TESIS: Member of the Vector Group
Virtual Test Driving

Evaluation License

DYNA4 Vehicle and Environment Simulation

DYNA4 Commercial Vehicles: Real-time Simulation of Commercial Vehicles

DYNA4 Commercial Vehicles is an open, modular simulation software for the development of vehicle dynamics and drive train control systems. You can simulate various commercial vehicles types, e.g. trucks with trailers, EuroCombis, busses and several specialty vehicles. DYNA4 Commercial Vehicles can be used throughout all development phases: from conceptual function design on the desktop computer (MIL, SIL) to operating tests in real time with hardware-in-the-loop systems (HIL).

Application examples of vehicle dynamics and drivetrain development

  • Design, testing, calibration and verification of vehicle control systems, e.g. ABS, ESP, 4WD control systems, active front steering, in SIL and HIL setups
  • Stability analysis for safety-relevant driving situations, e.g. Jack-Knifing
  • Safety tests, e.g. with road unevenness or cart ruts
  • Development and hardware-in-the-loop-test of control systems for trailer stabilization
  • Model-based rapid controller prototyping
  • Parameter studies and optimization of vehicle components, e.g. drivetrain concepts, steering system and axle suspension
  • Development and testing of mechanical components in virtual and physical test rigs
  • Virtual test drives and animation in the driving simulator

Function Overview

  • Detailed and proven models for vehicle dynamics and various commercial vehicles
  • Vehicle set-up with up to 4 steered of axles
  • Trailer variants
  • DYNA4 Commercial Vehicles contains detailed and proven models for vehicle dynamics
  • Tabled kinematic axles and MBS axles
  • Tire model TMeasy with simple parameterization, also other tire models as FTire, Pajeka etc. can be used Adaptation of the models and the framework to your needs
  • Virtual test rigs for tires and axles with process for automated parameterization
  • Driving on OpenDrive road network without conversion
  • Pre-configured examples, e.g. ISO maneuer for easy start in virtual test driving

Further applications with additional DYNA4 packages


Multiple Vehicles under Test in a Platooning Setup

Truck platooning with multi-ego vehicle simulation for development of cooperative driving functions.

Bombardier Electric City Bus: Validation with Simulation

Virtual testing of the Bombardier electric city bus Primove even to the driving limits.

Telehandler and forklifts: Simulation of the vehicle behaviour

Dynamic Simulation for special purpose vehicles: Analysis and visualization of the vehicle behaviour, energy consumption or driver assistance systems.

DYNA4 Concept

The DYNA4 modular simulation environment consists of two main parts: an open demand-oriented Model Repository and a flexible, process-oriented tool environment (DYNA4 Framework).

DYNA4 Model Repository

The DYNA4 Model Repository provides a clearly laid out user environment to administer and parameterize your own simulation models as well as the TESIS model library included

  • Assemble your virtual vehicles for test drives on the PC or HIL
  • Integrate your own simulation models seamlessly into DYNA4 and take advantage of all framework functions
  • The Model Repository is furnished with a base model library
  • You can easily add advanced DYNA4 simulation models (more information on DYNA4 Packages)

DYNA4 Framework

  • Clear management of models, data, simulation scenarios and results
  • Transparency, traceability and reproducibility of simulation projects
  • Open model structure in Matlab/Simulink
  • Seamless integration of your simulation models in the DYNA4 GUI
  • Integrated test automation and parameter variation
  • Adaptations to your workflows with configuration of views, Eclipse plugins, HTML user interfaces
  • Rapid overview and automatic comparison of simulation results for different vehicle variants
  • Standard interfaces e.g. for ROS, ASAM, ADTF etc.
  • 3D Animation of your vehicle simulations with DYNAanimation
  • Software runs platform independent on PCs and on all common real-time platforms

Function Overview

 DYNA4 Packages
 Process support      
 Model and data management      
 Teamwork functionality      
 Variant management      
 Integrated versioning      
 Plotting and reporting      
 Simple switching between MiL, SiL, HiL      
 Continuous signal tracing for all XiL-levels      
 Roller dynamometer model, 1D      
 Simplified two-track model      
 Brake force map      
 Tire model with lateral and longitudinal slip      
 Combustion engine consumption map      
 Longitudinal control, cycle driver      
 Lateral control      
 Response to road users      
 3D Visualization DYNAanimation      
 Vehicle and vehicle behavior      
 OpenDRIVE road networks      
 Generation of environment, terrain, weather      
 Extensive, extendable object catalog      
 Traffic and dynamic objects      
 Modular model architecture1)      
 Flexible Simulink model architecture      
 Code generation for PC application      
 Integration and interfaces1)      
 Integration of FMUs and S-Functions      
 Co-simulation interfaces e.g. for KULI and ROS      
 Interface to tools for test automation and DoE      
 Stand-alone operation for HiL and SiL      
 Code generation for real-time targets (HiL)       
 Run-time projects for CANoe and dSpace      
 Export as ADTF Filter or CANoe-dll      
 Vehicle dynamics      
 High-fidelity vehicle dynamics      
 3D vehicle dynamics      
 Axle kinematics via tables and compliance (KnC)      
 Multi-body models for typical axles      
 Powertrain for typical conventional propulsion      
 Virtual suspension test rig      
 Automated parametrization from test rigs      
 Tire model TMeasy      
 Tire model Pacejka      
 Interface to MF Tyre 6.2      
 Interface to FTire      
 Virtual tire test rig      

Automated parametrization from test rigs

 Brake hydraulics      
 Hydraulic components      
 Examples for dual circuit brake systems      
 Up to two trailers with four axles each      
 Semitrailer, drawbar and turntable      
 Commercial vehicles      
 Four steered and driven axles      
 Torsionally elastic chassis      
 Separately modelled cabin      
 Engine and powertrain      
 Modular powertrain      
 Any topology (4x2, 8x8, HEV, EV etc.)      
 Mechanical components with losses      
 Driving cycles like NEDC, WLTP, FTP       
 Examples for typical topologies      
 Electrical system      
 Configurable electrical system      
 E-engines, inverter and battery      
 Electrical systems for 48V and high voltage, for HEV and EV      
 Engine dynamics based on mean-value      
 Cylinder specific with torque ripple      
 External and self-ignition      
 Automated parametrization from test rigs      
 Additional components engine      
 Mass and energy flow      
 Turbo charging      
 Fuel system      
 Exhaust aftertreatment      
 Dual-circuit cooling system      
 Thermodynamic engine model      
 Combustion process with control in real-time      
 In-cylinder pressure and temperature      
 Charge exchange calculation      
 State calculation in exhaust gas system      
 Driving dynamics tracks      
 2D proving ground      
 3D road along S-coordinate e.g. from GPX data      
 OpenDRIVE road network      
 3D road networks (OpenDRIVE)      
 3D surface profiles (OpenCRG)      
 Vehicles, pedestrians, bikes, animals      
 Deterministic scenarios      
 Integration of stochastic traffic simulation      
 Environment sensors      
 Idealized object detection      
 Camera, GPU-based      
 Lidar, GPU-based      
 Radar, GPU-based      
 Ultrasonic, GPU-based      
 Object segmentation, GPU-basiert      
 Trajectory calculation      
 Configurable racing line      
 Configurable speed      

Customer References

AL-KO: Automated testing of trailer stabilization

Far-reaching improvements to AL-KO trailer stabilization with simulation-based investigations of trailer variants.

Bombardier electric city bus: validation through simulation

Simulation-based testing of the interaction between the vehicle dynamics and the electric propulsion system in extreme conditions.

Iveco: Simulation of multi-axle trucks for diverse ESP tests

Iveco: DYNA4 simulation models for multi-axle trucks in use for automated ESC testing.

More Information and Contact

Further information