Vehicle dynamics HIL simulation

Model overview
  • Created with the Simulink® basic library, so it can work with only MATLAB and Simulink®-tools.
  • It is built with element models of steering, differential, tires (four wheels), vehicle behavior, vehicle attitude, suspension, and stabilizer, making the configuration simple to understand.
  • It has a good affinity with the control model created by Simulink®, and it is possible to add and change the output signal used for control and the element model flexibly.
  • Since the model is created by paying attention to the vehicle motion of normal driving such as driving on a general road/highway, the number of parameters (about 60) required for adaptation is small and the calculation load is light.
  • Simulation is possible with basic operations of MATLAB and Simulink®"
Model offer NEXTY Electronics Corporation. location Minato-ku, Tokyo and Nagoya City, Aichi prefecture

When this model is implemented in "Byakko" (White Tiger)

Features

Since a simple driver model is installed, control verification using vehicle behavior can be simply performed by inputting the target vehicle speed and target steering wheel angle. It is also possible to directly input and use the driving torque and braking force individually.

Input/output parameters

Input variable Output variable
  item Variable type unit   item Variable type unit
  The entire Direct input/simple driver selection - ① Vehicle Vehicle speed, front-rear, left-right acceleration km/n,G
① Vehicle Target vehicle speed km/h Roll, pitch, yaw rate deg,rad/s
② Steering Target handle deg Slip angle rad
Steering Steering wheel rotation deg ③ Tires/wheels Wheel rotation axis rpm
③ Tires/wheels Braking force N Cornering force N
④ Differential Front-rear/center differential torque distribution - Driving torque, braking force Nm,N
⑤ Transmission
output/direct		 Drive torque Nm suspension Stretch displacement m
⑥ External environment Slope level % ⑤ Transmission
output shaft		 Number of rotations rpm
Input variable Output variable
  item Variable type   item Variable type
① Vehicle Driver/powertrain drive, braking delay ② Steering Snake angle characteristics map
Wheel base, thread ③ Tires/wheels Wheel base, thread
Mass, inertia Mass, inertia
Front projection area Suspension Spring/tamper coefficient
② Steering Steering gear ratio ④ Differential Front-rear/center differential gear ratio
Driver's handle operation delay ⑥ External environment Air resistance coefficient, air density, road surface µ
入出力パラメータ例

Inquiries

inquiries

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To Mobility Business Division