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