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Virtual Vehicle Composer

Configure, build, and analyze a virtual automotive vehicle

Since R2022a

Description

The Virtual Vehicle Composer app enables you to quickly configure and build a virtual vehicle that you can use for system-level performance testing and analysis, including component sizing, fuel economy, battery state of charge, drive cycle tracking, vehicle handling maneuvers, software integration testing, and hardware-in-the-loop (HIL) testing. Use the app to enter your vehicle parameter data, build a virtual vehicle model, run test scenarios, and analyze the results.

The virtual vehicle model uses sets of blocks and reference application subsystems in Powertrain Blockset™, Vehicle Dynamics Blockset™, and Simscape™ add-ons. Virtual Vehicle Composer simplifies the task of configuring the architecture and entering parameter data.

If you have Powertrain Blockset, use the app to:

  • Configure passenger cars with conventional, electric, and hybrid-electric powertrain architectures.

  • Operate the vehicle in test conditions such as FTP drive cycles.

  • Analyze design tradeoffs and size components.

If you have Vehicle Dynamics Blockset, use the app to:

  • Configure passenger cars and analyze their ride-and-handling characteristics by running standard test maneuvers.

  • Configure and test a motorcycle in drive cycles and ride-and-handling maneuvers. Requires a Simscape license.

  • Visualize your virtual vehicle in the Unreal Engine® simulation environment.

If you have Simscape and these Simscape add-ons, you can use the app to configure vehicles with Simscape subsystems:

  • Simscape Driveline™

  • Simscape Electrical™

  • Simscape Fluids™

  • Simscape Multibody™Required for motorcycles

To build, operate, and analyze your virtual vehicle, use the Composer tab. The options and settings depend on the available products.

Step

Section

Button

Description

1

Configure

Virtual Vehicle data icon

Setup

Specify:

  • Project path and Configuration name

  • Vehicle class

  • Powertrain architecture

  • Model template

  • Vehicle dynamics

Click Configure.

2

Virtual Vehicle data icon

Data and Calibration

Specify the chassis, steering, suspension, tires, brakes, powertrain, driver/rider, and environment. For each selection, enter the parameter data.

3

Virtual Vehicle scenario icon

Scenario and Test

Construct a test plan including one or more virtual vehicle test scenarios. Options include drive cycles for fuel economy and energy management analysis and vehicle handling maneuvers.

4

Virtual Vehicle data logging icon

Logging

Select the model signal data to log while running your test plan. Options include energy-related quantities and vehicle position, velocity, and acceleration.

5

Build

Virtual Vehicle build icon

Virtual Vehicle

Build your virtual vehicle. When you build, the Virtual Vehicle Composer creates a Simulink® model that contains the vehicle and powertrain architectures and parameters you specify and associates the model with your test plan.

6

Operate

Virtual Vehicle operate icon

Run Test Plan

Simulate your model according to your test plan and log the resulting output data.

Note

To run your entire test plan, on the Composer tab, in the Operate section, click Run Test Plan.

7

Analyze

Virtual Vehicle analyze icon

Simulation Data Inspector

Use the Simulation Data Inspector to view and inspect the data signals that you log.

You can store your data for further processing.

Required Products

The Virtual Vehicle Composer requires either of these products:

If you have Simscape and these Simscape add-ons, you can use the app to configure vehicles with Simscape subsystems.

Virtual Vehicle Composer app

Open the Virtual Vehicle Composer App

  • MATLAB® Toolstrip: On the Apps tab, under Automotive, click the Virtual Vehicle Composer icon.

  • MATLAB Command Window: Enter virtualVehicleComposer.

Parameters

Setup

Start here to quickly enter your virtual vehicle class, powertrain architecture, model template, and vehicle dynamics.

Specify the project location as a character vector.

Note

The combined Project path and Configuration name must be less than 80 characters.

Data Types: char

Brief designation of vehicle and test configuration.

Note

The combined Project path and Configuration name must be less than 80 characters.

Data Types: char

Specify the vehicle type.

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

Passenger car iconPassenger car

Four-wheeled passenger car.

Motorcycle iconMotorcycle

 

Two-wheeled motorcycle.

Requires Simscape.

Dependencies

If you have Simscape and these Simscape add-ons, you can use the app to configure vehicles with Simscape subsystems:

  • Simscape Driveline

  • Simscape Electrical

  • Simscape Fluids

  • Simscape MultibodyRequired for motorcycles

If you set Vehicle class to Motorcycle, the app sets the parameter Model template to Simscape.

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Note

To refer back to your Powertrain architecture diagram, click the Setup tab. You will see the configuration of the system, including motor placements.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

Conventional Vehicle

Vehicle with an SI or CI internal combustion engine, transmission, and corresponding control units. May be FWD, RWD, or AWD.

Electric Vehicle 1EM

Vehicle with one electric motor, battery, driveline, and corresponding control units. May be FWD, RWD, or AWD.

Electric Vehicle 2EM

 

Vehicle with one motor driving the front axle and one motor driving the rear axle; battery, driveline, and corresponding control units.

Electric Vehicle 3EM Dual Front

 

Vehicle with two independent motors driving the front axle and one motor driving the rear axle; battery, driveline, and corresponding control units.

Electric Vehicle 3EM Dual Rear

 

Vehicle with one motor driving the front axle and two independent motors driving the rear axle; battery, driveline, and corresponding control units.

Electric Vehicle 4EM

 

Vehicle with one independent motor driving each wheel; battery, and corresponding control units.

Hybrid Electric P0

 

Vehicle with P0 hybrid-electric propulsion, including an SI engine, transmission, motor, battery, and corresponding control units.

Hybrid Electric P1

 

Vehicle with P1 hybrid-electric propulsion, including an SI engine, transmission, motor, battery, and corresponding control units.

Hybrid Electric P2

 

Vehicle with P2 hybrid-electric propulsion, including an SI engine, transmission, motor, battery, and corresponding control units.

Hybrid Electric P3

 

Vehicle with P3 hybrid-electric propulsion, including an SI engine, transmission, motor, battery, and corresponding control units.

Hybrid Electric P4

 

Vehicle with P4 hybrid-electric propulsion, including an SI engine, transmission, motor, battery, and corresponding control units.

Hybrid Electric MM

 

Vehicle with multimode hybrid-electric propulsion, including an SI engine, transmission, motor, generator, battery, and corresponding control units.

Hybrid Electric IPS

 

Vehicle with input power split hybrid-electric propulsion, including an SI engine, transmission, motor, generator, battery, and corresponding control units.

Conventional Motorcycle with Chain Drive

 

Motorcycle with an SI engine, transmission and chain/belt drive reductions, and corresponding control units.

Requires Simscape.

Electric Motorcycle with Chain Drive

 

Motorcycle with an electric motor, gear and chain/belt drive reductions, battery, and corresponding control units.

Requires Simscape.

If you have Simscape and Simscape add-ons, you can use the app to configure vehicles that incorporate Simscape subsystems, including motorcycles.

Specify a Simulink or Simscape vehicle plant model and powertrain architecture. By default, the virtual vehicle uses a Simulink model template.

If you have Simscape and these Simscape add-ons, you can use the app to configure vehicles with Simscape subsystems:

  • Simscape Driveline

  • Simscape Electrical

  • Simscape Fluids

  • Simscape MultibodyRequired for motorcycles

Dependencies

If you set Vehicle class to Motorcycle, the app sets Model template to Simscape. You cannot configure a motorcycle and select Simulink as the model template.

Specify the virtual vehicle dynamics.

Vehicle ClassVehicle DynamicsGoals
Passenger car

Longitudinal vehicle dynamics icon Longitudinal vehicle dynamics

Fuel economy and energy management analysis.

Combined longitudinal and lateral vehicle dynamics icon Combined longitudinal and lateral vehicle dynamics

Vehicle handling, stability, and ride comfort analysis.

Motorcycle

In-plane motorcycle dynamics icon In-plane motorcycle dynamics

Fuel economy and energy management analysis.

Out-of-plane motorcycle dynamics icon Out-of-plane motorcycle dynamics

Vehicle handling, stability, and ride comfort analysis.

The virtual vehicle uses the Z-up coordinate system as defined in SAE J670 and ISO 8855. For more information, see Coordinate Systems in Vehicle Dynamics Blockset (Vehicle Dynamics Blockset).

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

Longitudinal vehicle dynamics

One or three degree-of-freedom (DOF) conventional vehicle model suitable for fuel economy and energy management analysis.

Combined longitudinal and lateral vehicle dynamics

 

Six DOF conventional vehicle suitable for vehicle handling, stability, and ride comfort analysis.

In-plane motorcycle dynamics 

Three DOF motorcycle model suitable for fuel economy and energy management analysis.

The model implements a longitudinal in-plane motorcycle body model to calculate longitudinal, vertical, and pitch motion.

Available if you have Simscape and Simscape add-ons.

Out-of-plane motorcycle dynamics 

Six DOF motorcycle suitable for vehicle handling, stability, and ride comfort analysis.

Available if you have Simscape and Simscape add-ons.

Data and Calibration: Passenger Car

Use the app to quickly set your virtual passenger car parameters, such as chassis and suspension, tires, powertrain, and driver. Select one of the options for each parameter. The available options depend on your Setup selections.

ParameterDescription
ChassisSelect the chassis type. The available options depend on the Vehicle dynamics settings.
Steering System

If you have Vehicle Dynamics Blockset and set Vehicle dynamics to Combined longitudinal and lateral vehicle dynamics, you can specify the steering system.

Suspension

If you have Vehicle Dynamics Blockset and set Vehicle dynamics to Combined longitudinal and lateral vehicle dynamics, you can specify the suspension.

TireSelect the tire model and tire data. The available options depend on the Vehicle dynamics setting.
Brake Type

Select the brake type and parameters. Use the Brake Control Unit parameter to specify the brake control.

PowertrainSelect the engine, electric motors, transmission, drivetrain, differential system, and electrical system parameters. The available options depend on the Powertrain architecture selected.
DriverSelect the Driver model. The available options depend on the Vehicle dynamics setting.
Environment

Set the parameters under Ambient Conditions to specify the operating environment.

Virtual Vehicle Composer app scenario and test tab

Passenger Car Chassis

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

Vehicle Body 1DOF Longitudinal

Chassis model for one DOF longitudinal vehicle dynamics. Available when you set Vehicle dynamics to Longitudinal vehicle dynamics.

Vehicle Body 3DOF Longitudinal

Chassis model for three DOF vehicle dynamics, allowing longitudinal, vertical, and pitch motions. Available when you set Vehicle dynamics to Longitudinal vehicle dynamics.

Vehicle Body 6DOF Longitudinal and Lateral 

Chassis model for six DOF longitudinal, lateral, and vertical vehicle dynamics, allowing all six degrees of vehicle motion. Available when you set Vehicle dynamics to Combined longitudinal and lateral vehicle dynamics.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Passenger car.

Passenger Car Steering System

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

Availability

Kinematic Steering

 

Kinematic steering model. Suitable for Ackerman steering.

Available when you set Chassis to Vehicle Body 6DOF Longitudinal and Lateral.

Mapped Steering

 

Mapped rack-and-pinion steering model.

Steering System

 

Detailed steering system incorporating rack-and-pinion steering geometry and compliances.

Simscape Steering

 

 Available when you set Model template to Simscape and Chassis to Vehicle Body 6DOF Longitudinal and Lateral.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Passenger car.

Passenger Car Suspension System

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

Availability

Kinematics and Compliance Independent Suspension

 

Kinematics and compliance (K&C) characteristics of independent suspensions on front and rear axle.

Available when you set Chassis to Vehicle Body 6DOF Longitudinal and Lateral.

MacPherson Front Suspension Solid Axle Rear Suspension

 

Independent MacPherson strut front suspension and solid rear axle.

Kinematics and Compliance Twist Beam Suspension

 

Kinematics and compliance (K&C) characteristics of:

  • Independent suspension on front axle

  • Twist-beam suspension on rear axle

Simscape Suspension

 

Double-wishbone suspension on front and rear axles.

Available when you set Model template to Simscape and Chassis to Vehicle Body 6DOF Longitudinal and Lateral.

Dependencies

To enable this parameter, on the Setup pane:

  • Set Vehicle class to Passenger car.

  • Set Vehicle dynamics to Combined longitudinal and lateral vehicle dynamics.

Passenger Car Tires

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

Availability

MF Tires Longitudinal

Tire model suitable for longitudinal vehicle motion studies, including fuel economy and energy management analysis.

Only longitudinal parameters of the Magic Formula 6.2 equations are used. Includes options for modifying rolling resistance.

Available when you set Chassis to Vehicle Body 1DOF Longitudinal or Vehicle Body 3DOF Longitudinal.

Combined Slip Tires Longitudinal

 

Tire model suitable for longitudinal vehicle dynamics studies, including acceleration, braking, and ride comfort analysis.

Only longitudinal parameters of the Magic Formula 6.2 equations are used.

You can use Tire Data parameter to specify fitted tire data sets provided by the Global Center for Automotive Performance Simulation (GCAPS) for tires, including:

  • Light passenger car 205/60R15

  • Mid-size passenger car 235/45R18

  • Performance car 225/40R19

  • SUV 265/50R20

  • Light truck 275/65R18

  • Commercial truck 295/75R22.5

MF Tires Longitudinal and Lateral 

Tire model suitable for longitudinal and lateral vehicle dynamics studies, including vehicle handling, stability, and ride comfort analysis. Magic Formula 6.2 equations are used.

You can use Tire Data parameter to specify fitted tire data sets provided by the Global Center for Automotive Performance Simulation (GCAPS) for tires, including:

  • Light passenger car 205/60R15

  • Mid-size passenger car 235/45R18

  • Performance car 225/40R19

  • SUV 265/50R20

  • Light truck 275/65R18

  • Commercial truck 295/75R22.5

Available when you set Chassis to Vehicle Body 6DOF Longitudinal and Lateral.

Fiala Tires Longitudinal and Lateral  

Simplified tire model suitable for longitudinal and lateral vehicle dynamics studies, including vehicle handling, stability, and ride comfort analysis.

Parameters are intuitive and easy to tune, at some loss in fidelity.

Consider this setting if you do not have the tire coefficients needed by the Magic Formula and are conducting studies that do not involve extensive nonlinear combined lateral slip or lateral dynamics.

Simscape MF Tires  

Simscape tire model suitable for longitudinal and lateral vehicle dynamics studies, including vehicle handling, stability, and ride comfort analysis. Magic Formula equations are used.

Available when you set Model template to Simscape and set Chassis to Vehicle Body 6DOF Longitudinal and Lateral.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Passenger car.

Passenger Car Braking System

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

Disc

Brake model converts the brake fluid pressure into a braking torque.

Drum

Brake model converts the brake fluid pressure and brake geometry into a braking torque.
Mapped

Brake torque is a mapped function of the wheel speed and the brake fluid pressure.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Passenger car.

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

Open Loop

Open loop brake control. The controller commands brake pressure as a sole function of the brake command.

Bang Bang ABS

Anti-lock braking system (ABS) feedback controller that switches between two states to minimize the error between the actual slip and the desired slip. Here, the desired slip is the value where the friction coefficient of the tires reaches its maximum.

Five-State ABS and TCS

Five-state ABS and traction control system (TCS) that uses logic-switching based on wheel and vehicle accelerations to control the braking pressure at each wheel.

Consider using five-state ABS and TCS control to prevent wheel lock-up, decrease braking distance, and maintain yaw stability during maneuvers. The default ABS parameters are set to work on roads that have a constant friction coefficient scaling factor of 0.6.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Passenger car.

Passenger Car Powertrain

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

SI Mapped Engine

Mapped SI engine model using power, air mass flow, fuel flow, exhaust temperature, efficiency, and emission performance lookup tables.

Selecting SI Mapped Engine sets the Engine Control Unit parameter to SI Engine Controller.

If you have the Model-Based Calibration Toolbox™, you can generate a static calibration. Select from options on Calibrate from Data. For more information, see Calibrate Mapped SI Engine Using Data.

Simple Engine (SI)

Simplified SI engine model using a maximum torque versus engine speed table, two scalar fuel mass properties, and one scalar engine efficiency parameter to estimate engine torque and fuel flow rate.

Selecting Simple Engine (SI) sets the Engine Control Unit parameter to Simple ECU.

Simple Engine (CI)

Simplified CI engine model using a maximum torque versus engine speed table, two scalar fuel mass properties, and one scalar engine efficiency parameter to estimate engine torque and fuel flow rate.

Selecting Simple Engine (CI) sets the Engine Control Unit parameter to Simple ECU.

CI Engine

 

Compression-ignition engine modeled from intake to exhaust port.

Selecting CI Engine sets the Engine Control Unit parameter to CI Engine Controller.

CI Mapped Engine

 

Mapped CI engine model using power, air mass flow, fuel flow, exhaust temperature, efficiency, and emission performance lookup tables.

Selecting CI Mapped Engine sets the Engine Control Unit parameter to CI Engine Controller.

If you have the Model-Based Calibration Toolbox, you can generate a static calibration. Select from options on Calibrate from Data. For more information, see Calibrate Mapped CI Engine Using Data.

SI Engine

 

Spark-ignition engine modeled from intake to exhaust port.

Selecting SI Engine sets the Engine Control Unit parameter to SI Engine Controller.

SI Deep Learning Engine

 

Deep learning SI engine.

Available if you have Deep Learning Toolbox™ and Statistics and Machine Learning Toolbox™ licenses. Use this setting to generate a dynamic deep learning SI engine model to use for powertrain control, diagnostics, and estimator algorithm design.

Selecting SI Deep Learning Engine sets the Engine Control Unit parameter to SI Engine Controller.

For more detail, see Generate Deep Learning SI Engine Model.

FMU Engine

The functional mockup unit (FMU) engine implements an FMU block with these engine inputs and outputs.

InputsOutputs

Torque command

Engine RPM

Brake torque

Fuel flow

Air flow

Exhaust gas temperature

Air fuel ratio

Brake-specific fuel consumption (BSFC)

Crank angle

Selecting FMU Engine sets the Engine Control Unit parameter to Simple ECU.

To implement the FMU engine model:

  1. Set Engine to FMU Engine.

  2. Use Browse to select the FMU file.

  3. Select Read to verify the FMU inputs and outputs.

    • If verification passes, the number of FMU inputs and outputs matches the signals in the FMU Import subsystem.

    • If verification warns, the number of FMU inputs and outputs does not match the signals in the FMU Import subsystem. However, you can still import the FMU file and manually connect the signals.

  4. Select Import to integrate the FMU in the virtual vehicle FMU Import subsystem.

Dependencies

To enable this parameter, on the Setup pane:

  • Set Vehicle class to Passenger car.

  • Set Powertrain architecture to any of these options:

    • Conventional Vehicle

    • Hybrid Electric Vehicle P0

    • Hybrid Electric Vehicle P1

    • Hybrid Electric Vehicle P2

    • Hybrid Electric Vehicle P3

    • Hybrid Electric Vehicle P4

    • Hybrid Electric Vehicle MM

    • Hybrid Electric Vehicle IPS

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

Ideal Fixed Gear Transmission

Idealized fixed-gear transmission without a clutch or synchronization. Use this setting to model the gear ratios and power loss when you do not need a detailed transmission model.

Automatic Transmission with Torque Converter

 

Automatic transmission with planetary gears and a torque converter.

Automated Manual Transmission

 

A manual transmission with additional actuators and an electronic control unit (ECU) to regulate clutch and gear selection based on commands from a controller. Clutch and synchronizer engagement rates are linear and adjustable.

Dependencies

To enable this parameter, on the Setup pane:

  • Set Vehicle class to Passenger car.

  • Set Powertrain architecture to any of these options:

    • Conventional Vehicle

    • Hybrid Electric Vehicle P0

    • Hybrid Electric Vehicle P1

    • Hybrid Electric Vehicle P2

    • Hybrid Electric Vehicle P3

    • Hybrid Electric Vehicle P4

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

PRNDL Controller

Controller that executes forward, reverse, neutral, park, and N-speed gear shifts according to the selected shift schedule. You can supply multiple schedules and select them using a block input.

Dependencies

To enable this parameter, on the Setup pane:

  • Set Vehicle class to Passenger car.

  • Set Powertrain architecture to any of these options:

    • Conventional Vehicle

    • Hybrid Electric Vehicle P0

    • Hybrid Electric Vehicle P1

    • Hybrid Electric Vehicle P2

    • Hybrid Electric Vehicle P3

    • Hybrid Electric Vehicle P4

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

Front Wheel Drive

Drives both wheels on the front axle.

Rear Wheel Drive

Drives both wheels on the rear axle.

All Wheel Drive

Drives all four wheels.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Passenger car.

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

Open Differential

Implements differential action with equal torque to both wheels.

Active Differential

Couples active elements to an open differential to achieve the desired axle torque bias.

Not available if you set Model template to Simscape.

Limited Slip Differential

Couples passive friction elements to an open differential to achieve the desired axle torque bias.

Dual EM Drive Front Two electric motors independently driving the front wheels, providing differential action.

Dependencies

To enable this parameter, set Vehicle class to Passenger car and Drivetrain to Front Wheel Drive or All Wheel Drive.

Alternatively, set Vehicle class to Passenger car and Powertrain architecture to Electric Vehicle 3EM Dual Front, Electric Vehicle 3EM Dual Rear, or Electric Vehicle 4EM.

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

Open Differential

Implements differential action with equal torque to both wheels.

Active Differential

Couples active elements to an open differential to achieve the desired axle torque bias.

Not available if you set Model template to Simscape.

Limited Slip Differential

Couples passive friction elements to an open differential to achieve the desired axle torque bias.

Dual EM Drive Rear Two electric motors independently driving the rear wheels, providing differential action.

Dependencies

To enable this parameter, set Vehicle class to Passenger car and Drivetrain to Rear Wheel Drive or All Wheel Drive.

Alternatively, set Vehicle class to Passenger car and Powertrain architecture to Electric Vehicle 3EM Dual Front, Electric Vehicle 3EM Dual Rear, or Electric Vehicle 4EM.

Specify the coupling between front and rear axles as a transfer case.

Dependencies

To enable this parameter, set Vehicle class to Passenger car and Drivetrain to All Wheel Drive.

Bidirectional DC-to-DC converter that supports boost (voltage-increasing) and buck (voltage-reducing) operations.

Dependencies

To enable this parameter, set Vehicle class to Passenger car and Powertrain architecture to one of these options:

  • Electric Vehicle xEM, where x is 1, 2, or 4

  • Electric Vehicle 3EM Dual Front

  • Electric Vehicle 3EM Dual Rear

  • Hybrid Electric Vehicle Px, where x is 0, 1, 2, 3 or 4

  • Hybrid Electric Vehicle MM

  • Hybrid Electric Vehicle IPS

Virtual vehicle electric machine settings for motors in each location x as seen on the Powertrain architecture diagram on the Setup pane.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

Electric Vehicle 1EM

Maximum torque is mapped vs. motor speed, and mechanical losses are mapped as a function of speed and torque. Parameters for each motor are set by its location.

Electric Vehicle 2EM

 

Electric Vehicle 3EM Dual Front

 

Electric Vehicle 3EM Dual Rear

 

Electric Vehicle 4EM

 

Hybrid Electric Vehicle P0

 

Hybrid Electric Vehicle P1

 

Hybrid Electric Vehicle P2

 

Hybrid Electric Vehicle P3

 

Hybrid Electric Vehicle P4

 

Hybrid Electric Vehicle MM

 

Hybrid Electric Vehicle IPS

 

Dependencies

To enable this parameter, set Vehicle class to Passenger car and Powertrain architecture to one of these options:

  • Electric Vehicle xEM, where x is 1, 2, or 4

  • Electric Vehicle 3EM Dual Front

  • Electric Vehicle 3EM Dual Rear

  • Hybrid Electric Vehicle Px, where x is 0, 1, 2, 3 or 4

  • Hybrid Electric Vehicle MM

  • Hybrid Electric Vehicle IPS

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

Mapped Battery (Electric Vehicle 1EM)

Open-circuit voltage and internal resistance are mapped functions of the state-of charge (SOC) and battery temperature.

Mapped Battery (Electric Vehicle 2EM)

 

Mapped Battery (Electric Vehicle 3EM Dual Front)

 

Mapped Battery (Electric Vehicle 3EM Dual Rear)

 

Mapped Battery (Electric Vehicle 4EM)

 

Mapped Battery (Hybrid Electric Vehicle P0)

 

Mapped Battery (Hybrid Electric Vehicle P1)

 

Mapped Battery (Hybrid Electric Vehicle P2)

 

Mapped Battery (Hybrid Electric Vehicle P3)

 

Mapped Battery (Hybrid Electric Vehicle P4)

 

Mapped Battery (Hybrid Electric Vehicle MM)

 

Mapped Battery (Hybrid Electric Vehicle IPS)

 

Ideal Voltage Source

Constant-voltage source with infinite storage capacity.

Dependencies

To enable this parameter, set Vehicle class to Passenger car and Powertrain architecture to one of these options:

  • Electric Vehicle xEM, where x is 1, 2, or 4

  • Electric Vehicle 3EM Dual Front

  • Electric Vehicle 3EM Dual Rear

  • Hybrid Electric Vehicle Px, where x is 0, 1, 2, 3 or 4

  • Hybrid Electric Vehicle MM

  • Hybrid Electric Vehicle IPS

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Powertrain Architecture

Description

EV 1EM with BMS

Electric Vehicle 1EMControls the motor with torque arbitration and power management. Implements regenerative braking.
EV 2EM

 Electric Vehicle 2EM
EV 3EM Dual Front

 Electric Vehicle 3EM Dual Front
EV 3EM Dual Rear

 Electric Vehicle 3EM Dual Rear
EV 4EM

 Electric Vehicle 4EM

HEVP0 Optimal

 Hybrid Electric Vehicle P0

Implements an equivalent consumption minimization strategy (ECMS) to control the energy management of hybrid electric vehicles (HEVs). The strategy optimizes the torque split between the engine and motor to minimize energy consumption while maintaining the battery state of charge (SOC). Implements regenerative braking.

HEVP1 Optimal

 Hybrid Electric Vehicle P1

HEVP2 Optimal

 

Hybrid Electric Vehicle P2

HEVP3 Optimal

 

Hybrid Electric Vehicle P3

HEVP4 Optimal

 

Hybrid Electric Vehicle P4

HEVMM RuleBased

 

Hybrid Electric Vehicle MM

Controls the motor, generator, and engine through a set of rules and decision logic implemented in Stateflow®. Implements regenerative braking.

HEVIPS RuleBased

 

Hybrid Electric Vehicle IPS

Dependencies

To enable this parameter, set Vehicle class to Passenger car and Powertrain architecture to one of these options:

  • Electric Vehicle xEM, where x is 1, 2, or 4

  • Electric Vehicle 3EM Dual Front

  • Electric Vehicle 3EM Dual Rear

  • Hybrid Electric Vehicle Px, where x is 0, 1, 2, 3 or 4

  • Hybrid Electric Vehicle MM

  • Hybrid Electric Vehicle IPS

Passenger Car Driver

The parameter options depend on the available products. This table summarizes the options enabled by Powertrain Blockset and Vehicle Dynamics Blockset.

Setting

Powertrain Blockset

Vehicle Dynamics Blockset

Description

Longitudinal Driver

Implements a longitudinal speed-tracking controller.

Predictive Driver

 

Tracks longitudinal velocity and a lateral displacement relative to a reference pose.

Available when you set Vehicle dynamics to Combined longitudinal and lateral vehicle dynamics.

Predictive Stanley Driver

 

Adjusts the steering angle command to match the current pose of a vehicle to a reference pose, given the vehicle's current velocity and direction.

Available when you set Vehicle dynamics to Combined longitudinal and lateral vehicle dynamics.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Passenger car.

Environment

Set the parameters under Ambient Conditions to specify the operating environment.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Passenger car.

Data and Calibration: Motorcycle

Use the app to quickly set your virtual motorcycle parameters, such as chassis and suspension, tires, powertrain, and rider. Select one of the options for each parameter. The available options depend on your Setup selections.

All vehicles configured with Vehicle class set to Motorcycle require:

  • Vehicle Dynamics Blockset

  • Simscape Multibody

ParameterDescription
Chassis

Select the chassis type. The available options depend on the Vehicle dynamics setting.

Steering System

With Vehicle dynamics set to Out-of-plane motorcycle dynamics, you can specify the steering system.

Front Suspension

With Vehicle dynamics set to Out-of-plane motorcycle dynamics, you can specify the front suspension.

Rear Suspension

With Vehicle dynamics set to Out-of-plane motorcycle dynamics, you can specify the rear suspension.

Front Tire

Select the front tire model and tire data.

Rear Tire

Select the rear tire model and tire data.

Front Brake Type

Select the front brake type and set parameters.

Rear Brake Type

Select the rear brake type and set parameters.

Brake Control Unit

Specify the brake control type.

Powertrain

Select the engine, electric motor, and chain drive parameters. The available options depend on the Powertrain architecture setting.

Rider

Specify the rider physical model and controller model.

Environment

Set the parameters under Ambient Conditions to specify the operating environment.

Virtual Vehicle Composer app scenario and test tab

Motorcycle Chassis

All vehicles configured with Vehicle class set to Motorcycle require Vehicle Dynamics Blockset and Simscape Multibody.

Setting

Description

In-Plane Model

Models dynamics in the longitudinal/vertical plan.

Available when Vehicle dynamics is set to In-plane motorcycle dynamics.

Out-of-Plane Model

Models dynamics in six DOF.

Available when Vehicle dynamics is set to Out-of-plane motorcycle dynamics.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Motorcycle.

All vehicles configured with Vehicle class set to Motorcycle require Vehicle Dynamics Blockset and Simscape Multibody.

Setting

Description

Steering

Handlebar-steered front fork on a frame-mounted revolute joint.

No Steering

Steering angle fixed at zero.

Dependencies

To enable this parameter, on the Setup pane:

  • Set Vehicle class to Motorcycle.

  • Set Vehicle dynamics to Out-of-plane motorcycle dynamics.

All vehicles configured with Vehicle class set to Motorcycle require Vehicle Dynamics Blockset and Simscape Multibody.

Setting

Description

No Damper

No torsional damping.

Linear Damper

Torsional damper about steering axis, with linear viscous damping.

Dependencies

To enable this parameter, on the Setup pane:

  • Set Vehicle class to Motorcycle.

  • Set Vehicle dynamics to Out-of-plane motorcycle dynamics.

All vehicles configured with Vehicle class set to Motorcycle require Vehicle Dynamics Blockset and Simscape Multibody.

Setting

Description

Linear Spring and Damper Front

Telescoping fork with linear spring and damper.

Dependencies

To enable this parameter, on the Setup pane:

  • Set Vehicle class to Motorcycle.

  • Set Vehicle dynamics to Out-of-plane motorcycle dynamics.

All vehicles configured with Vehicle class set to Motorcycle require Vehicle Dynamics Blockset and Simscape Multibody.

Setting

Description

Linear Spring and Damper Rear

Swing arm with torsional spring and damper. Stiffness and damping are linear.

Dependencies

To enable this parameter, on the Setup pane:

  • Set Vehicle class to Motorcycle.

  • Set Vehicle dynamics to Out-of-plane motorcycle dynamics.

All vehicles configured with Vehicle class set to Motorcycle require Vehicle Dynamics Blockset and Simscape Multibody.

Setting

Description

Linear Tire Front

Tire with linear force and moment model, using Simscape modeling.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Motorcycle.

All vehicles configured with Vehicle class set to Motorcycle require Vehicle Dynamics Blockset and Simscape Multibody.

Setting

Description

Linear Tire Rear

Tire with linear force and moment model, using Simscape modeling.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Motorcycle.

All vehicles configured with Vehicle class set to Motorcycle require Vehicle Dynamics Blockset and Simscape Multibody.

Setting

Description

Disc

Brake model converts the brake fluid pressure into a braking torque.

Drum

Brake model converts the brake fluid pressure and brake geometry into a braking torque.
MappedBrake torque is a mapped function of the wheel speed and the brake fluid pressure.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Motorcycle.

All vehicles configured with Vehicle class set to Motorcycle require Vehicle Dynamics Blockset and Simscape Multibody.

Setting

Description

Disc

Brake model converts the brake fluid pressure into a braking torque.

Drum

Brake model converts the brake fluid pressure and brake geometry into a braking torque.
MappedBrake torque is a mapped function of the wheel speed and the brake fluid pressure.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Motorcycle.

All vehicles configured with Vehicle class set to Motorcycle require Vehicle Dynamics Blockset and Simscape Multibody.

Setting

Description

Open Loop

Open loop brake control. The controller commands brake pressure as a sole function of the brake command.

Bang Bang ABS

Anti-lock braking system (ABS) feedback controller that switches between two states to minimize the error between the actual slip and the desired slip. Here, the desired slip is the value where the friction coefficient of the tires reaches its maximum.

Five-State ABS and TCS

Five-state ABS and traction control system (TCS) that uses logic-switching based on wheel and vehicle accelerations to control the braking pressure at each wheel.

Consider using five-state ABS and TCS control to prevent wheel lock-up, decrease braking distance, and maintain yaw stability during maneuvers. The default ABS parameters are set to work on roads that have a constant friction coefficient scaling factor of 0.6.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Motorcycle.

Motorcycle Powertrain

All vehicles configured with Vehicle class set to Motorcycle require Vehicle Dynamics Blockset and Simscape Multibody.

Setting

Description

Simple Engine

Simplified SI engine model using a maximum torque versus engine speed table, two scalar fuel mass properties, and one scalar engine efficiency parameter to estimate engine torque and fuel flow.

Available when you set Powertrain architecture to Conventional Motorcycle with Chain Drive.

SI Mapped Engine

Mapped SI engine model using power, air mass flow, fuel flow, exhaust temperature, efficiency, and emission performance lookup tables.

Available when you set Powertrain architecture to Conventional Motorcycle with Chain Drive.

Mapped Motor

Electric motor. Maximum torque is mapped vs. motor speed, and mechanical losses are mapped as a function of speed and torque.

Available when you set Powertrain architecture to Electric Motorcycle with Chain Drive.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Motorcycle.

All vehicles configured with Vehicle class set to Motorcycle require Vehicle Dynamics Blockset and Simscape Multibody.

Setting

Description

Chain/Belt Drive

Inextensible chain/belt which meshes with front and rear sprockets/pulleys. Rear sprocket/pulley is mounted to wheel with a torsional damper.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Motorcycle.

Motorcycle Rider

All vehicles configured with Vehicle class set to Motorcycle require Vehicle Dynamics Blockset and Simscape Multibody.

Setting

Description

Rigid

Rider implemented as a rigid body so that their relative motion to the motorcycle frame is zero. No crouching, and their lean angle is the same as the motorcycle frame.

6DOF and External Forces and Moments

Rider body implemented with six DOF relative to the motorcycle frame. Able to lean and crouch independently of frame.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Motorcycle.

All vehicles configured with Vehicle class set to Motorcycle require Vehicle Dynamics Blockset and Simscape Multibody.

Setting

Description

Longitudinal Rider

Implements a longitudinal speed-tracking controller.

Open Loop

Rider operates controls as prescribed by test scenarios.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Motorcycle.

Environment

Set the parameters under Ambient Conditions to specify the operating environment.

Dependencies

To enable this parameter, on the Setup pane, set Vehicle class to Motorcycle.

Scenario and Test: Passenger Car

Assemble a test plan for your virtual passenger car.

For a Passenger car, if you set Vehicle dynamics to Longitudinal vehicle dynamics, you can select:

  • Standard drive cycles from industry agencies and institutions. The default selection is the FTP75 drive cycle. Certain drive cycles include gear shift schedules, for example, JC08 and CUEDC.

  • Wide open throttle (WOT) parameters, including initial and nominal reference speeds, deceleration start time, and final reference speed.

For a Passenger car, if you have Vehicle Dynamics Blockset and set Vehicle dynamics to Combined longitudinal and lateral vehicle dynamics, you can select maneuvers for vehicle handling, stability, and ride analysis. Maneuvers include:

  • Increasing Steer

  • Swept Sine

  • Sine with Dwell

  • Fishhook

  • Wide Open Throttle

If you want to run your virtual vehicle in the Unreal Engine 3D simulation environment, set 3D Scene Selection to 3D Scene. For hardware requirements, see Unreal Engine Simulation Environment Requirements and Limitations (Vehicle Dynamics Blockset).

Scenario and Test: Motorcycle

Assemble a test plan for your virtual motorcycle.

For a Motorcycle, if you set Vehicle dynamics to In-plane motorcycle dynamics, you can select:

  • Standard drive cycles from industry agencies and institutions. The default selection is the FTP75 drive cycle. Certain drive cycles include gear shift schedules, for example, JC08 and CUEDC.

  • Wide open throttle (WOT) parameters, including initial and nominal reference speeds, deceleration start time, and final reference speed.

For a Motorcycle, if you set Vehicle dynamics to Out-of-plane motorcycle dynamics, you can select maneuvers for vehicle handling, stability, and ride analysis. Maneuvers include:

  • Steady Turning

  • Handle Hit

If you want to run your virtual vehicle in the Unreal Engine 3D simulation environment, set 3D Scene Selection to 3D Scene. For hardware requirements, see Unreal Engine Simulation Environment Requirements and Limitations (Vehicle Dynamics Blockset).

Logging

On the Logging tab, select the signals to log. The app has a default set of signals in the Selected Signals list. The default list depends on the vehicle configuration. You can add or remove signals. Options include energy-related quantities, and vehicle position, velocity, and acceleration.

Build

Click Virtual Vehicle to build your vehicle. When you build, the Virtual Vehicle Composer app creates a Simulink model that incorporates the vehicle architecture and parameters that you have specified and associates the model with the test plan you have assembled.

The build takes time to complete. View progress in the progress bar.

Operate

To operate the model, on the Composer tab, in the Operate section, click Run Test Plan Virtual Vehicle operate icon.

The simulations take time to complete. View progress in the MATLAB Command Window.

Analyze

Click Simulation Data Inspector to view and analyze simulation signals you chose to log during operation.

If your test plan includes more than one test scenario, the Simulation Data Inspector displays the results from the last scenario. To see results from earlier scenarios, load the archived results.

For more information, see Simulation Data Inspector.

Programmatic Use

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Entering the command virtualVehicleComposer opens a new session of the app, enabling you to configure, build, and analyze your virtual vehicle.

Version History

Introduced in R2022a

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