Simulation 3D Physics Vehicle

Implement controllable 6DOF vehicle 3D environment

Since R2022b

• 

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 then click the Properties button . 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.

• Open Script

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 gear

• 0 – 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 $$\beta =\frac{V_y}{V_x}$$	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	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 | Formula student vehicle | Custom

Specify the vehicle type. This table provides links to the vehicle dimensions.

Vehicle type Setting	Vehicle Dimensions
Muscle car	Muscle Car
Sedan	Sedan
Sport utility vehicle	Sport Utility Vehicle
Small pickup truck	Small Pickup Truck
Hatchback	Hatchback
Box truck	Box Truck
Formula student vehicle	Formula Student Vehicle

Dependencies

Selecting Custom enables parameters that allow you to import a custom mesh for your vehicle.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	PassVehMesh
Values:	Muscle car (default) | Sedan | Sport utility vehicle | Small pickup truck | Hatchback | Box Truck | Formula student vehicle | Custom
Data Types:	character vector

Color, VehColor — Color of vehicle

Red (default) | Orange | Yellow | Green | Blue | Black | White | Silver | Dazzle camouflage

Select the color of the vehicle.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	VehColor
Values:	Red (default) | Orange | Yellow | Green | Blue | Black | White | Silver | Dazzle camouflage
Data Types:	character vector

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 SimulinkVehicleX. The value of X depends on the number of Simulation 3D Physics Vehicle and Simulation 3D Vehicle blocks in your model.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	ActorName
Values:	SimulinkVehicle1 (default) | character vector
Data Types:	character vector

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	InitialPos
Values:	[0, 0, -0.5] (default) | 1-by-3 array
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	InitialRot
Values:	[0, 0, 0] (default) | 1-by-3 array
Data Types:	double

Mass, Mass [kg] — Vehicle mass

1500 (default) | scalar

Vehicle mass, in kg. This value does not include the wheel masses.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Mass
Values:	1500 (default) | scalar
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	CgOffset
Values:	[ 0, 0, 0] (default) | vector
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	IvehScale
Values:	[1, 1, 1] (default) | vector
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	ChassisHeight
Values:	1.0 (default) | scalar
Data Types:	double

Drag coefficient, Cd [] — Vehicle drag coefficient

0.3 (default) | scalar

Vehicle drag coefficient, dimensionless.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Cd
Values:	0.3 (default) | scalar
Data Types:	double

Drag lift coefficient, Cl [] — Longitudinal lift coefficient

0.1 (default) | scalar

Longitudinal lift coefficient, dimensionless.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Cl
Values:	0.1 (default) | scalar
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	MeshPath
Values:	/MathWorksSimulation/Vehicles/Muscle/Meshes/SK_MuscleCar.SK_Sedan (default) | valid path
Data Types:	character vector

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	TrackWidth
Values:	1.9 (default) | scalar
Data Types:	double

Wheel base in custom mesh, WheelBase [m] — Wheel base in custom mesh

3 (default) | scalar

Wheel base, in meters.

Dependencies

To enable this parameter, set Type to Custom.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	WheelBase
Values:	3 (default) | scalar
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	FrntWhlRadius
Values:	0.23 (default) | scalar
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	FrntWhlWidth
Values:	0.20 (default) | scalar
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	RearWhlRadius
Values:	0.23 (default) | scalar
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	RearWhlWidth
Values:	0.20 (default) | scalar
Data Types:	double

Powertrain and Driveline

Powertrain

Motor 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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	TrqCrv
Values:	[ 75, 75, 97, 117, 152, 175, 175, 175, 175, 165, 155, 145, 140, 135, 125, 115, 50 ] (default) | vector
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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SpdCrv
Values:	[ 0, 750, 1054, 1357, 1660, 1964, 2267, 2571, 2875, 3178, 3482, 3785, 4089, 4393, 4696, 5000, 7000 ] (default) | vector
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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	MaxRPM
Values:	7000 (default) | scalar
Data Types:	double

Powertrain rotational inertia, Jmot [kg*m^2] — Powertrain rotational inertia

1.0 (default) | scalar

Powertrain rotational inertia, in kg·m².

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Jmot
Values:	1.0 (default) | scalar
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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	bEngMax
Values:	0.15 (default) | scalar
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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	bEngMin
Values:	2 (default) | scalar
Data Types:	double

Driveline

Drivetrain type — Drivetrain

Rear Wheel Drive (default) | Front Wheel Drive | All Wheel Drive

Implement rear wheel, front wheel, or all wheel drive.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	DrivetrainType
Values:	Rear Wheel Drive (default) | Front Wheel Drive | All Wheel Drive
Data Types:	character vector

Front to rear torque split ratio, FrontRearSplit [] — 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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	FrontRearSplit
Values:	0.5 (default) | scalar
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	TransType
Values:	Automatic (default) | Manual
Data Types:	character vector

Gear number vector, G [] — Gear number

[-1, 0, 1, 2, 3, 4, 5, 6, 7, 8] (default) | vector

Gear number vector, dimensionless.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	G
Values:	[-1, 0, 1, 2, 3, 4, 5, 6, 7, 8] (default) | vector
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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	N
Values:	[ -3.5, 1, 4.75, 3.75, 3.25, 2.75, 2.25, 1.5, 1, 0.75 ] (default) | vector
Data Types:	double

Upshift speed, UpShiftRPM [rpm] — Upshift speed

4000 (default) | scalar greater than DownShiftRPM

Upshift speed, in rpm.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	UpShiftRPM
Values:	4000 (default) | scalar
Data Types:	double

Downshift speed, DownShiftRPM [rpm] — Downshift speed

2000 (default) | scalar in the range [0, UpShiftRPM)

Downshift speed, in rpm.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	DownShiftRPM
Values:	2000 (default) | scalar
Data Types:	double

Minimum (idle) speed, MinRPM [rpm] — Minimum powertrain speed

750 (default) | scalar in the range [0, MaxRPM]

Minimum powertrain speed, in rpm.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	MinRPM
Values:	750 (default) | scalar
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	tShift
Values:	0.1 (default) | scalar
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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Ndiff
Values:	3.2 (default) | scalar
Data Types:	double

Transmission efficiency, eta [] — Efficiency factor

0.94 (default) | scalar in the range [0,1)

Efficiency factor, dimensionless.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	eta
Values:	0.94 (default) | scalar
Data Types:	double

Steering and Brakes

Steering

Steering type — Option to set steering type

Ackermann (default) | Linear

Steering type, specified as Ackermann or Linear.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SteerType
Values:	Ackermann (default) | Linear
Data Types:	character vector

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SteerAngleRatio
Values:	1.0 (default) | scalar
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	FrntWhlMaxSteer
Values:	45*pi/180 (default) | scalar
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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	RearWhlMaxSteer
Values:	0 (default) | scalar
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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SteerSpdFctTbl
Values:	[1, 0.8, 0.7] (default) | vector
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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SteerVehSpdBpts
Values:	[0, 60, 120]./3.6 (default) | vector
Data Types:	double

Brakes

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	FrntWhlMaxTrq
Values:	1500 (default) | scalar
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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	RearWhlMaxTrq
Values:	1500 (default) | scalar
Data Types:	double

Option to enable handbrake input — Enable handbrake input

off (default) | on

Select this parameter to enable handbrake input.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	HndBrkEnable
Values:	off (default) | on
Data Types:	character vector

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	FrntWhlHndBrkEnable
Values:	off (default) | on
Data Types:	character vector

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	RearWhlHndBrkEnable
Values:	off (default) | on
Data Types:	character vector

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	FrntWhlMaxHndBrkTrq
Values:	3000 (default) | scalar
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	RearWhlMaxHndBrkTrq
Values:	3000 (default) | scalar
Data Types:	double

Suspension, Wheels and Tires

Suspension

Front 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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	FrntSuspFOffset
Values:	[0,0,0] (default) | vector
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	FrntSuspMaxComp
Values:	0.15 (default) | scalar
Data Types:	double

Front spring preload, FrntSpringPreload [N] — Front suspension preload force

200 (default) | scalar

Front suspension preload force, in N.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	FrntSpringPreload
Values:	200 (default) | scalar
Data Types:	double

Front spring stiffness, FrntSpringRate [N/m] — Front suspension spring rate

30e3 (default) | scalar

Front suspension spring rate, in N/m.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	FrntSpringRate
Values:	30e3 (default) | scalar
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	FrntSuspMaxExt
Values:	0.1 (default) | scalar
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	FrntSuspDamping
Values:	0.5 (default) | scalar
Data Types:	double

Front roll bar stiffness scaling, FrntRollbarScaling [] — Front anti-roll effect

0.15 (default) | scalar in the range (0,1)

Front anti-roll effect, dimensionless.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	FrntRollbarScaling
Values:	0.15 (default) | scalar
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	RearSuspFOffset
Values:	[0,0,0] (default) | vector
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	RearSuspMaxComp
Values:	0.15 (default) | scalar
Data Types:	double

Rear spring preload, RearSpringPreload [N] — Rear suspension preload force

200 (default) | scalar

Rear suspension preload force, in N.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	RearSpringPreload
Values:	200 (default) | scalar
Data Types:	double

Rear spring stiffness, RearSpringRate [N/m] — Rear suspension spring rate

30e3 (default) | scalar

Rear suspension spring rate, in N/m.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	RearSpringRate
Values:	30e3 (default) | scalar
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	RearSuspMaxExt
Values:	0.1 (default) | scalar
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	RearSuspDamping
Values:	0.5 (default) | scalar
Data Types:	double

Rear roll bar stiffness scaling, RearRollbarScaling [] — Rear anti-roll effect

0.15 (default) | scalar in the range (0,1)

Rear anti-roll effect, dimensionless.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	RearRollbarScaling
Values:	0.15 (default) | scalar
Data Types:	double

Wheels

Enable anti-lock braking — Option to enable anti-lock braking

off (default) | on

Select this parameter to enable anti-lock braking.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	ABSEnable
Values:	Off (default) | On
Data Types:	character vector

Enable traction control — Option to enable traction control

off (default) | on

Select this parameter to enable traction control.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	TCSEnable
Values:	Off (default) | On
Data Types:	character vector

Tires

Front wheel corner stiffness, Cy_f [N/rad] — Front cornering stiffness

70e3 (default) | scalar

Front cornering stiffness, in N/rad.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Cy_f
Values:	70e3 (default) | scalar
Data Types:	double

Front wheel slip modifier, FrntSideSlipModifier [] — Front slip modifier

20 (default) | scalar in the range (0,1)

Front slip modifier, dimensionless.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	FrntSideSlipModifier
Values:	20 (default) | scalar
Data Types:	double

Rear wheel corner stiffness, Cy_r [N/rad] — Rear cornering stiffness

70e3 (default) | scalar

Rear cornering stiffness, in N/rad.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Cy_r
Values:	70e3 (default) | scalar
Data Types:	double

Rear wheel slip modifier, RearSideSlipModifier [] — Rear slip modifier

20 (default) | scalar in the range (0,1)

Rear slip modifier, dimensionless.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	RearSideSlipModifier
Values:	20 (default) | scalar
Data Types:	double

Friction scaling factor, lambda_mu [] — Friction scaling

1.0 (default) | scalar

Nominal friction scale, dimensionless.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	lambda_mu
Values:	1.0 (default) | scalar
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

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	VehLightsControl
Values:	Off (default) | On
Data Types:	character vector

Headlights

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	HeadlightColor
Values:	[1,1,1] (default) | vector
Data Types:	double

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	HighBeamIntensity
Values:	100000 (default) | scalar
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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	LowBeamIntensity
Values:	60000 (default) | scalar
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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	HighBeamConeAngle
Values:	1.22 (default) | scalar
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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	LowBeamConeAngle
Values:	1.22 (default) | scalar
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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	LeftHeadlightOrientation
Values:	[0,0] (default) | vector
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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	RightHeadlightOrientation
Values:	[0,0] (default) | vector
Data Types:	double

Brake Lights

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	BrakelightIntensity
Values:	500 (default) | scalar
Data Types:	double

Reverse Lights

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	ReverselightIntensity
Values:	500 (default) | scalar
Data Types:	double

Turn Signal Lights

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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SignallightIntensity
Values:	500 (default) | scalar
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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SignallightPeriod
Values:	1 (default) | scalar
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.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SignalPulseWidth
Values:	50 (default) | scalar
Data Types:	double

Sample Time

Sample time, SampleTime — Sample time

-1 (default) | scalar

Sample time, T_s. The graphics frame rate is the inverse of the sample time.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SampleTime
Values:	-1 (default) | scalar
Data Types:	double

Ground Truth

Output location and orientation — Option to return location and orientation

off (default) | on

Select this parameter to return location and orientation.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	StandardOutportEnabled
Values:	off (default) | on
Data Types:	character vector

Output nominal vehicle state feedback — Option to return nominal vehicle state feedback

off (default) | on

Select this parameter to return nominal vehicle state feedback.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	TransformOutportEnabled
Values:	off (default) | on
Data Types:	character vector

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 R2022b

R2024b: 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.