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Susanne Beckert
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DYNA4 Vehicle and Environment Simulation

Virtual test drive on OpenDRIVE motorway with SUMO traffic — Virtual test drive in DYNA4 vehicle and environment simulation on OpenDRIVE motorway with stochastic SUMO traffic

Simulation for Driver Assistance Systems and Autonomous Driving

DYNA4 vehicle and environment simulation is open, modular and flexible. DYNA4 Driver Assistance provides all necessary components for virtual test drives for assisted and automated driving:

Sensor simulation

Car2X szenarios

Euro NCAP testing

Test drives by day and night

Vehicle under test

Import and integration of your own functions as FMUs, C-Code or directly in Simulink
Detailed vehicle dynamics model for realistic sensor movement
Direct actuation of pedals and steering or definition of driving tasks

Traffic

Exact test definition through deterministic tasks for road users
Interfacing to traffic simulator SUMO for highly complex traffic scenarios
Road users including vehicles, bicycles, motorcycles, pedestrians, animals

Road

Support of OpenDRIVE road description format without conversion
Definition of road geometry and logics including surroundings such as traffic signs, signals, road marks, guard rails etc.
Integration of OpenCRG for detailed surface profiles

Environment and visualization

Detailed Unity-based 3D animation
Large object catalog with buildings, road users, vegetation etc.
Adjustable lighting and weather conditions

Sensors

Use-case dependent sensor model fidelity with object lists or physics-based sensors
Physics-based sensor models for camera, radar, lidar, ultrasonic
Sensor signal reception in different development environments such as Simulink or ROS

Flexible interfaces and operation

Use DYNA4’s integrated data management and test automation or use flexible interfaces to integrate DYNA4 into your toolchain
From MiL to HiL (all major platforms supported) as well as Vehicle-in-the-Loop
Upscaled use of DYNA4 in the cloud thanks to various interfaces and headless runtime models for ROS, CANoe, ADTF

Applications

Project examples and applications

Camera-based systems, e.g. lane detection, traffic sign recognition
Project example camera HiL
Sensor-based systems, e.g. adaptive cruise control, traffic jam assistant, blind spot monitoring, lane change assistant or parking assistant
Project example valet parking
Systems based on external data, e.g. Car2X communication, navigation data for electronic horizon, predictive energy management
Project example Car2X
Pre-crash systems, e.g. collision warning (FCW), emergency braking assistant (AEB)
Pre-configured virtual tests according to Euro NCAP

Applications in the development process

Development of ADAS and AD functions with thousands kilometers of virtual test driving
Real-time simulation for testing and verification of ECU software in software-in-the-loop setups
Fast and cost-effective testing of functional ECU prototypes and sensors in HIL environments
Pre-calibration of control devices by means of HIL simulation
Integrated testing of networked active and passive safety systems
Virtual test drives and animation in the driving simulator

Function overview

	DYNA4 Packages
	Car Professional	Driver Assistance	Commercial Vehicles	Advanced Powertrain	Engine	Framework
Basis
Process support
Model and data management
Teamwork functionality
Variant management
Automation
Integrated versioning
Plotting and reporting
Simple switching between MiL, SiL, HiL
Continuous signal tracing for all XiL-levels
Vehicle
Roller dynamometer model, 1D
Simplified two-track model
Brake force map
Tire model with lateral and longitudinal slip
Combustion engine consumption map
Driver
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
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
Trailer
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
Environment
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)
Traffic
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