			Gravity force on vehicle CG along the vehicle-fixed y-axis	Computed	N
			`Fz`			Gravity force on vehicle CG along the vehicle-fixed z-axis	Computed	N
	`Moments`	`Body`	`Mx`			Body moment on vehicle CG about the vehicle-fixed x-axis	`0`	N·m
			`My`			Body moment on vehicle CG about the vehicle-fixed y-axis	Computed	N·m
			`Mz`			Body moment on vehicle CG about the vehicle-fixed z-axis	`0`	N·m
		`Drag`	`Mx`			Drag moment on vehicle CG about the vehicle-fixed x-axis	`0`	N·m
			`My`			Drag moment on vehicle CG about the vehicle-fixed y-axis	Computed	N·m
			`Mz`			Drag moment on vehicle CG about the vehicle-fixed z-axis	`0`	N·m
		`Ext`	`Mx`			External moment on vehicle CG about the vehicle-fixed x-axis	`0`	N·m
			`My`			External moment on vehicle CG about the vehicle-fixed y-axis	Computed	N·m
			`Mz`			External moment on vehicle CG about the vehicle-fixed z-axis	`0`	N·m
		`Hitch`	`Mx`			Hitch moment at the hitch location about vehicle-fixed x-axis	`0`	N·m
			`My`			Hitch moment at the hitch location about vehicle-fixed y-axis	Computed	N·m
			`Mz`			Hitch moment at the hitch location about vehicle-fixed z-axis	`0`	N·m
	`FrntAxl`	`Disp`	`x`			Front wheel displacement along the vehicle-fixed x-axis	Computed	m
			`y`			Front wheel displacement along the vehicle-fixed y-axis	Computed	m
			`z`			Front wheel displacement along the vehicle-fixed z-axis	Computed	m
		`Vel`	`xdot`			Front wheel velocity along the vehicle-fixed x-axis	Computed	m/s
			`ydot`			Front wheel velocity along the vehicle-fixed y-axis	Computed	m/s
			`zdot`			Front wheel velocity along the vehicle-fixed z-axis	`0`	m/s
		`Steer`	`WhlAngFL`			Front left wheel steering angle	Computed	rad
		`Steer`	`WhlAngFR`			Front right wheel steering angle	Computed	rad
`RearAxl`	`Disp`	`x`			Rear wheel displacement along the vehicle-fixed x-axis	Computed	m
		`y`			Rear wheel displacement along the vehicle-fixed y-axis	Computed	m
		`z`			Rear wheel displacement along the vehicle-fixed z-axis	Computed	m
	`Vel`	`xdot`			Rear wheel velocity along the vehicle-fixed x-axis	Computed	m/s
		`ydot`			Rear wheel velocity along the vehicle-fixed y-axis	Computed	m/s
		`zdot`			Rear wheel velocity along the vehicle-fixed z-axis	`0`	m/s
	`Steer`	`WhlAngRL`			Rear left wheel steering angle	Computed	rad
	`Steer`	`WhlAngRR`			Rear right wheel steering angle	Computed	rad
`Hitch`	`Disp`		`x`		Hitch offset from axle plane along the vehicle-fixed x-axis	Input	m
			`y`		Hitch offset from center plane along the vehicle-fixed y-axis	Input	m
			`z`		Hitch offset from axle plane along the earth-fixed z-axis	Input	m
	`Vel`		`xdot`		Hitch offset velocity along the vehicle-fixed x-axis	Computed	m/s
			`ydot`		Hitch offset velocity along the vehicle-fixed y-axis	Computed	m/s
			`zdot`		Hitch offset velocity along the vehicle-fixed z-axis	Computed	m/s
`Pwr`	`Ext`				Applied external power	Computed	W
	`Hitch`				Power loss due to hitch	Computed	W
	`Drag`				Power loss due to drag	Computed	W
`Geom`	`Disp`		`x`		Vehicle chassis offset from axle plane along the vehicle-fixed x-axis	Input	m
			`y`		Vehicle chassis offset from center plane along the vehicle-fixed y-axis	Input	m
			`z`		Vehicle chassis offset from axle plane along the earth-fixed z-axis	Input	m
	`Vel`		`xdot`		Vehicle chassis offset velocity along the vehicle-fixed x-axis	Computed	m/s
			`ydot`		Vehicle chassis offset velocity along the vehicle-fixed y-axis	Computed	m/s
			`zdot`		Vehicle chassis offset velocity along the vehicle-fixed z-axis	`0`	m/s
	`Ang`		`Beta`		Body slip angle, β $β = \frac{V_{y}}{V_{x}}$	Computed	rad

Signal			Description	Value	Units
`PwrInfo`	`PwrTrnsfrd`	`PwrFxExt`	Externally applied longitudinal force power	Computed	W
		`PwrFyExt`	Externally applied lateral force power	Computed	W
		`PwrMzExt`	Externally applied roll moment power	Computed	W
		`PwrFwFx`	Longitudinal force applied at the front axle power	Computed	W
		`PwrFwFy`	Lateral force applied at the front axle power	Computed	W
		`PwrFwRx`	Longitudinal force applied at the rear axle power	Computed	W
		`PwrFwRy`	Lateral force applied at the rear axle power	Computed	W
	`PwrNotTrnsfrd`	`PwrFxDrag`	Longitudinal drag force power	Computed	W
		`PwrFyDrag`	Lateral drag force power	Computed	W
		`PwrMzDrag`	Drag pitch moment power	Computed	W
	`PwrStored`	`PwrStoredGrvty`	Rate change in gravitational potential energy	Computed	W
		`PwrStoredxdot`	Rate of change of longitudinal kinetic energy	Computed	W
		`PwrStoredydot`	Rate of change of lateral kinetic energy	Computed	W
		`PwrStoredr`	Rate of change of rotational yaw kinetic energy	Computed	W

xdot — Vehicle body longitudinal velocity
`scalar`

Vehicle CG velocity along vehicle-fixed x-axis, in m/s.

ydot — Vehicle body lateral velocity
`scalar`

Vehicle CG velocity along vehicle-fixed y-axis, in m/s.

psi — Yaw
`scalar`

Rotation of the vehicle-fixed frame about earth-fixed Z-axis (yaw), in rad..

r — Yaw rate
`scalar`

Vehicle angular velocity, r, about the vehicle-fixed z-axis (yaw rate), in rad/s.

Parameters

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Longitudinal

Number of wheels on front axle, NF — Front wheel count
`2` (default) | `scalar`

Number of wheels on front axle, N_F. The value is dimensionless.

Number of wheels on rear axle, NR — Rear wheel count
`2` (default) | `scalar`

Number of wheels on rear axle, N_R. The value is dimensionless.

Vehicle mass, m — Vehicle mass
`2000` (default) | `scalar`

Vehicle mass, m, in kg.

Longitudinal distance from center of mass to front axle, a — Front axle distance
`1.4` (default) | `scalar`

Horizontal distance a from the vehicle CG to the front wheel axle, in m.

Longitudinal distance from center of mass to rear axle, b — Rear axle distance
`1.6` (default) | `scalar`

Horizontal distance b from the vehicle CG to the rear wheel axle, in m.

Vertical distance from center of mass to axle plane, h — Height
`0.35` (default) | `scalar`

Height of vehicle CG above the axles, h, in m.

Initial inertial frame longitudinal position, X_o — Position
`0` (default) | `scalar`

Initial vehicle CG displacement along earth-fixed X-axis, in m.

Initial longitudinal velocity, xdot_o — Velocity
`0` (default) | `scalar`

Initial vehicle CG velocity along vehicle-fixed x-axis, in m/s.

Lateral

Front tire corner stiffness, Cy_f — Stiffness
`12e3` (default) | `scalar`

Front tire corner stiffness, Cy_f, in N/rad.

Rear tire corner stiffness, Cy_r — Stiffness
`11e3` (default) | `scalar`

Rear tire corner stiffness, Cy_r, in N/rad.

Initial inertial frame lateral displacement, Y_o — Position
`0` (default) | `scalar`

Initial vehicle CG displacement along earth-fixed Y-axis, in m.

Initial lateral velocity, ydot_o — Velocity
`0` (default) | `scalar`

Initial vehicle CG velocity along vehicle-fixed y-axis, in m/s.

Yaw

Yaw polar inertia, Izz — Inertia
`4000` (default) | `scalar`

Yaw polar inertia, in kg*m^2.

Initial yaw angle, psi_o — Psi rotation
`0` (default) | `scalar`

Rotation of the vehicle-fixed frame about earth-fixed Z-axis (yaw), in rad.

Initial yaw rate, r_o — Yaw rate
`0` (default) | `scalar`

Vehicle angular velocity about the vehicle-fixed z-axis (yaw rate), in rad/s.

Aerodynamic

Longitudinal drag area, Af — Effective vehicle cross-sectional area
`2` (default) | `scalar`

Effective vehicle cross-sectional area, A_f, to calculate the aerodynamic drag force on the vehicle, in m².

Longitudinal drag coefficient, Cd — Air drag coefficient
`.3` (default) | `scalar`

Air drag coefficient, C_d. The value is dimensionless.

Longitudinal lift coefficient, Cl — Air lift coefficient
`.1` (default) | `scalar`

Air lift coefficient, C_l. The value is dimensionless.

Longitudinal drag pitch moment, Cpm — Pitch drag
`.1` (default) | `scalar`

Longitudinal drag pitch moment coefficient, C_pm. The value is dimensionless.

Relative wind angle vector, beta_w — Wind angle
`[0:0.01:0.3]` (default) | `vector`

Relative wind angle vector, β_w, in rad.

Side force coefficient vector, Cs — Side force coefficient
`[0:0.03:0.9]` (default) | `vector`

Side force coefficient vector coefficient, C_s. The value is dimensionless.

Yaw moment coefficient vector, Cym — Yaw moment drag
`[0:0.01:0.3]` (default) | `vector`

Yaw moment coefficient vector, C_ym. The value is dimensionless.

Environment

Absolute pressure, Pabs — Pressure
`101325` (default) | `scalar` | `scalar`

Environmental absolute pressure, P_abs, in Pa.

Air temperature, Tair — Temperature
`273` (default) | `scalar`

Environmental absolute temperature, T, in K.

Gravitational acceleration, g — Gravity
`9.81` (default) | `scalar`

Gravitational acceleration, g, in m/s^2.

Nominal friction scaling factor, mu — Friction scale factor
`1` (default) | `scalar`

Nominal friction scale factor, μ. The value is dimensionless.

Simulation

Longitudinal velocity tolerance, xdot_tol — Tolerance
`.01` (default) | `scalar`

Longitudinal velocity tolerance, in m/s.

Nominal normal force, Fznom — Normal force
`5000` (default) | `scalar`

Nominal normal force, in N.

Geometric longitudinal offset from axle plane, longOff — Longitudinal offset
`0` (default) | `scalar`

Vehicle chassis offset from axle plane along body-fixed x-axis, in m. When you use the 3D visualization engine, consider using the offset to locate the chassis independent of the vehicle CG.

Geometric lateral offset from center plane, latOff — Lateral offset
`0` (default) | `scalar`

Vehicle chassis offset from center plane along body-fixed y-axis, in m. When you use the 3D visualization engine, consider using the offset to locate the chassis independent of the vehicle CG.

Geometric vertical offset from axle plane, vertOff — Vertical offset
`0` (default) | `scalar`

Vehicle chassis offset from axle plane along body-fixed z-axis, in m. When you use the 3D visualization engine, consider using the offset to locate the chassis independent of the vehicle CG.

References

[1] Gillespie, Thomas. Fundamentals of Vehicle Dynamics. Warrendale, PA: Society of Automotive Engineers (SAE), 1992.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2018a

expand all

R2024a: Requires Simulink 3D Animation

Simulating models with the Bicycle Model block requires Simulink 3D Animation.

Bicycle Model

Description

Ports

Input

WhlAngF — Wheel angle scalar

FxF — Force Input: Total longitudinal force on the front axle scalar

FxR — Force Input: Total longitudinal force on the rear axle scalar

xdotin — Velocity Input: Longitudinal velocity scalar

Output

Info — Bus signal bus

xdot — Vehicle body longitudinal velocity scalar

ydot — Vehicle body lateral velocity scalar

psi — Yaw scalar

r — Yaw rate scalar

Parameters

Number of wheels on front axle, NF — Front wheel count 2 (default) | scalar

Number of wheels on rear axle, NR — Rear wheel count 2 (default) | scalar

Vehicle mass, m — Vehicle mass 2000 (default) | scalar

Longitudinal distance from center of mass to front axle, a — Front axle distance 1.4 (default) | scalar

Longitudinal distance from center of mass to rear axle, b — Rear axle distance 1.6 (default) | scalar

Vertical distance from center of mass to axle plane, h — Height 0.35 (default) | scalar

Initial inertial frame longitudinal position, X_o — Position 0 (default) | scalar

Initial longitudinal velocity, xdot_o — Velocity 0 (default) | scalar

Front tire corner stiffness, Cy_f — Stiffness 12e3 (default) | scalar

Rear tire corner stiffness, Cy_r — Stiffness 11e3 (default) | scalar

Initial inertial frame lateral displacement, Y_o — Position 0 (default) | scalar

Initial lateral velocity, ydot_o — Velocity 0 (default) | scalar

Yaw polar inertia, Izz — Inertia 4000 (default) | scalar

Initial yaw angle, psi_o — Psi rotation 0 (default) | scalar

Initial yaw rate, r_o — Yaw rate 0 (default) | scalar

Longitudinal drag area, Af — Effective vehicle cross-sectional area 2 (default) | scalar

Longitudinal drag coefficient, Cd — Air drag coefficient .3 (default) | scalar

Longitudinal lift coefficient, Cl — Air lift coefficient .1 (default) | scalar

Longitudinal drag pitch moment, Cpm — Pitch drag .1 (default) | scalar

Relative wind angle vector, beta_w — Wind angle [0:0.01:0.3] (default) | vector

Side force coefficient vector, Cs — Side force coefficient [0:0.03:0.9] (default) | vector

Yaw moment coefficient vector, Cym — Yaw moment drag [0:0.01:0.3] (default) | vector

Absolute pressure, Pabs — Pressure 101325 (default) | scalar | scalar

Air temperature, Tair — Temperature 273 (default) | scalar

Gravitational acceleration, g — Gravity 9.81 (default) | scalar

Nominal friction scaling factor, mu — Friction scale factor 1 (default) | scalar

Longitudinal velocity tolerance, xdot_tol — Tolerance .01 (default) | scalar

Nominal normal force, Fznom — Normal force 5000 (default) | scalar

Geometric longitudinal offset from axle plane, longOff — Longitudinal offset 0 (default) | scalar

Geometric lateral offset from center plane, latOff — Lateral offset 0 (default) | scalar

Geometric vertical offset from axle plane, vertOff — Vertical offset 0 (default) | scalar

References

Extended Capabilities

C/C++ Code Generation Generate C and C++ code using Simulink® Coder™.

Version History

R2024a: Requires Simulink 3D Animation

WhlAngF — Wheel angle
`scalar`

FxF — Force Input: Total longitudinal force on the front axle
`scalar`

FxR — Force Input: Total longitudinal force on the rear axle
`scalar`

xdotin — Velocity Input: Longitudinal velocity
`scalar`

Info — Bus signal
bus

xdot — Vehicle body longitudinal velocity
`scalar`

ydot — Vehicle body lateral velocity
`scalar`

psi — Yaw
`scalar`

r — Yaw rate
`scalar`

Number of wheels on front axle, NF — Front wheel count
`2` (default) | `scalar`

Number of wheels on rear axle, NR — Rear wheel count
`2` (default) | `scalar`

Vehicle mass, m — Vehicle mass
`2000` (default) | `scalar`

Longitudinal distance from center of mass to front axle, a — Front axle distance
`1.4` (default) | `scalar`

Longitudinal distance from center of mass to rear axle, b — Rear axle distance
`1.6` (default) | `scalar`

Vertical distance from center of mass to axle plane, h — Height
`0.35` (default) | `scalar`

Initial inertial frame longitudinal position, X_o — Position
`0` (default) | `scalar`

Initial longitudinal velocity, xdot_o — Velocity
`0` (default) | `scalar`

Front tire corner stiffness, Cy_f — Stiffness
`12e3` (default) | `scalar`

Rear tire corner stiffness, Cy_r — Stiffness
`11e3` (default) | `scalar`

Initial inertial frame lateral displacement, Y_o — Position
`0` (default) | `scalar`

Initial lateral velocity, ydot_o — Velocity
`0` (default) | `scalar`

Yaw polar inertia, Izz — Inertia
`4000` (default) | `scalar`

Initial yaw angle, psi_o — Psi rotation
`0` (default) | `scalar`

Initial yaw rate, r_o — Yaw rate
`0` (default) | `scalar`

Longitudinal drag area, Af — Effective vehicle cross-sectional area
`2` (default) | `scalar`

Longitudinal drag coefficient, Cd — Air drag coefficient
`.3` (default) | `scalar`

Longitudinal lift coefficient, Cl — Air lift coefficient
`.1` (default) | `scalar`

Longitudinal drag pitch moment, Cpm — Pitch drag
`.1` (default) | `scalar`

Relative wind angle vector, beta_w — Wind angle
`[0:0.01:0.3]` (default) | `vector`

Side force coefficient vector, Cs — Side force coefficient
`[0:0.03:0.9]` (default) | `vector`

Yaw moment coefficient vector, Cym — Yaw moment drag
`[0:0.01:0.3]` (default) | `vector`

Absolute pressure, Pabs — Pressure
`101325` (default) | `scalar` | `scalar`

Air temperature, Tair — Temperature
`273` (default) | `scalar`

Gravitational acceleration, g — Gravity
`9.81` (default) | `scalar`

Nominal friction scaling factor, mu — Friction scale factor
`1` (default) | `scalar`

Longitudinal velocity tolerance, xdot_tol — Tolerance
`.01` (default) | `scalar`

Nominal normal force, Fznom — Normal force
`5000` (default) | `scalar`

Geometric longitudinal offset from axle plane, longOff — Longitudinal offset
`0` (default) | `scalar`

Geometric lateral offset from center plane, latOff — Lateral offset
`0` (default) | `scalar`

Geometric vertical offset from axle plane, vertOff — Vertical offset
`0` (default) | `scalar`

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.