Full Vehicle Simulation with
MATLAB/Simulink/Simscape
Krishna Teja
Virtual Proving Ground & Simulation Lab
Raghupati Singhania Centre of Excellence (RPSCOE)
JK Tyres and Industries Ltd
Indian Institute of Technology Madras
3 Nov 2021
Myself …
• Joined JK Tyres in 2021 as Scientist. Working at
Raghupati Singhania Centre of Excellence
(RPSCoE), IIT Madras – one of India’s leading
industry-academia collaboration, I primarily focus
on driver-vehicle-tire interaction using SiL/DiL
simulators, tire tuning, ADAS systems.
• PhD from IIT Madras in field of vehicle dynamics https://www.linkedin.com/in
/krishna-teja-7005aa158/
control using RL
• Graduate teaching assistant for vehicle dynamics
• Btech from NIT Tiruchirappalli
PhD Advisor : Prof R Krishna Kumar
IIT Madras
NPTEL/YouTube lectures on
Vehicle Dynamics, Finite Element Analysis,
Advanced Finite Element Analysis
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Myself …
• Joined JK Tyres in 2021 as Scientist. Working at
Raghupati Singhania Centre of Excellence
(RPSCoE), IIT Madras – one of India’s leading
industry-academia collaboration, I primarily focus
on driver-vehicle-tire interaction using SiL/DiL
simulators, tire tuning, ADAS systems.
• PhD from IIT Madras in field of vehicle dynamics
control using RL
• Graduate teaching assistant for vehicle dynamics
• Btech from NIT Tiruchirappalli
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Simulations …
Equations Physical modelling – 1D Physical modelling – 3D
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Simulation Model
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Simulation Model
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Case study – Objective handling performance
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Case study – Objective handling performance
What influences handling performance ?
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Case study – Objective handling performance
Challenges
Target setting for handling performance
Input to design process
Recommendations to design enhancements
Component metrics
Challenge 3 :
Full vehicle CAE simulation
Subjective rating Challenge 4 :
Vehicle metrics Overall process efficiency and quality
• Test data validation
• Metrics
Challenge 1 : Challenge 2 : • CAE : which physics to model,
Objective characterisation Link to subjective feel friction…
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Case study – Objective handling performance
Tire parameter estimation
Measurement Parameter Estimation Simulation
VPG Lab
RPSCoE, IIT Madras
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Case study – Objective handling performance
Vehicle parameter estimation
States Parameters
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Case study – Objective handling performance
Steering parameter estimation
Measured
Measured
Estimated
Estimated
Measured
Estimated
Steering robo
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Case study – Objective handling performance
Culmination – Tire + Vehicle + Steering
VPG Lab
RPSCoE, IIT Madras
HiL / DiL with steering robo
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Case study – Objective handling performance
Activity – guess x,y labels and “legend” …
VPG Lab
RPSCoE, IIT Madras
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Case study – Objective handling performance
Activity – guess x,y labels and “legend” …
VPG Lab
RPSCoE, IIT Madras
Tires are the “legend”
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Body
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Body
• Location of CG, axles, CoP
• Vehicle inertia
• CAD (beautification, dimension, inertia)
• Additional loads (driver, passengers etc)
• Trailer attachment
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Suspension
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Suspension
• Variant subsystems of suspension models
• Block masks to switch using GUI
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Suspension
• Variant subsystems of suspension models
• Block masks to switch using GUI
• Push rod suspension
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Suspension
• Variant subsystems of suspension models
• Block masks to switch using GUI
• Push rod suspension
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Suspension
• Variant subsystems of suspension models
• Block masks to switch using GUI
• Push rod suspension
• Shock absorber
Mechanical
interface with
DOFs
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Suspension
• Variant subsystems of suspension models
• Block masks to switch using GUI
• Push rod suspension
• Shock absorber
• Anti roll bar
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Aerodynamics
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Aerodynamics
• Aerodynamics subsystem accounts for
forces and torques due to external
wind loads.
• Data conforms with the SAE norm
J1594
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Powertrain
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Powertrain
• System level Configurations
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Powertrain
• System level Configurations
• Inside AWD
Ideal source
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Powertrain
• System level Configurations
• Inside AWD
• Inside AWD with cooling
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Tires
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Tires
Influence of tires
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Tires
Magic Formula tire model
• First developed in late 1980s by Prof Pacejka, TU Delft and
Bekker, Volvo
• Whats the Magic ?
𝐹𝑥𝑦𝑧, 𝑀𝑥𝑦𝑧 = 𝑓 𝐹𝑧, 𝜅, 𝛼, 𝛾, 𝜙, 𝑣𝑥
Load SlipRatio SlipAngle Camber Turnslip
• 𝑦 = 𝐷𝑠𝑖𝑛 𝐶 𝑎𝑡𝑎𝑛 𝐵𝑥 − 𝐸 𝐵𝑥 − atan 𝐵𝑥
𝑥 = 𝑋 + 𝑆ℎ Offset
𝑌 𝑋 = 𝑦 𝑥 + 𝑆𝑣
Peak (grip) Shape Stiffness Curvature
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Tires
Tire modelling for vehicle dynamics simulations
Measurement Parameter Estimation Simulation
VPG Lab
RPSCoE, IIT Madras
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Tires
Handling tests – Virtual Skid Trailer
• Pure slips
• Combined slips
• Wet, Dry and Camber
• Longitudinal transients
• Cornering transients
• Parking effort
• Contact patch estimation
• IP dependent parameters
• Rolling Resistance
• Loaded and Eff Radius
VPG Lab
RPSCoE, IIT Madras
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Tires
Transients tests
VPG Lab VPG Lab
RPSCoE, IIT Madras RPSCoE, IIT Madras
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Tires
Ride tests
VPG Lab VPG Lab
RPSCoE, IIT Madras RPSCoE, IIT Madras
Low speed Medium speed
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Tires
Ride – rough roads
VPG Lab
RPSCoE, IIT Madras
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Tires
Data …
Raw data
VPG Lab
RPSCoE, IIT Madras
Filtered data
VPG Lab VPG Lab
RPSCoE, IIT Madras RPSCoE, IIT Madras
VPG Lab
RPSCoE, IIT Madras
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Tires Fx vs long slip
F&M curves …
Fy vs long angle
Mz vs long angle
Combined slip / Friction ellipse
– Fy vs Fx
Parking
effort
VPG Lab
RPSCoE, IIT Madras
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Tires
• Variant subsystems of suspension models
• Block masks to switch using GUI
Simcenter tire MFEval extended
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Tires
• Variant subsystems of suspension models
• Block masks to switch using GUI
• Look inside
For simple suspension and
kinematic lookup tables
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Tires
• Variant subsystems of suspension models
• Block masks to switch using GUI
• Look inside
• Starting R2021b, new simscape tire block.
It comes with tire file for SUV
Web link,
MATLAB command : sm_car_heave_roll
Weblink
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Steering
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Steering
• System
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Steering
• System
• Custom simscape model
• Friction
Model reference
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Steering
• System
• Custom simscape model
• Friction
Similar to IPG Carmaker
Model reference
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Steering
• System
• Custom simscape model
• Friction
• EPS – column assist
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Steering
• System
• Custom simscape model
• Friction
• EPS – column assist
lib friction custom friction
Input
Lib friction
Custom friction
Model reference
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Brakes
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Brakes
• Simscape has good examples to begin
with
• Vacuum boosted tandem master cylinder
https://in.mathworks.com/help/physmod/hydro/ug/vacuum-boosted-tandem-primary-
cylinder.html?searchHighlight=vacuum%20boosted&s_tid=srchtitle_vacuum%2520boosted_1
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Brakes
• Simscape has good examples to begin
with
• Vacuum boosted tandem master cylinder
• Fixed caliper disc brakes
https://in.mathworks.com/help/physmod/sdl/ug/fixed-caliper-disk-
brake.html?searchHighlight=fixed%20caliper%20disc&s_tid=srchtitle_fixed%2520caliper%2520disc_1
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Brakes
• Simscape has good examples to begin
with
• Vacuum boosted tandem master cylinder
• Fixed caliper disc brakes
• System level blocks
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Brakes
• Simscape has good examples to begin
with
• Vacuum boosted tandem master cylinder
• Fixed caliper disc brakes
• System level blocks
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
1.25
Brakes 1.0
0.75
Traction region
Unstable braking region
ABS region
Stable braking region
0.50 Tire grip curve
0.25 Optimal slip ratio (λopt)
• Simscape has good examples to begin Set-point slip ratio (λref)
µ(λ)
0
K
D - Peak grip factor
B – stiffness factor
with
-0.25
-0.50 C – Shape factor
• Vacuum boosted tandem master cylinder
E – curvature factor
-0.75
-1.0
• Fixed caliper disc brakes -1.25
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
• System level blocks
• ABS
https://www.tandfonline.com/doi/full/10.
1080/00423114.2020.1802491
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
1.25
Traction region
1.0
Unstable braking region
Brakes
0.75 ABS region
Stable braking region
0.50 Tire grip curve
0.25 Optimal slip ratio (λopt)
Set-point slip ratio (λref)
µ(λ)
0
K
D - Peak grip factor
B – stiffness factor
-0.25
-0.50 C – Shape factor
E – curvature factor
-0.75
-1.0
-1.25
• Simscape has good examples to begin
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
with
• Vacuum boosted tandem master cylinder
• Fixed caliper disc brakes
• System level blocks
• ABS
• Sensitivity of tire parameters on ABS
https://www.tandfonline.com/doi/full/10.
1080/00423114.2020.1802491
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Driver
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Driver
• Open loop vs Closed loop
Open loop
Closed loop
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Driver
• Open loop vs Closed loop
• Pure pursuit is easy to use. Open loop
Video by Veer Alakshendra
https://www.youtube.com/watch?v=zMdoLO4kRKg
Closed loop
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Driver
• Open loop vs Closed loop
• Pure pursuit is easy to use.
Video by Veer Alakshendra
https://www.youtube.com/watch?v=zMdoLO4kRKg
• Path optimisation and offline velocity optimisation
- Jakeb Chouinard
Github repo, YouTube video
• Tire friction ellipse isn’t considered, so cant be used
directly in full vehicle simulation
• Understeer/oversteer characteristic isn’t considered.
For oversteer vehicle, this method needs
augmentation
• Online velocity optimisation based on tire , body
slip angles and tire friction ellipse – used in these
simulations
• Can be used independent or combined with offline
optimisation
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Key takeaways
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Key takeaways
• Variant subsystems
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Key takeaways
• Variant subsystems
• Block masks
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Key takeaways
• Variant subsystems
• Block masks
• Simscape and simscape multibody interface
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Key takeaways
• Variant subsystems
• Block masks
• Simscape and simscape multibody interface
• Simscape language – custom blocks
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Key takeaways
• Variant subsystems
• Block masks
• Simscape and simscape multibody interface
• Simscape language – custom blocks Forward
• Inputs to DOF → Forward/Inverse dynamics
Inverse
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Key takeaways
• Variant subsystems
• Block masks
• Simscape and simscape multibody interface VPG Lab
RPSCoE, IIT Madras VPG Lab
RPSCoE, IIT Madras
• Simscape language – custom blocks
• Inputs to DOF → Forward/Inverse dynamics
• Data/Parameter is currency
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Simulation …
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Simulation …
VPG Lab
VPG Lab
RPSCoE, IIT Madras
RPSCoE, IIT Madras
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Simulation …
VPG Lab
RPSCoE, IIT Madras
VPG Lab
RPSCoE, IIT Madras
VPG Lab
RPSCoE, IIT Madras
VPG Lab
Do check out videos on my RPSCoE, IIT Madras
LinkedIn profile
https://www.linkedin.com/in
/krishna-teja-7005aa158/
VPG Lab
RPSCoE, IIT Madras
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
Thank you
3 Nov 2021 Full Vehicle Simulation with MATLAB/Simulink/Simscape
