Running the Simulink model

sim('SimpleVehicleSimulink');

Each vehicle state variable goes to a scope. And the output of the model is saved in workspace.

Results

To generate the graphics the same model used in SimpleVehicleSFunction.m must be defined.

% Choosing tire model
TireModel = TirePacejka();
% Defining tire parameters
TireModel.a0 = 1;
TireModel.a1 = 0;
TireModel.a2 = 800;
TireModel.a3 = 3000;
TireModel.a4 = 50;
TireModel.a5 = 0;
TireModel.a6 = 0;
TireModel.a7 = -1;
TireModel.a8 = 0;
TireModel.a9 = 0;
TireModel.a10 = 0;
TireModel.a11 = 0;
TireModel.a12 = 0;
TireModel.a13 = 0;

% Choosing vehicle model
VehicleModel = VehicleSimpleNonlinear();
% Defining vehicle parameters
VehicleModel.mF0 = 700;
VehicleModel.mR0 = 600;
VehicleModel.IT = 10000;
VehicleModel.lT = 3.5;
VehicleModel.nF = 2;
VehicleModel.nR = 2;
VehicleModel.wT = 2;
VehicleModel.muy = .8;
VehicleModel.tire = TireModel;

simulator = Simulator(VehicleModel, tout);

% Retrieving states from Simulink model
simulator.XT = simout.Data(:,1);
simulator.YT = simout.Data(:,2);
simulator.PSI = simout.Data(:,3);
simulator.VEL = simout.Data(:,4);
simulator.ALPHAT = simout.Data(:,5);
simulator.dPSI = simout.Data(:,6);


g = Graphics(simulator);
g.TractorColor = 'r';

g.Frame();

g.Animation();

As expected the vehicle starts traveling in a straight line and starts a turn at \(t = 1 \, s\) because of the step function.