Vehicle Scenarios

Drive cycles, driver models, test maneuvers, and 3D simulation in Unreal Engine^®visualization environment

To configure vehicle scenarios, use the drive cycle, driver, and 3D simulation blocks.

Drive Cycle Sourceblock — Generates a standard or user-specified longitudinal drive cycle. By default, the block includes theFTP–75drive cycle. To install additional drive cycles from a support package, seeSupport Package For Maneuver and Drive Cycle Data. The support package has drive cycles that include gear shift schedules, for exampleJC08andCUEDC.
Driver blocks — Implement controllers that generate normalized steering, acceleration, and braking commands to track velocity or displacement.
3D visualization blocks — Integrate 3D visualization environment with Simulink^®so that you can interrogate the world around the vehicle for virtually testing perception, control, and planning algorithms.

Blocks

Drivers and Maneuvers

Drive Cycle Source	Standard or specified longitudinal drive cycle
Lateral Driver	Lateral path-tracking controller
Longitudinal Driver	Longitudinal speed-tracking controller
Predictive Driver	Predictive driver controller to track longitudinal speed and lateral path

3D Environment Vehicles

Simulation 3D Vehicle	Implement vehicle in 3D environment
Simulation 3D Vehicle with Ground Following	Implement vehicle that follows ground in 3D environment
Simulation 3D Tractor	Implement tractor in 3D environment
Simulation 3D Trailer	Implement trailer in 3D environment
Simulation 3D Motorcycle	Implement motorcycle in 3D environment
Simulation 3D Dolly	Implement dolly in 3D environment
Vehicle Terrain Sensor	Vehicle and tire distances to objects

3D Environment Configuration

Simulation 3D Scene Configuration	Scene configuration for 3D simulation environment
Simulation 3D Actor Transform Get	Get actor translation, rotation, scale
Simulation 3D Actor Transform Set	Set actor translation, rotation, scale
Simulation 3D Camera Get	Camera image
Simulation 3D Message Get	Retrieve data fromUnreal Enginevisualization environment
Simulation 3D Message Set	Send data toUnreal Enginevisualization environment

Scenes and Vehicle Dimensions

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Scenes

Curved Road	Curved road 3D environment
Double Lane Change	Double lane change 3D environment
Large Parking Lot	Large parking lot 3D environment
Open Surface	Open surface 3D environment
Parking Lot	Parking lot 3D environment
Straight Road	Straight road 3D environment
US City Block	US city block 3D environment
US Highway	US highway 3D environment
Virtual Mcity	VirtualMcity3D environment

Vehicles

Box Truck	Box truck vehicle dimensions
Hatchback	Hatchback vehicle dimensions
Muscle Car	Muscle car vehicle dimensions
Sedan	Sedan vehicle dimensions
Small Pickup Truck	Small pickup truck vehicle dimensions
Sport Utility Vehicle	Sport utility vehicle dimensions
Cab-Over Tractor	Cab-over tractor dimensions
Conventional Tractor	Conventional tractor dimensions
Two-Axle Trailer	Two-axle trailer dimensions
三轴拖车	Three-axle trailer dimensions
One-Axle Dolly	One-axle dolly dimensions
Two-Axle Dolly	Two-axle dolly dimensions
Three-Axle Dolly	Three-axle dolly dimensions
Motor Bike	Motor bike dimensions
Scooter	Scooter dimensions
Sports Bike	Sports bike dimensions

Functions

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Unreal Engine Projects

`sim3d.Editor`	Interface to theUnreal Engineproject
`open`	Open theUnrealEditor
`ASim3dActor`	Abstract class to use as a base class for user-definedUnreal EngineC++ or blueprint actors
`Sim3dSetup`	C++ method that sets up actor inUnreal Engine3D simulation
`Sim3dStep`	C++ method that steps actor inUnreal Engine3D simulation
`Sim3dRelease`	C++ method that releases actor inUnreal Engine3D simulation
`StartSimulation3DMessageReader`	Constructs a message reader object in theUnrealEditor
`ReadSimulation3DMessage`	Receives message from金宝appmodel using a message reader object
`StopSimulation3DMessageReader`	Deletes message reader object in theUnrealEditor
`StartSimulation3DMessageWriter`	Constructs a message writer object in theUnrealEditor
`WriteSimulation3DMessage`	Sends message to金宝appmodel using a message writer object
`StopSimulation3DMessageWriter`	Deletes message writer object in theUnrealEditor

Topics

Simulation Basics

3D Simulation for Vehicle Dynamics Blockset

Learn now to visualize vehicle performance in a 3D environment using the Unreal Engine from Epic Games^®.

Unreal Engine Simulation Environment Requirements and Limitations

When simulating in the Unreal Engine environment, keep these software requirements, minimum hardware requirements, and limitations in mind.

How 3D Simulation for Vehicle Dynamics Blockset Works

Learn about the co-simulation framework between Simulink and the Unreal Engine and how block execution order affects 3D simulation.

Coordinate Systems in Vehicle Dynamics Blockset

Understand coordinate systems for representing vehicle dynamics.

Scene Customization

Customize 3D Scenes for Vehicle Dynamics Simulations

To customize scenes and vehicles, use theVehicle Dynamics Blockset™ Interface for Unreal Engine 4 Projectssupport package.

STEP 1:Install Support Package and Configure Environment
STEP 2:Migrate Projects Developed Using Prior Support Packages
STEP 3:Customize Scenes Using Simulink and Unreal Editor
STEP 4:Package Custom Scenes into Executable

Get Started Communicating with the Unreal Engine Visualization Environment

Use the Simulation 3D Message Get and Simulation 3D Message Set blocks to communicate with the Unreal^®Editor.

Animate Custom Actors in the Unreal Editor

Animate a custom bicycle actor.

Create and Use an Oval Track

Create a oval track withRoadRunnerand use it in a Vehicle Dynamics Blockset simulation that co-simulates with Unreal.

Prepare Custom Vehicle Mesh for the Unreal Editor

Create custom vehicle mesh for theSimulation 3D VehicleandSimulation 3D Vehicle with Ground Followingblocks.

Place Cameras on Actors in the Unreal Editor

Place theSimulation 3D Camera GetSimulation 3D Camerablock on static and custom actors.

Send and Receive Double-Lane Change Scene Data

Use the Simulation 3D Message Set and Simulation 3D Message Get blocks to communicate with the double-lane change scene.

Featured Examples

Scene Interrogation with Camera and Ray Tracing Reference Application

Interrogate a 3D Unreal Engine scene with a vehicle dynamics model by using a camera and ray tracing reference application project.

Open Example

Follow Waypoints Around Oval Track

Simulate vehicle driving around oval track specified by waypoints. Model loads a minimum number of waypoints and uses a MATLAB^®function to determine the next heading waypoint.