Introduction to Vehicle Dynamics Blockset - MATLAB EXPO
Transcript of Introduction to Vehicle Dynamics Blockset - MATLAB EXPO
![Page 1: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/1.jpg)
1© 2015 The MathWorks, Inc.
![Page 2: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/2.jpg)
2© 2015 The MathWorks, Inc.
[Subtrack 2]
Vehicle Dynamics Blockset 소개
김종헌부장
![Page 3: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/3.jpg)
3
Agenda
▪ What is Vehicle Dynamics Blockset?
▪ How can I use it?
![Page 4: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/4.jpg)
4
Agenda
▪ What is Vehicle Dynamics Blockset?
▪ How can I use it?
![Page 5: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/5.jpg)
5
Background
▪ Context
– Automotive OEM’s and Tier 1 suppliers must assess vehicle’s dynamic performance
▪ Will the vehicle roll over?
▪ What’s the stopping distance of the vehicle?
▪ Do the stability controls perform adequately?
– Answer questions by building prototypes and / or running simulations
▪ Challenges
– Prototypes are expensive, so must achieve a good design as early as possible
– Specialized vehicle dynamics simulation software is quite expensive and difficult to use
– Integrating 3rd party vehicle dynamics software with Simulink controls is cumbersome
![Page 6: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/6.jpg)
6
Vehicle Dynamics BlocksetNew product (R2018a)
▪ Model and simulate vehicle dynamics in a virtual 3D environment
▪ Use Vehicle Dynamics Blockset for:
– Ride & handling: characterize vehicle performance under standard driving maneuvers
– Chassis controls: design and test chassis control systems
– ADAS / AD: create virtual 3D test ground for ADAS and automated driving features
Ride & handling Chassis controls ADAS / AD
![Page 7: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/7.jpg)
7
Vehicle Dynamics Blockset Features
Library of blocks
Game engine
Pre-built reference
applications
![Page 8: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/8.jpg)
8
Powertrain Wheels and Tires Steering Suspension Vehicle Body Vehicle Scenarios
Block Library: Powertrain
![Page 9: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/9.jpg)
9
Block Library: Wheels and Tires
Powertrain Wheels and Tires Steering Suspension Vehicle Body Vehicle Scenarios
![Page 10: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/10.jpg)
10
Block Library: Steering
Powertrain Wheels and Tires Steering Suspension Vehicle Body Vehicle Scenarios
![Page 11: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/11.jpg)
11
Block Library: Suspension
Powertrain Wheels and Tires Steering Suspension Vehicle Body Vehicle Scenarios
![Page 12: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/12.jpg)
12
Block Library: Vehicle Body
Powertrain Wheels and Tires Steering Suspension Vehicle Body Vehicle Scenarios
![Page 13: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/13.jpg)
13
Block Library: Vehicle Scenarios
Powertrain Wheels and Tires Steering Suspension Vehicle Body Vehicle Scenarios
![Page 14: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/14.jpg)
14
Simulink
• Physics of vehicle
• Initialization of game engine
camera
Game Engine Co-Simulation
Unreal Engine
• Rendering / lighting
• Physics of non-Simulink
objects
• Collision detection
camera image, ground height, …
vehicle / camera location
![Page 15: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/15.jpg)
15
Reference Applications
Vehicle Maneuvers
Analyze ride and handling on driving
maneuvers such as:
– Double-lane change
– Swept sine steering
– Slowly increasing steering
Scene Interrogation
Configure the interface to the 3D
environment
![Page 16: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/16.jpg)
16
Agenda
▪ What is Vehicle Dynamics Blockset?
▪ How can I use it?
– Ride and handling analysis
– Chassis controls development
– ADAS / AD testing
– Hardware-In-the-Loop Testing
– Assess longitudinal / lateral dynamics
![Page 17: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/17.jpg)
17
Reference Application: Double Lange Change
![Page 18: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/18.jpg)
18
Reference Application: Double Lange Change (Maneuver)
Set target velocity and lateral position
![Page 19: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/19.jpg)
19
Reference Application: Double Lange Change (Driver)
Predictive driver model sets
steering wheel angle command
PI controller sets throttle
/ brake command
![Page 20: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/20.jpg)
20
Reference Application: Double Lange Change (Controllers)
▪ Basic controllers provided for engine, transmission and brakes
▪ Incorporate your own variants, as needed
![Page 21: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/21.jpg)
21
Reference Application: Double Lange Change (Plant)
Engine
Suspension
Vehicle body
Tire
Driveline
Transmission
Steering
▪ Use default plant model provided
▪ Select variants of interest
▪ Customize subsystems
![Page 22: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/22.jpg)
22
Reference Application: Double Lange Change (Visualization)
▪ Scopes, gauges, plotters, logs
▪ 3D engine interface
![Page 23: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/23.jpg)
23
Ride and Handling Study: Double Lane Change
At 50 mphAt 30 mph
![Page 24: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/24.jpg)
24
Agenda
▪ What is Vehicle Dynamics Blockset?
▪ How can I use it?
– Ride and handling analysis
– Chassis controls development
– ADAS / AD testing
– Hardware-In-the-Loop Testing
– Perform closed-loop testing
![Page 25: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/25.jpg)
25
Chassis Controls Study: Braking Test
Open loop brake controller
simply passes through
brake pressure command
Disc brakes
![Page 26: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/26.jpg)
26
Chassis Controls Study: ABS Controller
▪ Added custom MPC variant
to brake controller subsystem
▪ At each time step, finds
optimal brake pressure for
target slip ratio
MPC
Controller
![Page 27: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/27.jpg)
27
Chassis Controls Study: ABS Controller
Open-loop brakes
MPC-based ABSV
ehic
le S
peed
Slip
Ratio
Ideal slip ratio
Tire lock-up
![Page 28: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/28.jpg)
28
Chassis Controls Study: Braking TestGreen: Open-loop brake, white : with ABS
![Page 29: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/29.jpg)
29
Split Mu Test
![Page 30: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/30.jpg)
30
Chassis Controls Study: Split Mu Test
![Page 31: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/31.jpg)
31
Agenda
▪ What is Vehicle Dynamics Blockset?
▪ How can I use it?
– Ride and handling analysis
– Chassis controls development
– ADAS / AD testing
– Hardware-In-the-Loop Testing
– Test in a virtual 3D environment
![Page 32: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/32.jpg)
32
ADAS / AD Testing: Virtual 3D Scene
Camera sensor sends video to Simulink
Synthetic video used for testing vision-
based algorithms (e.g., lane detection)
![Page 33: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/33.jpg)
33
Stop Sign Detection and Braking
![Page 34: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/34.jpg)
34
Customizing Scene with Support Package
▪ Create your own scenes with Unreal Editor and our Simulink plug-in
▪ Unreal Editor project files available in our Support Package:
“Vehicle Dynamics Blockset interface for Unreal Engine 4”
![Page 35: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/35.jpg)
35
Editing Support Package Scene to Add Stop Sign
![Page 36: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/36.jpg)
36
Changing the Lighting to Night Conditions
![Page 37: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/37.jpg)
37
Perception algorithms are typically developed with different
workflows than control algorithms
Controls simulation
Lane
follower
“Cuboid”
environment &
lane sensor
Physics based
vehicle model
Perception re-simulation
Lane
detector
images
detections
P
Perception
engineer
Controls
engineer
C
![Page 38: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/38.jpg)
38
“Cuboid”
environment &
lane sensor
What is required to combine lane detector and follower
components into a system level simulation
System simulation
Lane
follower
Lane
detector
Physics based
vehicle model
images
Systems
engineer
S
![Page 39: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/39.jpg)
39
Lane detector and follower system
System simulation
Unreal Engine
Lane
follower
Lane
detector
3D Scene
Camera sensorPhysics based
vehicle model
images
Systems
engineer
S
![Page 40: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/40.jpg)
40
Lane detector and follower system test bench simulates
vehicle dynamics with Unreal Engine to synthesize camera
images
![Page 41: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/41.jpg)
41
Agenda
▪ What is Vehicle Dynamics Blockset?
▪ How can I use it?
– Ride and handling analysis
– Chassis controls development
– ADAS / AD testing
– Hardware-In-the-Loop Testing
![Page 42: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/42.jpg)
42
HIL Testing
▪ Do these models run on HIL simulators?
– Yes!, All blocks in VDBS support code generation except
visualization block
– Tested with Simulink Real-Time on Speedgoat target computer
– ~270ms turn-around time for 1000ms time step
SL plant + controller Data collectionSpeedgoat
Mobile Machine
![Page 43: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/43.jpg)
43
HIL Testing with UE
▪ Can you perform HIL testing with Unreal Engine running?
– Yes!, but UE visualization block doesn’t support code generation.
– Unreal Engine can run on host PC with GPU.
SL plant + controller Data collection
+ UE4
Speedgoat
Mobile Machine
![Page 44: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/44.jpg)
44
Summary
▪ Vehicle Dynamics Blockset provides:
– Open and documented library of component and subsystem models
– Pre-built vehicle models that you can parameterize and customize
– Fast-running models that are ready for HIL deployment
– Interface to Unreal Engine
![Page 45: Introduction to Vehicle Dynamics Blockset - MATLAB EXPO](https://reader031.fdocuments.us/reader031/viewer/2022012512/618b7f90697d842e4c6c81f4/html5/thumbnails/45.jpg)
45
Frequently Asked Questions: Hardware
▪ What hardware is required to run these models?
– Simulink only: reference applications run faster than real-time on a modern laptop
– With 3D engine enabled: Need a good GPU (tested on 1080 nVidia graphics card with
8 GB on-board RAM)
▪ Do we support Mac / Linux?
– The Simulink models will run on any platform that Simulink supports
– The UE4 games are compiled for Windows only, so Mac and Linux users must run in
Simulink-only mode (for now)