TESIS: Member of the Vector Group
Virtual Test Driving

Evaluation License

DYNA4 Vehicle and Environment Simulation

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:

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


  • 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


  • 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    


  • 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


Project examples and applications

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

Legend: Included          Optional                  Annotation: 1) full functionality only with add-on Developer

 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      


Formula Student Driverless

KA-RaceIng's sucessful Driverless team uses simulation with DYNA4 and ROS for validation of their autonomous system.

Valet Parking

Virtual vehicle, sensors and parking garages for development of automated parking functions on the PC or HiL system.

Ford: Model-based testing of the lane keeping system

Ford uses model-based development to exclude error sources in an early development stage and reduces expensive prototype testing.

DYNA4 3.0 Compatibility

 Operating SystemsSupport
 Windows 10, 64 bit 
 Windows 7, 64 bit 
 Matlab / Simulink 1) 
 64 bit versions 
 Matlab 9.5 (R2018b) 
 Matlab 9.4 (R2018a) 
 Matlab 9.3 (R2017b) 
 Matlab 9.2 (R2017a) 
 Matlab 9.1 (R2016b) 
 Matlab 9.0 (R2016a) 
 Matlab 8.6 (R2015b) 
 Matlab 8.5 (R2015a) 
 32 bit versions 
 Matlab 8.6 (R2015b) 
 Matlab 8.5 (R2015a) 
 Real-time platforms 
 dSpace 2) DS1006 3), DS1007 3) and Scalexio 
 dSpace R2018-A 
 dSpace R2017-B 
 dSpace R2017-A 
 dSpace R2016-B 
 dSpace R2016-A 4) 
 dSpace R2015-B 4) 
 dSpace R2015-A 4) 
 National Instruments 5) 
 NI VeriStand 2018 
 NI VeriStand 2017 
 NI VeriStand 2016 
 NI VeriStand 2015 SP1 
 NI VeriStand 2015 
 Vector Informatik 
 CANoe 11.0 6) 
 CANoe 10.0 7) 
 CANoe 9.0 8) 
 ETAS Labcar-Operator 5.4.4 
 ETAS Labcar-Operator 5.4.3 
 ADTF 2.x win64_vc100 5) 
 ADTF 2.x linux64 
 Assystem (Berner & Mattner) 
 Modular HiL / Messina 
 Simulink Real-Time Desktop 
 Simulink Real-Time 
 Opal-RT RT-Lab 


1) Accelerator, Rapid Accelerator mode and RSIM target build requires Microsoft Visual C/C++ Compiler (see Installation Guide)
2) dSpace XiL API has to be installed
3) OpenDRIVE roads not supported on platform
4) Up to dSpace R2016-A not supported with DYNA4 Driver Assistance
5) Only in combination with Microsoft Visual 2010 C/C++ Compiler (see Installation Guide)
6) Vector add-on Matlab Interface V5.0.7, V5.1.3 or V6.0.4 required
7) Vector add-on Matlab Interface V4.2.4 required
8) Vector add-on Matlab Interface V3.2.3 required


Supported off-the-shelf 
Supported on demand 

More information, contacts and support

Further information


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