Simulation 3D Physics Vehicle
Libraries:
Vehicle Dynamics Blockset /
Vehicle Scenarios /
Sim3D /
Sim3D Vehicle /
Components
Description
Note
Simulating models with the Simulation 3D Physics Vehicle block requires Simulink® 3D Animation™.
The Simulation 3D Physics Vehicle block implements a controllable 10DOF vehicle in the 3D simulation environment, with a vertical DOF for each wheel and 6DOF for the chassis.
To use the Simulation 3D Physics Vehicle block, ensure that the
Simulation 3D Scene Configuration block is in your model. If you set the
Sample time parameter of the Simulation 3D Physics Vehicle block to
-1
, the block uses the sample time specified in the Simulation 3D
Scene Configuration block.
The block input uses the vehicle Z-down right-handed (RH) Cartesian coordinate system defined in SAE J670[1]. The coordinate system is inertial and initially aligned with the vehicle geometric center:
X-axis — Along vehicle longitudinal axis, points forward
Y-axis — Along vehicle lateral axis, points to the right
Z-axis — Points downward
Tip
Verify that the Simulation 3D Scene Configuration block executes before the Simulation 3D Physics Vehicle block. With this sequence, the Unreal Engine® 3D visualization environment prepares the data before the Simulation 3D Physics Vehicle block receives the data. 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 Physics Vehicle —
-1
For more information about execution order, see Control and Display Execution Order.
Examples
Scene Interrogation with Camera and Ray Tracing Reference Application
Interrogate a 3D Unreal Engine scene with a vehicle dynamics model by using a camera and ray tracing reference application project.
Ports
Input
SteerCmd — Normalized steer angle
scalar
Normalized steer angle, specified as a scalar. SteerCmd corresponds to the minimum and maximum range of the steering angle as determined by the Front wheel max steer angle and Rear wheel max steer angle parameters, respectively.
AccelCmd — Normalized vehicle acceleration
scalar
Normalized acceleration torque request to the vehicle powertrain, specified as a scalar. The exact response is characterized by the engine, transmission, and other vehicle parameters.
DecelCmd — Normalized vehicle deceleration
scalar
Normalized deceleration torque request to the vehicle braking system, specified as a scalar. The exact braking response is characterized by the engine, transmission and other vehicle parameters.
GearCmd — Gear input
1
| -1
| 0
Gear input, specified as either 1
, -1
, or
0
.
1
– Forward shift gear-1
– Reverse gear0
– Neutral gear
If you select manual shift mode, then the vehicle shifts according to the signal, but the values listed still apply. Any input set that does not correspond to a valid gear is ignored.
Output
Info — Bus signal
bus
This port is optional.
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 | |||||
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
| 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 | Tires | FrntTires | Lft | Fx | Front left tire force along the vehicle-fixed x-axis | Estimated | N | |
Fy | Front left tire force along the vehicle-fixed y-axis | Estimated | N | |||||
Fz | Front left tire force along the vehicle-fixed z-axis | Estimated | N | |||||
Rght | Fx | Front right tire force along the vehicle-fixed x-axis | Estimated | N | ||||
Fy | Front right tire force along the vehicle-fixed y-axis | Estimated | N | |||||
Fz | Front right tire force along the vehicle-fixed z-axis | Estimated | N | |||||
RearTires | Lft | Fx | Rear left tire force along the vehicle-fixed x-axis | Estimated | N | |||
Fy | Rear left tire force along the vehicle-fixed y-axis | Estimated | N | |||||
Fz | Rear left tire force along the vehicle-fixed z-axis | Estimated | N | |||||
Rght | Fx | Rear right tire force along the vehicle-fixed x-axis | Estimated | N | ||||
Fy | Rear right tire force along the vehicle-fixed y-axis | Estimated | N |
Note
Tire forces are no longer explicitly available from Unreal Engine as a result of Epic Games® transition from PhysX® to Chaos Physics. The values calculated for the tire forces are approximate estimates.
Signal | Description | Variable | Units | |
---|---|---|---|---|
Mtr | MtrSpd | Applied drive shaft angular speed input | ωi | RPM |
Trans | TransGearCmd | Commanded gear | Ncmd | N/A |
TransGear | Engaged gear | N | N/A |
xdot — Vehicle longitudinal velocity
scalar
Vehicle CG velocity along the vehicle-fixed x-axis, in m/s.
ydot — Vehicle lateral velocity
scalar
Vehicle CG velocity along the vehicle-fixed y-axis, in m/s.
psi — Yaw
scalar
Rotation of the vehicle-fixed frame about the 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
Chassis
Type, PassVehMesh — Type
Muscle car
(default) | Sedan
| Sport utility vehicle
| Small pickup truck
| Hatchback
| Box truck
| Custom
Specify the vehicle type. This table provides links to the vehicle dimensions.
Vehicle type Setting | Vehicle Dimensions |
---|---|
Muscle car | |
Sedan | |
Sport utility vehicle | |
Small pickup truck | |
Hatchback | |
Box truck |
Dependencies
Selecting Custom
enables parameters that allow you to import a
custom mesh for your vehicle.
Color, VehColor — Color of vehicle
Red
(default) | Orange
| Yellow
| Green
| Blue
| Black
| White
| Silver
| Dazzle camouflage
Select the color of the vehicle.
Name, ActorName — Name of vehicle
SimulinkVehicle1
(default) | character vector
By default, when you use this block in your model, the block sets the
Name parameter to
SimulinkVehicle
. The value of
X
depends on the number of
Simulation 3D Physics Vehicle and Simulation 3D
Vehicle blocks in your model.X
Initial position [X, Y, Z], InitialPos [m] — Vehicle initial position
[ 0, 0, -0.5]
(default) | 1-by-3 array
Initial vehicle position, specified as a 1-by-3 array, in m. Array elements are values along the Coordinate system parameter X-, Y-, and Z- axes, respectively.
Initial rotation [Roll, Pitch, Yaw], InitialRot [rad] — Vehicle initial rotation
[ 0, 0, 0 ]
(default) | 1-by-3 array
Initial vehicle rotation, specified as a 1-by-3 array, in rad. Array elements are values about the Coordinate system parameter X-, Y-, and Z-axes, respectively.
Mass, Mass [kg] — Vehicle mass
1500
(default) | scalar
Vehicle mass, in kg. This value does not include the wheel masses.
Center of mass offset vector, CgOffset [m] — Offset in center of mass
[0, 0, 0]
(default) | three-element vector
Offset in center of mass, specified as a three-element vector, in meters.
Inertia tensor scaling vector, IvehScale [] — Scaling of inertia tensor
[1, 1, 1]
(default) | three-element vector
Scaling of inertia tensor, specified as a three-element dimensionless vector.
Chassis height (used in drag), ChassisHeight [m] — Height of chassis
1.0
(default) | scalar
Height of chassis used to calculate drag force, specified in meters.
Drag coefficient, Cd [] — Vehicle drag coefficient
0.3
(default) | scalar
Vehicle drag coefficient, dimensionless.
Drag lift coefficient, Cl [] — Longitudinal lift coefficient
0.1
(default) | scalar
Longitudinal lift coefficient, dimensionless.
Path to custom mesh, MeshPath — Path to custom mesh
character vector
Path to custom mesh file.
Dependencies
To enable this parameter, set Type to
Custom
.
Track width, TrackWidth [m] — Distance between wheels
1.9
(default) | scalar
The vehicle track width refers to the distance between the wheels, or the axle length, specified in meters.
Dependencies
To enable this parameter, set Type to
Custom
.
Wheel base in custom mesh [m] — Wheel base in custom mesh
3
(default) | scalar
Wheel base, in meters.
Dependencies
To enable this parameter, set Type to
Custom
.
Front Wheel radius, FrntWhlRadius [m] — Front wheel radius
0.23
(default) | scalar
Front wheel radius, in meters.
Dependencies
To enable this parameter, set Type to
Custom
.
Front wheel width, FrntWhlWidth [m] — Front wheel width
0.20
(default) | scalar
Front wheel width, in meters.
Dependencies
To enable this parameter, set Type to
Custom
.
Rear Wheel radius, RearWhlRadius [m] — Rear wheel radius
0.23
(default) | scalar
Rear wheel radius, in meters.
Dependencies
To enable this parameter, set Type to
Custom
.
Rear wheel width, RearWhlWidth [m] — Rear wheel width
0.20
(default) | scalar
Rear wheel width, in meters.
Dependencies
To enable this parameter, set Type to
Custom
.
Powertrain and Driveline
PowertrainMotor torque indices, TrqCrv [Nm] — Motor torque indices
[ 75, 75, 97, 117, 152, 175, 175, 175, 175, 165, 155,
145, 140, 135, 125, 115, 50 ]
(default) | vector
Motor torque indices, in N·m. You can use these pre-transmission values to represent either an electric motor or a conventional engine.
Data Types: double
Motor speed breakpoints, SpdCrv [rpm] — Motor speed breakpoints
[ 0, 750, 1054, 1357, 1660, 1964, 2267, 2571, 2875, 3178,
3482, 3785, 4089, 4393, 4696, 5000, 7000 ]
(default) | vector
Motor speed breakpoints, in rpm.
Data Types: double
Maximum powertrain speed, MaxRPM [rpm] — Maximum powertrain speed
7000
(default) | scalar
Max powertrain speed, in rpm. If you select an automatic transmission option, this value also corresponds to the normalized shift points used in the upshift and downshift logic.
Data Types: double
Powertrain rotational inertia, Jmot [kg*m^2] — Powertrain rotational inertia
1.0
(default) | scalar
Powertrain rotational inertia, in kg·m2.
Data Types: double
Powertrain damping at full torque request, bEngMax [Nms/rad] — Powertrain damping at full torque request
0.15
(default) | scalar
Powertrain damping at full torque request, in kg·m2/s.
Data Types: double
Powertrain damping at zero torque request in gear, bEngMin [Nms/rad] — Powertrain damping at zero torque request in gear
2
(default) | scalar
Powertrain damping at zero torque request in gear, in kg·m2/s.
Data Types: double
Drivetrain type — Drivetrain
Rear Wheel Drive
(default) | Front Wheel Drive
| All Wheel Drive
Implement rear wheel, front wheel, or all wheel drive.
Front to rear torque split ratio, FrntRearSplit [] — Front to rear torque split ratio
0.5 (default) | scalar in the range (0,1)
Front to rear torque split ratio, dimensionless.
1
indicates 100% torque to the front. 0
indicates 100% to the rear.
Dependencies
To enable this parameter, set Drivetrain type to
All Wheel Drive
.
Transmission type — Transmission
Automatic
(default) | Manual
Implement an automatic or manual transmission.
Note
You must provide a GearCmd input even if
Transmission type is set to
Automatic
.
Gear number vector, G [] — Gear number
[-1, 0, 1, 2, 3, 4, 5, 6, 7, 8]
(default) | vector
Gear number vector, dimensionless.
Data Types: double
Gear ratio vector, N [] — Gear ratios
[ -3.5, 1, 4.75, 3.75, 3.25, 2.75, 2.25, 1.5, 1, 0.75
]
(default) | vector
Gear ratios, dimensionless.
Note
You must provide at least one negative ratio for reverse gear. You must also provide a neutral ratio where the length of the array corresponds to the number of forward gears plus two, one for reverse and one for neutral.
Data Types: double
Upshift speed, UpShiftRPM [rpm] — Upshift speed
4000 (default) | scalar greater than DownShiftRPM
Upshift speed, in rpm.
Downshift speed, DownShiftRPM [rpm] — Downshift speed
2000 (default) | scalar in the range [0, UpShiftRPM
)
Downshift speed, in rpm.
Minimum (idle) speed, MinRPM [rpm] — Minimum powertrain speed
750
(default) | scalar in the range [0
, MaxRPM
]
Minimum powertrain speed, in rpm.
Shift time, tShift [s] — Time taken to complete shift
0.1
(default) | scalar
Time taken to complete a shift, specified as a scalar, in s.
Data Types: double
Final drive ratio, NDiff [] — Final drive ratio
3.2
(default) | scalar
Final drive ratio, dimensionless. This value is the post transmission ratio, typically found in a differential or final drive gearbox.
Data Types: double
Transmission efficiency, eta [] — Efficiency factor
0.94 (default) | scalar in the range [0,1)
Efficiency factor, dimensionless.
Steering and Brakes
SteeringSteering type — Option to set steering type
Ackermann
(default) | Linear
Steering type, specified as Ackermann
or
Linear
.
Outside to inside steering ratio, SteerAngleRatio [] — Outside to inside steer angle ratio
1.0 (default) | scalar
Outside to inside steer angle ratio, dimensionless.
Dependencies
To enable this parameter, set Steering type to
Linear
.
Front wheel max steer angle, FrntWhlMaxSteer [rad] — Front wheel max steer angle
45*pi/180
(default) | scalar
Front wheel max steer angle, in radians. This value is the absolute angle which
the front wheels turn with a -1
or 1
steer
command input signal.
Data Types: double
Rear wheel max steer angle, RearWhlMaxSteer [rad] — Rear wheel max steer angle
0 (default) | scalar
Rear wheel max steer angle, in radians. This value is the absolute angle which the
rear wheels turn with a -1
or 1
steer command
input signal.
Data Types: double
Maximum steering ratio breakpoints, SteerCrv [] — Maximum steering ratio
[ 1, 0.8, 0.7 ]
(default) | vector
Maximum steering ratio breakpoints, dimensionless. This value is the gain by which the steering command is affected by the vehicle speed brake points.
Data Types: double
Steering ratio speed breakpoints, SteerSpdCrv [m/s] — Steering ratio speed breakpoints
[ 0, 60, 120 ]./3.6
(default) | vector
Steering ratio speed breakpoints, in m/s. This value is the vehicle forward speed break points used by the steer ratio gains.
Data Types: double
Maximum front wheel torque, FrntWhlMaxTrq [Nm] — Maximum front wheel torque
1500
(default) | scalar
Maximum front wheel torque, in N·m. This value is the maximum braking torque applied to the front wheels corresponding to the normalized DecelCmd input.
Data Types: double
Maximum rear wheel torque, RearWhlMaxTrq [Nm] — Maximum rear wheel torque
1500
(default) | scalar
Maximum rear wheel torque, in N·m. This value is the maximum braking torque applied to the rear wheels corresponding to the normalized DecelCmd input.
Data Types: double
Option to enable handbrake input — Enable handbrake input
off
(default) | on
Select this parameter to enable handbrake input.
Data Types: Boolean
Front wheels affected by handbrake — Handbrake option for front wheels
off
(default) | on
Enable this parameter to have the handbrake affect the front wheels.
Dependencies
To enable this parameter, select Enable handbrake input.
Data Types: Boolean
Rear wheels affected by handbrake — Handbrake option for rear wheels
off
(default) | on
Enable this parameter to have the handbrake affect the rear wheels.
Dependencies
To enable this parameter, select Enable handbrake input.
Data Types: Boolean
Maximum front wheel hand brake torque, FrntWhlMaxHndBrkTrq [Nm] — Maximum front wheel hand brake torque
3000
(default) | scalar
Maximum front wheel hand brake torque, in Nm.
Dependencies
To enable this parameter, select Front wheels affected by handbrake.
Maximum rear wheel hand brake torque, RearWhlMaxHndBrkTrq [Nm] — Maximum rear wheel hand brake torque
3000
(default) | scalar
Maximum rear wheel hand brake torque, in Nm.
Dependencies
To enable this parameter, select Front wheels affected by handbrake.
Suspension, Wheels and Tires
SuspensionFront suspension force offset location, FrntSuspFOffset [m] — Front suspension force offset
[0,0,0]
(default) | three-element vector
Front suspension force offset, specified as a three-element vector, in meters.
Maximum front suspension compression (jounce), FrntSuspMaxComp [m] — Maximum front suspension compression
0.15
(default) | scalar
Maximum front suspension compression or jounce, specified as a scalar, in meters. Jounce is the upward movement or compression of suspension components.
Front spring preload, FrntSpringPreload [N] — Front suspension preload force
200
(default) | scalar
Front suspension preload force, in N.
Front spring stiffness, FrntSpringRate [N/m] — Front suspension spring rate
30e3
(default) | scalar
Front suspension spring rate, in N/m.
Maximum front suspension extension (rebound), FrntSuspMaxExt [m] — Maximum front suspension extension
0.1
(default) | scalar
Maximum front suspension extension or rebound, specified as a scalar in meters. Rebound is the downward movement or extension of suspension components.
Front suspension damping ratio, FrntSuspDamping [] — Damping ratio of front suspension
0.5
(default) | scalar
Damping ratio of front suspension, dimensionless. Damping ratio is the coefficient of the damper at its peak level, where the vehicle is in a completely stable state.
Front roll bar stiffness scaling, FrntRollbarScaling [] — Front anti-roll effect
0.15 (default) | scalar in the range (0,1)
Front anti-roll effect, dimensionless.
Rear suspension force offset location, RearSuspFOffset [m] — Rear suspension force offset
[0,0,0]
(default) | three-element vector
Rear suspension force offset, specified as a three-element vector, in meters.
Maximum rear suspension compression (jounce), RearSuspMaxComp [m] — Maximum rear suspension compression
0.15
(default) | scalar
Maximum rear suspension compression or jounce, specified as a scalar, in meters. Jounce is the upward movement or compression of suspension components.
Rear spring preload, RearSpringPreload [N] — Rear suspension preload force
200
(default) | scalar
Rear suspension preload force, in N.
Rear spring stiffness, RearSpringRate [N/m] — Rear suspension spring rate
30e3
(default) | scalar
Rear suspension spring rate, in N/m.
Maximum rear suspension extension (rebound), RearSuspMaxExt [m] — Maximum rear suspension extension
0.1
(default) | scalar
Maximum rear suspension extension or rebound, specified as a scalar, in meters. Rebound is the downward movement or extension of suspension components.
Rear suspension damping ratio, RearSuspDamping [] — Damping ratio of rear suspension
0.5
(default) | scalar
Damping ratio of rear suspension, dimensionless. Damping ratio is the coefficient of the damper at its peak level, where the vehicle is in a completely stable state.
Rear roll bar stiffness scaling, RearRollbarScaling [] — Rear anti-roll effect
0.15 (default) | scalar in the range (0,1)
Rear anti-roll effect, dimensionless.
Enable anti-lock braking — Option to enable anti-lock braking
off
(default) | on
Select this parameter to enable anti-lock braking.
Data Types: Boolean
Enable traction control — Option to enable traction control
off
(default) | on
Select this parameter to enable traction control.
Data Types: Boolean
Front wheel corner stiffness, Cy_f [N/rad] — Front cornering stiffness
70e3
(default) | scalar
Front cornering stiffness, in N/rad.
Front wheel slip modifier, FrntSideSlipModifier [] — Front slip modifier
20
(default) | scalar in the range (0,1)
Front slip modifier, dimensionless.
Rear wheel corner stiffness, Cy_r [N/rad] — Rear cornering stiffness
70e3
(default) | scalar
Rear cornering stiffness, in N/rad.
Rear wheel slip modifier, RearSideSlipModifier [] — Rear slip modifier
20
(default) | scalar in the range (0,1)
Rear slip modifier, dimensionless.
Friction scaling factor, lambda_mu [] — Friction scaling
1.0
(default) | scalar
Nominal friction scale, dimensionless.
Data Types: double
Light Controls
Enable light controls — Option to control vehicle lights
off
(default) | on
Select whether to control the vehicle headlights. Use the enabled parameters to set the light parameters, including headlight intensity.
Dependencies
Selecting this parameter:
Creates the input port
Light controls
.Enables these light parameters.
Lights Light Parameters Headlights Headlight color
High beam intensity
Low beam intensity
High beam cone half angle
Low beam cone half angle
Left headlight beam orientation
Right headlight beam orientation
Brake lights Brake light intensity
Reverse lights Reverse light intensity
Turn signal lights Turn signal light intensity
Period
Pulse width
Headlight color [R,G,B], HeadlightColor — Headlight color
[1,1,1]
(default) | 1-by-3 vector of RGB triplet values
Headlight color, specified as a normalized 1-by-3 vector of RGB triplet values.
Dependencies
To enable this parameter, select Enable light controls.
Data Types: int8
| uint8
High beam intensity, HighBeamIntensity — High beam intensity
100000
(default) | positive scalar
High beam intensity, in cd.
Dependencies
To enable this parameter, select Enable light controls.
Data Types: double
Low beam intensity, LowBeamIntensity — Low beam intensity
60000
(default) | positive scalar
Low beam intensity, in cd.
Dependencies
To enable this parameter, select Enable light controls.
Data Types: double
High beam cone half angle, HighBeamConeAngle — High beam cone half angle
1.22
(default) | positive scalar less than pi/2
High beam cone half angle, in rad.
Dependencies
To enable this parameter, select Enable light controls.
Data Types: double
Low beam cone half angle, LowBeamConeAngle — Low beam cone half angle
1.22
(default) | positive scalar less than pi/2
Low beam cone half angle, in rad.
Dependencies
To enable this parameter, select Enable light controls.
Data Types: double
Left headlight beam orientation [Pitch, Yaw], LeftHeadlightOrientation — Left headlight beam orientation
[0,0]
(default) | 1-by-2 vector with values between -pi and pi
Pitch and yaw orientation of the left headlight beam orientation in the
Z-down coordinate system, specified as a 1-by-2 vector,
in rad. The first element of the vector, [1,1]
, is the pitch
angle. The second element of the vector, [1,2]
, is the yaw
angle.
Dependencies
To enable this parameter, select Enable light controls.
Data Types: double
Right headlight beam orientation [Pitch, Yaw], RightHeadlightOrientation — Right headlight beam orientation
[0,0]
(default) | 1-by-2 vector with values between -pi and pi
Pitch and yaw orientation of the right headlight beam orientation in the
Z-down coordinate system, specified as a 1-by-2 vector,
in rad. The first element of the vector, [1,1]
, is the pitch
angle. The second element of the vector, [1,2]
, is the yaw
angle.
Dependencies
To enable this parameter, select Enable light controls.
Brake light intensity, BrakelightIntensity — Brake light intensity
500
(default) | positive scalar
Brake light intensity, in cd/m^2.
Dependencies
To enable this parameter, select Enable light controls.
Data Types: double
Reverse light intensity, ReverselightIntensity — Reverse light intensity
500
(default) | positive scalar
Reverse light intensity, in cd/m^2.
Dependencies
To enable this parameter, select Enable light controls.
Data Types: double
Turn signal light intensity, SignallightIntensity — Turn signal light intensity
500
(default) | positive scalar
Turn signal light intensity, in cd/m^2.
Dependencies
To enable this parameter, select Enable light controls.
Data Types: double
Period, SignallightPeriod — Turn signal light period
1
(default) | positive scalar
Turn signal light period, in s.
Dependencies
To enable this parameter, select Enable light controls.
Data Types: double
Pulse width, SignalPulseWidth — Pulse width
50
(default) | positive scalar less than 100
Turn signal light pulse width, specified as a percent of the period.
Dependencies
To enable this parameter, select Enable light controls.
Data Types: double
Sample Time
Sample time, SampleTime — Sample time
-1
(default) | scalar
Sample time, Ts. The graphics frame rate is the inverse of the sample time.
Ground Truth
Output location and orientation — Option to return location and orientation
off
(default) | on
Select this parameter to return location and orientation.
Data Types: Boolean
Output nominal vehicle state feedback — Option to return nominal vehicle state feedback
off
(default) | on
Select this parameter to return nominal vehicle state feedback.
Data Types: Boolean
References
[1] Vehicle Dynamics Standards Committee. Vehicle Dynamics Terminology. SAE J670. Warrendale, PA: Society of Automotive Engineers, 2008.
[2] Technical Committee. Road Vehicles — Vehicle Dynamics and Road-Holding Ability — Vocabulary. ISO 8855:2011. Geneva, Switzerland: International Organization for Standardization, 2011.
Version History
Introduced in R2022bR2024b: New Simulation 3D Physics Vehicle block color option
Starting in R2024b, you can specify Color, VehColor as
Dazzle Camouflage
for the Simulation 3D Physics
Vehicle block.
R2024a: Requires Simulink 3D Animation
Simulating models with the Simulation 3D Physics Vehicle block requires Simulink 3D Animation.
R2024a: Transition from PhysX to Chaos Physics
Starting in R2024a, the Unreal Engine version that ships with Simulink 3D Animation uses Chaos Physics instead of the PhysX physics engine. As a result of this change, a number of parameters have been removed and added.
This table lists the parameters that have been removed.
Vehicle Element | Removed Parameter |
---|---|
Powertrain | Powertrain damping at zero torque request, in neutral |
Driveline | Shift down indices |
Shift up indices | |
Clutch slip torque | |
Minimum shift latency | |
Steering | Percent Ackermann |
Suspension | Front suspension natural frequency |
Rear suspension natural frequency | |
Wheels | Front wheel mass |
Rear wheel mass | |
Front wheel damping | |
Rear wheel damping | |
Tires | Front tire lateral stiffness |
Rear tire lateral stiffness | |
Front tire longitudinal stiffness | |
Rear tire longitudinal stiffness | |
Front tire max lateral stiffness factor | |
Rear tire max lateral stiffness factor |
This table lists the parameters that have been added.
Vehicle Element | Added Parameter |
---|---|
Chassis | Drag lift coefficient |
Front wheel width | |
Rear wheel width | |
Powertrain | Minimum (idle) speed |
Driveline | Downshift speed |
Upshift speed | |
Transmission efficiency | |
Steering | Steer type |
Outside to inside steering ratio | |
Suspension | Front spring stiffness |
Front spring preload | |
Rear spring stiffness | |
Rear spring preload | |
Front roll bar stiffness scaling | |
Rear roll bar stiffness scaling | |
Wheels | Enable anti-lock braking |
Enable traction control | |
Tires | Front wheel corner stiffness |
Front wheel slip modifier | |
Rear wheel corner stiffness | |
Rear wheel slip modifier |
R2023a: Compatible with Unreal Engine 4.27
The Simulation 3D Physics Vehicle block is compatible with Unreal Engine 4.27. Support for future releases of Unreal Engine may require changes to block parameters, including driveline dynamics, shift scheduling, and tire parameters.
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