ASM Vehicle Dynamics Simulation Package - Humusoft

ASM Vehicle Dynamics 

Simulation Package 

• dSPACE Automotive Simulation Models – ASM 

• Vehicle Dynamics Model and ModelDesk 

• NEW: Operator Version optimized for offline simulation

Automotive Simulation Model 

ASM Vehicle Dynamics Simulation 

Package 

Real-Time Vehicle Dynamics Model 

Key Features 

• Open MATLAB ® /Simulink ® model 

• Real-time simulation and offline 

simulation 

• Intuitive graphical parameterization, 

road and maneuver creation in 

ModelDesk 

• NEW: Custom Component 

Parameterization 

• NEW: Operator version optimized for 

offline simulation 

• Tool automation for ModelDesk 

• 3-D animation 

Description 

Application Areas 

The ASM Vehicle Dynamics Simulation Package 

is an open Simulink model for the real-time 

simulation of vehicle dynamics behaviors within 

an environment. The model is typically used on 

a dSPACE Simulator for hardware-in-the-loop 

testing of electronic control units (ECUs) or during 

the design phase of controller algorithms 

for early validation by offline simulation. It is 

a complete and independent model that supports 

all the relevant phases of the model-based 

development process. 

Key Benefits 

All the Simulink blocks in the model are visible, 

so it is easy to add or replace components with 

custom models to adapt the vehicle’s properties 

perfectly to individual projects. ASM’s standardized 

interfaces allow the vehicle dynamics model 

to be easily expanded to meet specific requirements 

or even create a virtual vehicle. Roads and 

driving maneuvers can be easily and intuitively 

created using graphical tools with preview and 

clear visualization. All parameters can be altered 

during run time. 

Vehicle Characteristics 

The actual physical vehicle characteristics are represented 

by a multibody system with 24 degrees 

of freedom. It consists of a drivetrain with elastic 

shafts, a table-based engine, two semi-empirical 

tire models, a nonlinear or table-based vehicle 

multibody system with geometrical suspension 

kinematics and aerodynamics, and a steering 

model. An environment with a road, maneuvers, 

and an open- and closed-loop driver is included 

as well. All parameters can be altered during 

run time. The included brake hydraulics model 

consists of a dual-circuit hydraulics system. 

Offline and Online Simulation 

The ASM Vehicle Dynamics Simulation Package 

can be used in combination with real controllers 

in a hardware-in-the-loop environment (HIL or 

online mode), or for simulating a vehicle in combination 

with software controller algorithms (PC 

or offline mode). The model supports real-time 

code generation via The MathWork’s Real-Time 

Workshop ® and dSPACE’s RTI for online simulation 

on a dSPACE real-time system. 

2 

2008

Vehicle Dynamics Simulation Package 

Main Features and Benefits 

Feature Description Benefit 

Open Simulink model • All model blocks visible • Custom models can easily be added or used to 

replace model components (p. 13) 

ModelDesk 

Online simulation 

Offline simulation 

Online tunable 

parameters 

ASMSignalBus 

• Graphical user interface with parameter 

management 

• Real-time simulation on real-time hardware, e.g., 

DS1006 

• Simulations as early as the controller algorithm 

design phase 

• Direct parameter access during real-time simulations 

• Simulation signals part of a structured Simulink 

signal bus 

• Easy parameter handling, maneuver planning, and 

road construction (p. 14) 

• Hardware-in-the-loop simulations with productionlevel 

ECUs 

• Controller validation in early development stages 

• Online parameter optimizations and behavior 

studies (p. 12) 

• Standardized and fast access to model variables 

(p. 12) 

Model interoperability • ASM models easy to combine to create a virtual vehicle • An entire virtual vehicle can be simulated (p. 13) 

Order Information 

Classification Type Order Number 

Base model ASM Vehicle Dynamics Simulation Package • ASM_P_VD 

Extension models ASM Gasoline Engine Simulation Package • ASM_P_GE 

ASM Gasoline Engine Basic Simulation Package 

ASM Diesel Engine Simulation Package 

ASM Brake Hydraulics Model 

ASM Traffic 

Relevant Hardware and Software 

ASM Electric Components 

• ASM_P_GEB 

• ASM_P_DE 

• ASM_L_BH 

• please inquire 

• please inquire 

Hardware 

Required Minimum system • Pentium 4 processor, 1.4 GHz or higher 1) 

• Memory ≥ 1 GB RAM 1) 

• High-performance graphics accelerator card 

(OpenGL-compliant), 32 MB RAM 2) 

Recommended system 

• Workstation with Pentium 4 processor ≥ 3.2 GHz 

• Memory 2 GB RAM 

• High-performance, dual-head graphics accelerator 

card (OpenGL-compliant), ≥ 128 MB RAM 2) 

dSPACE Simulator, equipped with 

• DS1005 or DS1006 

Software for Online Simulation 

Required Integrated development environment • MATLAB ® /Simulink ® from The MathWorks 

• Real-Time Workshop ® 

Operating system 

• www.dspace.com/goto?os_compatibility 

dSPACE implementation software 

• Real-Time Interface (RTI) 

dSPACE experiment software 

• ControlDesk 

Included dSPACE experiment software • ModelDesk 


• MotionDesk 

Optional Other simulation models from dSPACE • ASM Packages 

Software for Offline Simulation 

Required Integrated development environment • MATLAB ® /Simulink ® from The MathWorks 

Operating system 

• www.dspace.com/goto?os_compatibility 

Included dSPACE experiment software • ModelDesk 


• MotionDesk 

Optional Other simulation models from dSPACE • ASM Packages 

1) 

A standard Pentium 3 processor and 512 MB RAM are sufficient if MotionDesk is not used on the same PC. 

2) 

Graphics accelerator required for MotionDesk. A list of recommended graphics cards is available at www.dspace.de/goto?appnote 

3 

2008

Automotive Simulation Models 

ASM Vehicle 

Feature Overview 

Features at a Glance 

• Multibody system 

• 24 degrees of freedom 

• Modular, library-based implementation 

• Environment model including road, driver, 

and maneuvers 

• Brake hydraulics module 

• Easily expandable to a comprehensive 

virtual vehicle with ASM engines 

• Custom models can be integrated and 

parameterized via graphical user interface 

• Vehicle parameters tunable online during 

run time (for example, via ControlDesk or 

ModelDesk) 

• Graphical user interface for 

parameterization (p. 14) 

• Fully integrated into dSPACE tool chain 

• Comprehensive documentation including 

formulas 

Model Components 

 

 

 

 

 

 

Engine Speed 

Engine Torque 

 

 

 

 

 

 

The vehicle dynamics model 

consists of subsystems for 

a vehicle body with its 

drivetrain, a complete 

environment, and a basic 

engine. 

The model can be extended 

by adding other model 

packages from dSPACE or 

custom models. 

 

 

 

 

 

4 

2008


Engine Model 

The engine model includes a table-based engine 

and allows ECU interventions to reduce engine 

torque, for example, if requested by ASR or ESP 

systems. The engine can be switched on and 

off and hold a specific idle speed if necessary, 

for example, when declutched or thrown out 

of gear. 

Components and Characteristics 

• Table-based engine model 

• Several strategies (injection, throttle) 

for reducing and increasing torque as 

requested by the engine ECU 

• Starter to accelerate the engine to idle 

speed 

The table-based engine model can be replaced by 

a full-featured diesel or gasoline engine model. 

• Order information (p. 3) 

Engine and Drivetrain 

Engine torque is derived from the engine map. 

Drivetrain Model 

The drivetrain model has manual and automatic 

transmission, and front-, rear-, and all-wheeldrive. 

The shaft drives are modeled as elastic 

components. 


• Clutch with elasticity (torsion spring) 

• Elastic shafts included 

• Front-, rear-, and all-wheel drive including 

differentials 

• Manual and automatic transmission with 

torque converter 

• Model stabilized by semi-implicit Euler 

integration method 

• Drivetrain with 13 degrees of freedom 

(DoF) 

Overview of the drivetrain 

model configured with allwheel 

drive. Modes for rearand 

front-wheel drive are 

also available. 

5 

2008


Vehicle Dynamics 

Vehicle Multibody System Model 

The system is modeled as a nonlinear vehicle 

multibody system with geometrical or tablebased 

suspension kinematics and table-based 

compliances. It supports the simulation of vertical, 

longitudinal, and lateral dynamics. 

Geometrical Suspension Models 

The kinematic behaviors of common suspension 

types are implemented as precise analytical equations 

which are solved during each simulation 

step. User-definable geometrical linkage points 

connect the suspension with the wheel carrier 

and the chassis. 

There is no preprocessing required, so the linkage 

points can be changed during offline and 

online simulation. 

The geometrical suspension models cover the 

whole range of input data, for example, wheel 

lift or steering rod displacement. To combine the 

kinematics with compliance effects, compliance 

look-up tables can be superimposed on the kinematics 

calculated in the geometrical suspension 

models. 

The ASM Vehicle Dynamics Simulation Package supports either table-based suspensions to 

be parameterized with measured suspension data or geometrical suspensions, for example 

McPherson strut, that can be parameterized graphically via user-definable linkage points (p. 17). 


• Multibody system (MBS) consisting of car 

body and four wheels 

• 11 degrees of freedom (DoF) 

• Geometrical description of suspen sions via 

user-definable linkage points 

• Suspension types: McPherson strut (front), 

semi-trailing arm (rear), rigid axle (rear) 

• Table-based compliances for suspensions 

• Suspension with nonlinear spring and 

damper characteristics 

• Aerodynamics forces and torques included 

• Brake model 

• Additional masses (fixed on vehicle body) 

• Rack and pinion steering system with 

included power steering 

• Two tire models: Magic Formula and TMEasy 

• 1st-order lateral, longitudinal, and vertical 

tire dynamics 

• Tires with combined lateral and 

longitudinal slip 

• Data import from suspension design tools 

available on request 

Item 

DoF 

Elastic powertrain 13 

Body 6 

Steering rod 1 

Wheels 4 1) 

1) 

One independent degree of freedom (DoF) per wheel for wheel 

vertical displacement. The wheel kinematics are included via the 

MBS algorithm. 

6 

2008


Vehicle Dynamics 

Vehicle dynamics model including aerodynamic forces. 

Steering Model 

The steering model simulates a rack-and-pinion 

steering system applied to the front wheels. 


• Power steering included 

• Tire forces and torques, and driving 

torque, included 

Rack-and-pinion steering system. 

Tire Model 

The vehicle model includes two tire models based 

on the published model descriptions Magic Formula 

and TMEasy, which are both fully implemented. 


• Magic Formula and TMEasy 

• Semiphysical approach 

• 1st-order lateral, longitudinal, and vertical 

dynamics 

• Standstill condition included 

• Dynamic tire radius 

• Camber angle influence 

• Combined lateral and longitudinal slip 

• Self-aligning and bore torques 

• Up to four tire characteristics for different 

road surface conditions, switchable online 

Lateral tire dynamics. 

7 

2008


Environment 

Road Model 

Roads are built in ModelDesk’s graphical Road 

Generator. A complete track is made up of several 

road segments, which can have different 

surfaces and profiles. A road segment surface 

consists of four longitudinal strips that can have 

individual properties. 


• Graphical road builder (p. 18) 

• Road consists of road segments 

• Different road segment types: straight, 

circle, clothoid, and spline 

• Longitudinal profile with slope and lateral 

inclination 

• Four longitudinal surface strips for defining 

different friction areas or additional road 

profiles (bumps, etc.). 

A road segment consists of four strips, and 

right and left margins, and can have a lateral 

slope. 

Driver Model 

The driver model controls the vehicle. Its main 

tasks are to drive the vehicle at a desired 

velocity and follow a given road. The vehicle is 

controlled via accelerator pedal, brake pedal, 

clutch pedal, gear lever, and steering wheel. It 

features foresight steering behavior to follow 

the road ahead. 


• Longitudinal controller for accelerator 

pedal and brake pedal, comprising 

feedforward and feedback control 

• Lateral controller for steering wheel, using 

preview information for road-following 

• Gear shifter for manual transmission, 

including startup 

• Reference velocity calculation for driving 

on arbitrary roads 

Overview driver model. 

8 

2008


Maneuver Model 

Maneuvers define how a vehicle moves. Depending 

on the maneuver mode, they either provide 

stimulus signals directly to certain vehicle components 

like accelerator pedal, clutch pedal, 

brake pedal, steering wheel and gear lever, or 

give instructions to a driver model, which controls 

the vehicle. 


• Graphical maneuver editor (p. 19)) 

• Maneuver creation via time and distance 

• Stimulus maneuvers according to 

measured data 

• Initialization control for road and vehicle 

model 

• NEW: Additional interfaces for traffic 

simulation (see ASM Traffic) 

Environment 

Simulation Results 

Validation results for different vehicles show that 

the simulation matches the measured vehicle 

dynamics data. 

For validation, maneuvers driven on a test track 

were also driven in ModelDesk, using the actual 

vehicle velocity and steering angles as inputs. 

Model Validation 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Comparison of 

a sine steering 

maneuver for a 

fully loaded van 

(weight 3.5 t). 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Comparison of 

a step steering 

maneuver for a 

passenger car at 

100 km/h and a 

steering angle 

of 38°. 

9 

2008


Virtual Test Bench 

Vehicle Characteristics Simulation 

ASM - Vehicle Dynamics is ideal to investigate vehicle 

characteristics on a virtual test bench or on 

the simulated road. Self steering behavior, pitch, 

roll axis and axle kinematics can be easily derived 

from simulations and visualized in MotionDesk. 

Results of analyzing vehicle self-steering behavior: 


• Virtual test bench simulation 

• Axle kinematics and compliance 

• Self steering behavior 

• Pitch and roll axis 

4 

Self Steering Behaviour 

3.5 

¯δt [ ] (Mean Angle T oe) 

° 

3 

2.5 

2 

1.5 

SSG= 0.19· s 2 · 

° 

m 

δ A = l R · 180 ° 

π 

SSG=0 

1 

0 1 2 3 4 5 6 7 

m 

a y s 2 

[ ] 

Simulation results of vehicle 

self-steering behavior. 

10 

Yaw Amplification 

9 

8 

7 

6 

˙Ψ 

δA 

= vx 

δA · R 

= vx 

l SSG= 0 

[ s ] 

˙Ψ¯δt 

1 

5 

4 

3 

2 

1 

v ch = 19.4 

0 

0 5 10 15 20 25 30 

m v x [ s ] 

Yaw amplification results from 

self-steering analysis simulation. 

4 

3 

α 

β 

Roll and Sideslip Angle 

2 

α and β [ ] 

° 

1 

0 

−1 

−2 

Roll and sideslip angle during 

self-steering investigations. 

−3 

0 1 2 3 4 5 6 7 

m a y s 2 

[ ] 

10 

2008


Virtual Test Bench 

Visualization of the test bench during pitch and roll axis or axle kinematics investigations. 

Visualization of the roll axis in MotionDesk. 

11 

2008


Technical Aspects 

Parameters, Signals, 

and Performance 

Parameters Sets and Examples 

The model is preconfigured with default data, 

which means that all parameters and tables have 

suitable values and are fully functional. 

The model comes with standard driving maneuvers 

like lane change, µ split, fishhook, steady 

state cornering, etc. It is therefore ready to use 

immediately after installation. 

Performance 

At a sample time of 1 ms, the model’s turnaround 

time is about 10% of the total available 

processing time when executed on a dSPACE 

processor board clocked at 2.2 GHz. There is 

therefore enough headroom for I/O operations 

and other calculations. 

Parameters Tunable Online 

The parameters of the model can be tuned while 

the model is performing a real-time simulation 

on a dSPACE Simulator. A parameter (vehicle 

mass, etc.) is implemented as a single constant 

block in the model. ControlDesk provides access 

to each parameter when the model is used in 

online mode. 

ASMSignalBus 

The ASMSignalBus comprises the relevant signals 

of all model components in a hierarchical 

structure. Signals for I/O access with an interface 

board or for display with a Simulink Scope 

can be chosen conveniently via a Simulink Bus- 

Selector. 

ASMSignalBus displays all 

the relevant signals in a clear 

structure. 

The vehicle dynamics Simulink 

model with the main components 

and signals. 

12 

2008


ASM Philosophy 

Model Design Philosophy 

For optimum support of customer-specific requirements, 

dSPACE has chosen an open model 

concept. This means that models are visible to 

users right down to the level of standard Simulink 

blocks. Thus the dSPACE Automotive Simulation 

Models provide enormous flexibility for projects 

that require dedicated simulation models. The 

open model approach allows perfect adaptation 

to individual projects and requirements. This can 

be achieved by modifying models or by replacing 

or adding components. 

Virtual Vehicle 

dSPACE Automotive Simulation Models are a collection 

of well coordinated models that you can 

easily combine to build anything from extended 

models to a whole virtual vehicle. As well as 

gasoline and diesel engines, there are models for 

vehicle dynamics and brake hydraulics. Combined 

models interoperate in one simulation. 

Concept 

Transmission 

Differential 

Engine 

Drive Shaft 

Vehicls Dynamics 

Brake Hydraulics 

Different ASM models can be combined to make up a virtual car. 

13 

2008


ModelDesk 

The Graphical User 

Interface 

ModelDesk Concept 

ModelDesk is a graphical user interface for intuitive 

model parameterization and parameter set 

management. It also provides project handling 

and allows parameter sets to be downloaded to 

offline and online simulations. It supports script- 

based tool automation via its COM interface 1) . Its 

overall look and feel, basic handling, and workflows 

are identical to those of other software 

tools from dSPACE. 

Main Features 

• Graphical user interface 

• Parameter set management 

• Road Generator 

• Maneuver Editor 

• Graphical parameterization for geometrical 

suspension models 

• Tool automation – remote and batch mode 

• NEW: Custom model parameterization 

Benefits 

• Intuitive, graphically supported 

parameterization 

• Parameterization during online (Simulator) 

and offline (Simulink) simulations 

• Managing parameter sets and entire 

projects 

Visualization 

Model Visualization 

The model components and their subsystems are 

represented by a hierarchical graphical structure. 

The model components to be parameterized can 

be selected from the top level. Users have the 

vehicle model before them and can browse 

through its systems, guided by graphical representations 

of the modeled components. 

ModelDesk’s top-level dialog for selecting model subsystems for configuration and 

parameterization. 

14 

2008


Configuration Handling 

The vehicle configuration is defined on the 

configuration page. For example, the settings 

for the drivetrain include front-, rear-, and all- 

wheel drive; and transmission can be automatic 

or manual. Two different tire models are available 

as well. 

Configuration 

Configuration of vehicle components. 

The Project Navigator 

ModelDesk’s Project Navigator provides a means 

of organizing and managing large-scale model 

parameterization projects. Parameter files can 

be created and assigned to each model component 

(differential, tires, road, etc.), and complete 

vehicle parameter sets can be created and 

managed. Existing parameter files can be selected 

from a parameter pool and applied by 

drag & drop. 

Navigation 

The Project Navigator on the left is used to manage the parameterization projects. A click on the 

component buttons in the visualized drivetrain model leads to the related parameter pages. 

15 

2008



Parameter Handling 

For manual parameter entry, ModelDesk has 

parameter pages with illustrations for each 

component. Parameters are entered in controls 

beside the components. Table parameters can 

be visualized as 3-D graphs and modified using 

a table editor. 

Parameter page of the 

central differential. 

Parameters defining a 

component’s properties are 

entered next to it. 

Table Editor for 

parameterization of 

characteristic maps. 

16 

2008


Parameters for Geometrical Suspension 

Models 

Full graphical parameterization can be performed 

for the three different suspension 

types (McPherson strut, semi-trailing arm, and 

rigid axle) supported by the vehicle model. 

The suspension geometry is defined by 

linkage points. Parameters can be transferred 

from one wheel to the opposite one. 


of Geometrical 

Suspension Models 

Parameterization example for the left McPherson suspension. 

17 

2008


Roads 

Road Generator 

The Road Generator is a graphical user interface 

for defining road segments and planning whole 

roads. Road segments can be assembled and 

rearranged in a segment list. Each segment can 

have individual lateral and longitudinal profiles, 

and there are various options for configuring the 

road surfaces. Parameters are entered in graphical 

dialogs that display the road segment to be 

configured. The results of the settings are immediately 

visible in a 3-D preview window. The 

Road Generator also creates a 3-D geometry file 

(VRML) to be used for online and offline animation 

in MotionDesk. 

Key Features 

• Segment-based road definition 

• Segment assembly in segment list 

• Individual segment properties like surface 

and profile 

• Four longitudinal strips for defining 

different friction areas or additional road 

profiles (bumps, etc.) 

• 3-D road preview with three-dimensional 

navigation 

• 3-D objects (VRML2) generated for use in 

MotionDesk 

Longitudinal Road Definition 

Each road segment can have an individual longitudinal 

slope and be configured with sinusoidal 

or trapezoid bumps. Each strip of a segment can 

have its own longitudinal profile. 

Properties of a longitudinal road profile. 

18 

2008


Lateral Road Definition 

Road segments can have a certain inclination. 

Strips can have individual widths. 

Roads 

Properties of a lateral road 

profile. 

Surface Definition 

Road surface conditions like damp, wet, icy, and 

dry, plus the road friction, can be applied to the 

strips. 

Surface parameter settings. 

19 

2008


Roads 

Road Preview 

The road and its surface are visualized in a preview window. The user can navigate to individual 

road positions. 

The road preview window with interactive controls for three-dimensional navigation – 

all integrated in ModelDesk. 

20 

2008


Maneuver Editor 

The Maneuver Editor is used to define how 

and where a vehicle moves. Maneuvers can 

consist of several segments with their own individual 

properties. Segments are assembled in a 

maneuver list. A maneuver is created in a similar 

way to a road, with visualization of the road the 

maneuver relates to. Road and maneuver files 

can be linked. 

Maneuvers 

Key Features 

• Maneuver segment definition over 

distance or time 

• Maneuvers assembled from individual 

maneuver segments 

• Open- or closed-loop maneuvers 

• Standard maneuvers included (lane 

change, µ split, steady state cornering, etc.) 

• Lateral and longitudinal stimuli can be 

imported from measured data (MAT files) 

• Lateral and longitudinal stimuli can be 

received as Simulink or ControlDesk signals 

• User output signals programmable over 

time or distance 

• Optional switching from one segment 

to the next regulated by segment end 

conditions such as a specific speed 

The ASM Maneuver Editor: the Navigator with the project data on the left, the list of maneuver 

segments and tabs with maneuver settings in the middle, the imported road with segment 

information and a visual preview on the right. 

21 

2008


Maneuvers 

Longitudinal Maneuver Definition 

The Maneuver Editor offers a wealth of stimulus 

options for accelerating, driving, and braking the 

vehicle. There are simple profiles such as constant 

and ramp. Stimuli can also be defined in tables or 

come from external sources, for example, measured 

data (MAT files), Simulink signals, or defined 

manually via ControlDesk. The stimuli either 

define the desired velocity or are applied directly 

to the accelerator and brake pedal to drive the 

vehicle. The sources for accelerator pedal, brake 

pedal, clutch pedal, and gear stimuli can differ. 

Frequently used functions like ‘brake until stop’ 

and ‘open clutch’ are included. 

Longitudinal settings for stimulating 

accelerator pedal, brake pedal, clutch pedal, 

and gear. 

Lateral Maneuver Definition 

Maneuvers for steering the vehicle include lateral 

stimuli and instructions for the driver. There are 

steering wheel stimuli profiles like step, pulse, 

and sinusoidal steering. Driver instructions comprise 

options to drive on straight, circular, and 

arbitrary roads. Steering can also be controlled 

from external sources like measured data (MAT 

files) and Simulink signals, and manually via 

ControlDesk. 

Sine steering can be configured in the lateral 

maneuver properties. 

22 

2008


User Signals 

A maneuver can itself trigger output signals at 

any point or time to be used in Simulink, so 

specific milestones can be flagged to the outside 

world. Three user signals are provided. 

Maneuvers 

Three different user outputs per segment. 

Additional Segment End Condition 

To change from one segment to the next before 

the actual end is reached, additional segment 

end conditions can be used. 

If the vehicle reaches a certain speed or lateral 

acceleration or if an external Simulink signal is 

active, a segment transition is forced. 

Switching from one segment to the next 

regulated by segment end conditions such as a 

specific speed. 

23 

2008


Tool Automation 

Remote Control for ModelDesk 

To perform long-term tests or parameter studies, 

ModelDesk provides script-based tool automation 

1) . This offers users maximum flexibility to 

define custom simulation scenarios. Tool automation 

can be performed by means of scripting 

languages like Python and MATLAB M scripts. 

Functionality 

All ModelDesk’s functions for experiment management 

and model parameterization that are 

available via its GUI can now also be accessed 

via its COM (Component Object Model of Microsoft 

Windows) interface. You can load existing 

model parameterization projects and activate 

predefined experiments. All the vehicle parameters 

such as vehicle mass, suspension kinematics, 

engine torque, additional loads, and similarly 

also environment or maneuver settings like road 

friction or vehicle velocity, can be controlled from 

within scripts. 

Features 

• Script-based tool automation 

• Direct access to project and experiment 

management 

• Direct alteration of all vehicle model 

parameters 

• Direct alteration of maneuver segments 

• Direct alteration of road features 

Benefits 

• Simulation-based parameter studies 

• Automated marginal condition analyses/ 

detection 

• Long-term behavior studies 

• Sequential maneuver executions 

• Seamless integration into automation 

systems for HIL test 

ModelDesk 

Script 

Project handling 


Parameter download 

dSPACE Simulator 

(realtime simulation) 

MATLAB ® /Simulink ® 

(offline simulation) 

The script-based tool automation for ModelDesk provides functionality for parameter set 

management and for direct model parameterization. The parameters of online and offline 

simulations can be changed during a simulation run. 

24 

2008


Example: 

ABS Braking With Varying Vehicle Mass 

Tool Automation 

TestDescription = [ 

{‘TestName’ : ‘Low vehicle mass’, 

‘Maneuver’ : ‘ABSBrake’, 

‘Parameter’: { ‘Path’: ‘VEHICLE_MASS_AND_ADDITIONAL_LOADS.Const_m_Vehicle’, 

‘Value’: 1800.0 }}, 

{‘TestName’ : ‘High vehicle mass’, 

‘Maneuver’ : ‘ABSBrake’, 

‘Parameter’: { ‘Path’: ‘VEHICLE_MASS_AND_ADDITIONAL_LOADS.Const_m_Vehicle’, 

‘Value’: 2200.0 }}] 

try: 

Initialize(TestEnvironment) 

for Test in TestDescription: 

DownloadManeuver(Test[‘Maneuver’]) 

SetParameter(Test[‘Parameter’]) 

RunManeuver(TestEnvironment) 

GetResults(TestEnvironment) 

EvaluateResults() 

finally: 

CleanUp(TestEnvironment) 

Simplified extract from a Python script that shows how to define several tests and perform them in a loop. 

25 

2008


NEW: Custom Model 


Graphical Parameterization of 

Custom Models 

Graphical parameterization of model parts 

that were replaced by custom models or custom 

extensions to ASMs is now supported by 

ModelDesk. This allows you to manage all the 

parameters of a project from a single source. 

Features 

• Automatic generation of new parameter 

pages based on custom models 

• Controls provided according to parameter 

dimension (scalar, vector, table) 

• Display of original ASMs and customized 

models as one system 

Benefits 

• Centralized parameter management 

• Graphical parameterization without 

detailed modeling knowledge 

Model Preparation 

To use custom model parameterization the customer 

models have to be prepared in libraries 

according to ASM guidelines in order to parameterize 

them in ModelDesk. These rules mainly 

define how parameters are declared. Libraries 

can include multiple model components, and 

each subsystem will be treated separately during 

parameterization equipped with an individual 

parameter page. 

Custom Library Registration 

ModelDesk’s registration function lets you select 

new custom libraries to parse them and make 

their parameters available graphically. During 

registration parameter pages are created. Each 

page lists the controls of declared parameters. 

Controls can be single entry fields for scalar 

types, multiple entry fields for vectors, or complex 

tables for table-based parameters. 

Navigating Custom Parameters 

Whenever a model containing blocks 

from a registered custom library is loaded 

into a ModelDesk experiment the related 

parameter pages of these blocks 

are provided. They can be selected in the 

Navigator. Each library is represented as 

a branch in the hierarchy with links to 

the subsystem pages. The new pages 

can be used in exactly the same manner 

as the standard pages. 

Custom parameter page created by 

ModelDesk. Controls for scalar, vector 

or table parameters are automatically 

labeled with the unit and caption as 

defined in the custom library. 

26 

2008


ASM Vehicle Dynamics Simulation 

Package - Operator Version 

The Operator Version of the ASM Vehicle Dynamics 

Simulation Package is a new model variant 

specifically designed for offline simulation 

with Simulink ® . It is therefore the ideal choice 

for PC-based vehicle dynamics investigations 

during function development. The model offers 

the same functionality, simulation quality 

and parameterization options as the standard 

simulation package, whose range of applications 

runs from function design to hardware-in-theloop 

testing. 

The fundamental difference with this model is 

the way the library components are implemented: 

They are encapsulated in separate systems 

to ensure good performance during Simulink 

simulation. The systems are accessible in the 

model so that their input/output behavior can 

be studied. 

NEW: Offline Simulation 

with Operator Version 

Key Features 

• Component-based Simulink libraries 

• Encapsulated on lower levels (S-functions) 

• For offline simulation only 

• Full MATLAB®/Simulink support 

• Full ModelDesk support 

• Same functionality, level of detail and 

parameterization options as standard ASM 

package 

Use Cases 

Typical applications are closed-loop tests on controller 

functions with model-in-the-loop (MIL) 

and/or software-in-the-loop (SIL), and also vehicle 

dynamics investigations such as 

• Parameter studies 

• Maneuver handling studies 

• Parameter set variant handling 

Model structure of the ASM Operator drivetrain. 

Each component has a corresponding block in the library. 

27 

2008


MotionDesk 

3-D Online Animation Main Features 

• 3-D online animation of simulated 

mechanical systems in real time 

• Intuitive graphical scene design 

• 3-D object library with objects in VRML2 

format 

• Multitrack mode for synchronized replay of 

multiple simulations 

• Slow and fast motion 

• Tool coupling with ModelDesk 

A complete real time 

animation system for online 

and offline simulations. 

Description 

Application Area 

To observe simulated mechanical systems on 

computers, it is a great help if you can display 

them graphically. The best way of visualizing 

the actual behavior of a simulated system is animation 

– in realistic 3-D scenery. Combining a 

simulation system with real-time animation is 

the ideal way to get the whole picture. Since 

animations can be recorded and replayed, it is 

easy to compare different controller development 

strategies using overlay techniques. MotionDesk 

complements the dSPACE tool chain and visualizes 

the movement of mechanical objects in 

the 3-D world. 

Key Benefits 

MotionDesk helps you to get more out of your 

dSPACE Simulator, by visualizing your simulation 

in virtual worlds that exactly represent the simulation 

scenarios. MotionDesk reads the data from 

the dSPACE Simulator or Simulink in real time 

and displays the animation of the moving objects 

(for example, vehicle, wheels, steering wheel) online. 

You can choose the perspectives and render 

modes for graphical representation that gives 

you a clear understanding of how the simulated 

objects actually behave. The animations can be 

stored as experiment and AVI video files to document 

and illustrate your developments. 

Multitrack Mode 

For you to compare different simulations, 

MotionDesk synchronously replays multiple 

simulations that have been assigned to different 

tracks. One track acts as the reference, playing 

either online, offline, or stored simulations. Each of 

the other tracks synchronously replays data from 

previous simulation runs. The other tracks also contain 

clones of the moving objects defined for the 

reference. The object clones can be given different 

colors and render modes, e.g., textured, transparent, 

or wire frame, so that the simulations are easy 

to distinguish. Synchronized replay makes it easy to 

pick the best strategy for your control application. 

Online and Offline Animation 

MotionDesk offers two animation modes: 

• Online – connected with a dSPACE 

Simulator 

• Offline – connected with Simulink 

You can therefore start observations as early 

as the specification phase and later compare 

them with the results of hardware-in-the-loop 

simulation with the final electronic control unit. 

The sooner you are aware of certain effects and 

understand the problems, the easier it is to solve 

them. MotionDesk’s multitrack mode makes 

comparisons easy and clear. 

28 

2008


3-D Animation of Simulated Mechanical 

Systems 

• Up to 150 movable objects 

• Data acquisition from DS1005 PPC Board, 

or DS1006 Processor Board 

• Data acquisition from running Simulink 

simulations 

• Lossless, time-based data acquisition with 

time stamps 

• File-based recording and analysis of 

motion data 

• Synchronized replay of different 

simulations in multiple tracks 

• Tracks consist of cloned 3-D objects 

an observers with individual color and 

representation 

• Slow and fast motion 

• Video file generation (for example, 

AVI, MPEG4) to export MotionDesk’s 

animations to high-quality video files 

• In combination with ControlDesk: Sound 

generation for vehicle sounds like engine, 

air, wheels, skidding, via ControlDesk 

Sound Controller 

• Graphical user interface similar to 

ControlDesk and ModelDesk 

• Intuitive operation 

• Optional Multi-PC Interface Kit for 

multichannel visualization with highest 

graphical requirements 

Functionality 

at a Glance 

Four different strategies for a driving maneuver lead to four 

different simulations. The four simulations are visualized together 

in one animation using individual colors for each simulation. 

29 

2008


3-D Scene Building 

and Visualization 

3-D Authoring and Object Handling 

• Included third-party tool: Internet Scene 

Assembler from ParallelGraphics 

• Graphical interactive scene design 

• Open and extendable 3-D object library 

• Geometry objects in VRML2 standard 

• 3-D object library manager: for importing 

and coloring objects 

• Easy and intuitive mouse navigation 

through scene 

• Wide range of textured, real-time-capable 

objects for vehicle dynamics simulation, for 

example, chassis, wheels, roads 

• Library with generic objects and 

automotive objects included 

• Import of road geometries from ASM 

vehicle dynamics model 

• Tool coupling with ModelDesk for 

automatic update of modified roads 

Realistic Visualization 

• Connection of objects and model data 

streams via drag & drop 

• Structured access to all objects of the 

scene via navigator window (movable and 

static objects, observers, environment light 

and fog settings) 

• Easy assignment and adaptation of 

simulation data to moving objects 

• Free configurable observers that can follow 

movable objects with different behaviors 

• Various rendering techniques (wire frame, 

flat shading, Gouraud shading, textured) 

• Scene global and object specific accessible 

render modes 

• Improved driver camera with more realistic 

viewpoint (smooth follow behavior) 

• Scene information 

MotionDesk can display different views of the same animation. 

A comprehensive description of MotionDesk is available in a separate MotionDesk flyer. 

30 

2008

31 

2008

www.dspace.com 

© Copyright 2008 by dSPACE GmbH. All rights reserved. Written permission is required for reproduction of all or parts of 

this publication. The source must be stated in any such reproduction. dSPACE is continually improving its products and 

reserves the right to alter the specifications of the products contained within this publication at any time without notice. 

Brand names or product names are trademarks or registered trademarks of their respective companies or organizations. 

Firmensitz in Deutschland 

dSPACE GmbH 

Technologiepark 25 

33100 Paderborn 

Tel.: +49 5251 16 38-0 

Fax: +49 5251 6 65 29 

info@dspace.de 

Großbritannien 

dSPACE Ltd. 

Unit B7 . Beech House 

Melbourn Science Park 

Melbourn 

Hertfordshire . SG8 6HB 

Tel.: +44 1763 269 020 

Fax: +44 1763 269 021 

info@dspace.ltd.uk 

Japan 

dSPACE Japan K.K. 

10F Gotenyama Trust Tower 

4-7-35 Kitashinagawa 

Shinagawa-ku 

Tokyo 140-0001 

Tel.: +81 3-5798-5460 

Fax: +81 3-5798-5464 

info@dspace.jp 

Frankreich 

dSPACE SARL 

Parc Burospace 

Bâtiment 20 

Route de la Plaine de Gisy 

91573 Bièvres Cedex 

Tel.: +33 1 6935 5060 

Fax: +33 1 6935 5061 

info@dspace.fr 

USA und Kanada 

dSPACE Inc. 

50131 Pontiac Trail 

Wixom . MI 48393-2020 

Tel.: +1 248 295 4700 

Fax: +1 248 295 2950 

info@dspaceinc.com 

05/2008

ASM Vehicle Dynamics Simulation Package - Humusoft

Create successful ePaper yourself

Delete template?

Save as template?