dreamonJure/Vehicle-Dynamic-Simulator

A vehicle dynamic simulator based on Matlab Simulink and CarSim/TruckSim.

Vehicle-Dynamic-Simulator

A vehicle dynamic simulator based on Matlab Simulink and CarSim/TruckSim.

Module： Sim_Module

This Module is used to: Manage I/O between CarSim/TruckSim and Matlab Simulink Unit Unification Input Processing ...

IO Definition

Input

Input Type	Name	Note
Displacements & Angles
Velocity & Angular Velocity
Force & Torque

Wind Angle

Wind Speed

Thorttle Command

Brake Command

Steer Command

Output

Input Type	Name	Note	Unit
Obstacle Informations
Path Info	x_path		[m] -> [m]
	y_path		[m] -> [m]
	z_path*		[m] -> [m]
	Rx_path		[deg] -> [rad]
	Py_path		[deg] -> [rad]
	Yz_path*		[deg] -> [rad]
	kappa_path
	MuX_path_1l
	MuX_path_1r
	MuX_path_2l
	MuX_path_2r
	MuX_path_3l
	MuX_path_3r
	MuX_path_4l
	MuX_path_4r
	MuY_path_1l
	MuY_path_1r
	MuY_path_2l
	MuY_path_2r
	MuY_path_3l
	MuY_path_3r
	MuY_path_4l
	MuY_path_4r
Vehicle Body Kinematics & Dynamics	s_veh	Station of front bumper at reference path	[m] -> [m]
	l_veh_1	Lateral distance of front bumper at reference path	[m] -> [m]
	l_veh_2	Lateral distance of front axle at reference path	[m] -> [m]
	l_veh_3	Lateral distance of CoG at reference path	[m] -> [m]
	l_veh_4	Lateral distance of rear axle at reference path	[m] -> [m]
	l_veh_5	Lateral distance of rear bumper at reference path	[m] -> [m]
	a_veh_1	Lateral error area of front bumper at reference path	[m2] -> [m2]
	a_veh_2	Lateral error area of front axle at reference path	[m2] -> [m2]
	a_veh_3	Lateral error area of CoG at reference path	[m2] -> [m2]
	a_veh_4	Lateral error area of rear axle at reference path	[m2] -> [m2]
	a_veh_5	Lateral error area of rear bumper at reference path	[m2] -> [m2]
	x_veh_ref	X coordinate of sprung mass	[m] -> [m]
	y_veh_ref	Y coordinate of sprung mass	[m] -> [m]
	z_veh_ref	Z coordinate of sprung mass	[m] -> [m]
	delta_sw	Rotate angle around X-axis of sprung mass	[deg] -> [rad]
	r_veh_ref	Rotate angle around X-axis of sprung mass	[deg] -> [rad]
	p_veh_ref	Rotate angle around Y-axis of sprung mass	[deg] -> [rad]
	y_veh_ref	Rotate angle around Z-axis of sprung mass	[deg] -> [rad]
	vx_veh_ref	Linear velocity along X-axis of sprung mass	[km/h] -> [m/s]
	vy_veh_ref	Linear velocity along Y-axis of sprung mass	[km/h] -> [m/s]
	vz_veh_ref	Linear velocity along Z-axis of sprung mass	[km/h] -> [m/s]
	avx_veh_ref	Angular velocity around X-axis of sprung mass	[deg/s] -> [rad/s]
	avy_veh_ref	Angular velocity around Y-axis of sprung mass	[deg/s] -> [rad/s]
	avz_veh_ref	Angular velocity around Z-axis of sprung mass	[deg/s] -> [rad/s]
	ax_veh_ref	Linear acceleration along X-axis of sprung mass	[g's] -> [m/s2]
	ay_veh_ref	Linear acceleration along Y-axis of sprung mass	[g's] -> [m/s2]
	az_veh_ref	Linear acceleration along Z-axis of sprung mass	[g's] -> [m/s2]
	aax_veh_ref	Angular acceleration around X-axis of sprung mass	[rad/s2] -> [rad/s2]
	aay_veh_ref	Angular acceleration around Y-axis of sprung mass	[rad/s2] -> [rad/s2]
	aaz_veh_ref	Angular acceleration around Z-axis of sprung mass	[rad/s2] -> [rad/s2]
Vehicle Susp Kinematics & Dynamics	jnc_whl_1l
	jnc_whl_1r
	jnc_whl_2l
	jnc_whl_2r
	jnc_whl_3l
	jnc_whl_3r
	jnc_whl_4l
	jnc_whl_4r
	cmp_spring_1l
	cmp_spring_1r
	cmp_spring_2l
	cmp_spring_2r
	cmp_spring_3l
	cmp_spring_3r
	cmp_spring_4l
	cmp_spring_4r
	cmp_damper_1l
	cmp_damper_1r
	cmp_damper_2l
	cmp_damper_2r
	cmp_damper_3l
	cmp_damper_3r
	cmp_damper_4l
	cmp_damper_4r
	jnc_rate_whl_1l
	jnc_rate_whl_1r
	jnc_rate_whl_2l
	jnc_rate_whl_2r
	jnc_rate_whl_3l
	jnc_rate_whl_3r
	jnc_rate_whl_4l
	jnc_rate_whl_4r
	cmp_rate_damper_1l
	cmp_rate_damper_1r
	cmp_rate_damper_2l
	cmp_rate_damper_2r
	cmp_rate_damper_3l
	cmp_rate_damper_3r
	cmp_rate_damper_4l
	cmp_rate_damper_4r
	cmp_acc_damper_1l
	cmp_acc_damper_1r
	cmp_acc_damper_2l
	cmp_acc_damper_2r
	cmp_acc_damper_3l
	cmp_acc_damper_3r
	cmp_acc_damper_4l
	cmp_acc_damper_4r
	f_spring_1l
	f_spring_1r
	f_spring_2l
	f_spring_2r
	f_spring_3l
	f_spring_3r
	f_spring_4l
	f_spring_4r
	f_damper_1l
	f_damper_1r
	f_damper_2l
	f_damper_2r
	f_damper_3l
	f_damper_3r
	f_damper_4l
	f_damper_4r
	m_arb_1
	m_arb_2
	m_arb_3
	m_arb_4
Vehicle Tyre Kinematics & Dynamics	kappa_whl_1l
	kappa_whl_1r
	kappa_whl_2l
	kappa_whl_2r
	kappa_whl_3l
	kappa_whl_3r
	kappa_whl_4l
	kappa_whl_4r
	alpha_whl_1l
	alpha_whl_1r
	alpha_whl_2l
	alpha_whl_2r
	alpha_whl_3l
	alpha_whl_3r
	alpha_whl_4l
	alpha_whl_4r
	delta_whl_1l
	delta_whl_1r
	delta_whl_2l
	delta_whl_2r
	delta_whl_3l
	delta_whl_3r
	delta_whl_4l
	delta_whl_4r

Module Localization

This Module is used to: Load Map Calculate Errors between Vehicle and Road Update Vehicle Attitude ...

Maps

MCity

Outside Loop

Inside Loop

Highway Loop

M Loop

Suburban Town

HandlingCourse

Module Estimation

This Module is used to: Update Vehicle Reference State ...

Module Planning (Undeveloped)

This Module is used to: Vehicle Motion Planning ...

Module Control

This Module is used to: Implement and Test Control Algorthms ...