6 DoF Vehicle Model in Simulink

Version 2.0 (317 KB) by Srivatsan Srinivasan
Model for yaw studies. Discrete-time model, euler-fwd integration. RT code compile-able. All-wheel steer-drive. 2015-20 Matlab compatible.
5.0
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1.2K Downloads
Updated 6 Jan 2021

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The simulink file contains a working planar 6 degree of freedom vehicle model for yaw stability studies. You can switch between asphalt, snow, wet asphalt and icy road conditions. The model can be compiled into RT code for dSPACE simulations. You can choose to have it run with all wheel steer. Right now the rear steer has been set to zero. Please go through ReadMe file. The inputs are individual wheel torques and front and rear road-wheel steering angle. You can give handwheel angle as input if you choose to have front wheel drive by multiplying it with a steering ratio of 1/20.

Model built using equations in:

Berntorp, K., Olofsson, B., Lundahl, K., & Nielsen, L. (2014).
Models and methodology for optimal trajectory generation in safety-critical road-vehicle manoeuvres.
Vehicle System Dynamics, 52(10), 1304–1332. https://doi.org/10.1080/00423114.2014.939094

Cite As

Srivatsan Srinivasan (2024). 6 DoF Vehicle Model in Simulink (https://www.mathworks.com/matlabcentral/fileexchange/70497-6-dof-vehicle-model-in-simulink), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2020b
Compatible with R2015a to R2020b
Platform Compatibility
Windows macOS Linux
Categories
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DT_VehicleModel

DT_VehicleModel

Version Published Release Notes
2.0

Fixed some mistakes in rotations.

1.4

Changed one of the models with a switch case instead of if-else for road conditions.
1.3.3

Title change
1.3.2

Changed title
1.3.1

Uploading the correct files
1.3

file change
1.2

Fixed mistakes in the model.
1.0.1

Changed description

1.0.0