Vehicle Dynamics - Lateral: Open Source Simulation Package for MATLAB
This package is an open source initiative that provides vehicle models and graphics features for lateral dynamics simulation of simple and articulated vehicles.
Contents
Examples
To make the first steps easier, two template scripts are available covering the simulation of simple and articulated vehicles. We encourage the users to run and explore the examples TemplateSimple.m and TemplateArticulated.m.
Alternatively, for users familiar with Simulink, two template applications are available for running the models of the package in Simulink. Run and explore the examples TemplateSimpleSimulink.m and TemplateArticulatedSimulink.m.
| Name | Description |
|---|---|
| Kalman Filter - Simple vehicle | Kalman Filter application. |
| Multi-axle steering articulated | Steering all axles of an articulated vehicle. |
| Multi-axle steering simple | Steering both axles of a simple vehicle. |
| OpenLoop Steering Articulated | Articulated vehicle maneuver with sinusoidal open-loop steering angle input. |
| OpenLoop Steering Simple | Simple vehicle maneuver with sinusoidal open-loop steering angle input. |
| Skid Pad Simple | Simple vehicle moving in circle. |
| Skid Pad Simple 4DOF | Simple vehicle with roll dynamics moving in circle. |
| Steering Control Simple | Double lane change maneuver. |
| Template Articulated | Articulated vehicle simulation. |
| Template Articulated Simulink | Simulate the articulated vehicle model in Simulink. |
| Template Simple | Simple vehicle simulation. |
| Template Simple Simulink | Simulate the simple vehicle model in Simulink. |
| Tire Comparison | Comparison of tire models. |
Description
The general structure of the package is illustrated below. All classes of the package are categorized into Vehicle model, Tire model and Graphics. One Vehicle model and one Tire model are combined to form the System. The integration of the System, with the apropriate parameters and initial conditions, is performed through the standard ode45 function of MATLAB®. The resulting data can be ploted as Frame and Animation with the Graphics features.
This package uses an object-oriented programming architecture. For more details see Object-Oriented Programming in MATLAB
Description page of the available models and graphics:
Tire model
Vehicle model
Graphics
Installation
The first thing you have to do is install the package according to the following steps:
API Documentation
Help and documentation on-the-fly are available through the "doc" and "help" commands, as usual. For instance, run:
help VehicleDynamicsLateral.VehicleSimpleLinear