Virtual Test Driving

Evaluation License

DYNA4 Vehicle and Environment Simulation

Simulation Environment for Driver Assistance Systems and Autonomous Driving

DYNA4 Driver Assistance is a simulation environment for the development of advanced driver assistance systems (ADAS) and autonomous driving with virtual test drives.  Model interfaces allow flexible test setups with software or hardware implementations of environment sensors and ADAS functions. DYNA4 Driver Assistance can be used throughout all development phases: from model-based controller design on the desktop computer to real-time tests with software-in-the-loop (SIL) or hardware-in-the-loop (HIL) systems.

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


Virtual test drives by day and by night, driving into a tunnel with changing light conditions.

Physics based sensor simulation: Lidar, ultrasonic and camera sensors for the development of ADAS/AD functions

Test of AEB and FCW functions according to Euro NCAP 2018, incl. scenarios at night and with bicycles.

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 Driver Assistance Model Repository

  • A flexibly configurable traffic environment
  • Maneuver automation
  • Driving on OpenDRIVE road network without conversion
  • Sensors (ideal and physical, GPU-based)
  • 3D real-time animation DYNAanimation
  • Preconfigured examples, e.g. NCAP maneuers to start easily
  • Vehicle dynamics with detailed longitudinal and lateral dynamics on demand

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

Formula Student Driverless

KA-RaceIng's sucessful Driverless team uses simulation with DYNA4 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 and Contact

Further information