TESIS: Member of the Vector Group
Virtual Test Driving

DYNA4 Vehicle and Environment for Virtual Test Driving

Open Simulation Environment for Virtual Test Driving of Cars and Commercial Vehicles

DYNA4 vehicle and environment simulation runs many times faster than real-time on the PC or can be run on Hardware-in-the-Loop systems (HiL). The simulation models for vehicle dynamics, powertrain, combustion engines and traffic are used for function development and ECU tests in virtual driving tests.
DYNA4 is driven by industry standards and connects to your tool chain via flexible interfaces. The Simulink-based modeling with DYNA4 guarantees the re-use of your components or Funcitonal Mockup Units (FMUs) and thus allows efficient Rapid Prototyping. The 3D animated world with road infrastructure and traffic provides a realistic environment for virtual testing of your ADAS sensors, as cameras, lidar, radar and ultrasonic.

Screenshots simulation in DYNA4

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      

DYNA4 Applications

Automotive simulation with DYNA4 comprises a wide range of applications, depending on the integrated models. Typical examples are:

Applications throughout the development process

  • Model-based design, function development
  • Testing and pre-calibration in SIL and HIL environments
  • Fail-safe and functional tests, including evaluation of vehicle response and drivability
  • Components-in-the-loop in physical or virtual component test rigs, e.g. for engines, suspension, steering, tires and dampers
  • Fast parameter studies and optimization of vehicle components, e.g. drive train concepts, steering system and axle suspension
  • Fundamental analyses and variant studies of single or interconnected vehicle controllers or components

✔ Covered by every DYNA4 simulation solution

Vehicle dynamics and drive train development

  • Standard test maneuvers using a virtual prototype
  • Optimization of vehicle dynamics performance
  • Active safety systems such as global chassis control, ESP/ESC or trailer stabilization
  • Steering systems: design and testing of electric power steering and active steering systems
  • Ride comfort: air suspension, active damper control
  • Drive systems such as active stability control, modern 4WD configurations or active torque differentials
  • Roll over protection, roll control, sky hook control, load leveling
  • Driving simulators

✔ Suitable simulation package: DYNA4 Car Professional

Driver assistance systems

  • Radar, ultrasonic and camera-based systems
  • Integrated safety systems, e.g. adaptive cruise control, lane change assistant and collision warning
  • Testing of camera systems in the lab using 3D graphics and virtual environment, e.g. lane departure warning and traffic sign recognition
  • Testing of other assistance systems, such as blind spot detection, pedestrian protection, parking assistant, adaptive headlights, bend lighting

✔ Suitable simulation package: DYNA4 Driver Assistance

Advanced powertrain development and energy management

  • Fuel efficiency simulation for hybrid (HEV), electric (EV) or traditional vehicles
  • Analysis and optimization of operation strategies for fuel efficiency and driving performance
  • Function development, e.g. for hybrid drive torque coordination, engine start/stop or regenerative braking
  • Navigation data-based, predictive functions, e.g. for battery SOC management
  • Energy and thermal management, e.g. for electric system voltage stability, battery or inverter temperature control

✔ Suitable simulation package: DYNA4 Advanced Powertrain

Engine design and control

  • Evaluation of conceptual design for gasoline, diesel and alternative fuels
  • Function development and calibration of controllers, e.g. for supercharging, variable valve actuation, EGR or HCCI
  • HIL tests, e.g. for engine controllers with cylinder pressure sensing or controllers for exhaust gas aftertreatment
  • Car engines, high rev motorsport, heavy-duty or marine engines

✔ Suitable simulation package: DYNA4 Engine

Commercial Vehicles

  • Stability investigations in critical driving situations, e.g. roll-over protection, skidding prevention
  • Safety analyses of commercial vehicles subject to road disturbances, e.g. lane grooves and patches of different road surfaces
  • Pre-calibration of control devices on the hardware-in-the-loop simulator
  • Development and hardware-in-the-loop testing of vehicle dynamics controllers for truck and trailer stabilization
  • Integration tests in laboratory vehicles
  • Homologation of ECUs for commercial vehicles

✔ Suitable simulation package: DYNA4 Commercial Vehicles

Advantages of DYNA4 Vehicle Simulation

  • Frontloading: First tests of ECU functions Steuergerätefunktionen before real prototypes are available
  • Safe tests with people, animals and vehicles during critical driving manoeuvres, e. g. emergency braking or evasive action
  • Thousands of automated driving tests in the shortest possible time due to parameter variations
  • Weather independence: Virtual tests in rain, snow, fog, wind etc.
  • Direkt comparsion of different configurations, design variants etc.
  • Optimization of complex systems, e.g. for operation strategies
  • Traceability of all tests through systematic administration and versioning models, data and results

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

Customer references

Formula Student Driverless

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

AL-KO: Automated testing of trailer stabilization

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

TU Munich: System Simulation in DYNA4 based on ADAMS Data

Simulation based development of the Visio.M battery electric vehicle with automated usage of Adams axle data.


ADAS Development with DYNA4 and ROS

Closed-loop vehicle, sensor and environment simulation for ADAS & AD function development in ROS.


Integration of DYNA4 with SUMO traffic simulation to perform vehicle testing in complex surrounding traffic.

Sensor simulation

Physical modeling of ultrasonic, lidar, camera and radar sensors in the the DYNA4 vehicle and environment simulation.

OpenDRIVE road network

Driving on OpenDRIVE roads without conversion. Development of ADAS & AD functions and test of vehicle dynamics.

3D world for simulation based function development

Test your ADAS and AD functions integrated seamlessly in the DYNA4 environment for virtual test driving. From MiL, SiL up to HiL systems.

FMU Import: Use of Modelica-based models in DYNA4

FMUs are seamlessly integrated into DYNA4. Thus you can use parameterization and automation functionality of the DYNA4 framework.

Virtual Tire Test Rig for vehicle simulation

Using the virtual Tire Test Rig you automate your tire generation for vehicle dynamics and entire vehicle simulations in DYNA4.

Suspension Toolbox for validated axles

Automated suspension generation from K&C measurement data or MBS simulations.

FTire tire model in DYNA4

The detailed FTire model can be used fully integrated in the DYNA4 vehicle simulation environment including 3D animation.

Smart HiL-System with Vector CANoe

TESIS and Vector Informatik present a smart, scalable, and efficient Hardware-in-the-Loop test system.

Easy-to-use tire model for vehicle dynamics test drives

TMeasy is a very easy-to-use tire model for vehicle dynamics investigations, realistic parking torques and low speed behavior.

Collaborative engineering with DYNA4

Version control with Subversion enables role-based and rights-based collaboration in the simulation environment DYNA4.

dSpace Scalexio HiL system with DYNA4

ECU testing with open, modular vehicle and environment simulation software on a flexible configurable hardware.

Custom User Interface in DYNA4

You can guide the user via customized HTML interfaces for your simulation tasks in DYNA4.

Analysis of energy and thermal management in the vehicle

The coupling of the DYNA4 virtual complete vehicle with KULI will enable an integrated analysis of the energy and thermal management in the vehicle to be performed.


DYNA4 Animation Examples

Virtual vehicle, city traffic and Velodyne Lidar sensor in DYNA4 for development of ADAS and AD functions.

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

DYNA4 and ROS in function development for autonomous driving. Example with lidar and camera signals in a parking garage.

Image injection of ultra wide angle cameras for the development of surround view algorithms.

Unity's Windridge environment for virtual test drives with DYNA4 and stochastic SUMO traffic.

Virtual test driving on OpenDRIVE motorway with SUMO traffic at different light and weather conditions.

KA-RaceIng: Development of the driverless vehicle with the vehicle and environment simulation DYNA4 and ROS.

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.

Development of car2x functions in a virtual environment, incl. vehicle, environment, sensors.

Development of automated parking functions in a virtual environment, incl. vehicle, parking garage, sensors.

The TMeasy tire model for vehicle dynamics investigations offers now variable tire pressure.

Test your ADAS and AD functions in the virtual world, e.g. with city traffic and pedestrians.

Scene with child and ball for virtual test of AEB systems (autonomous emergency brake) with pre-defined maneuvers.

Virtual NCAP testing of the AEB system with pre-defined maneuvers. Moving, standing and braking vehicle.

Automated generation of validated tires for vehicle dynamics testing.

Automated axle generation for vehicle dynamics testing in DYNA4.

Vehicle dynamics simulation for cars, trucks and race cars. Driving on banked corner with detailed vehicle dynamics.

Virtual suspension test rig for automated generation of validated axles.

Different load configurations for virtual test drives in DYNA4.

Virtual test driving on a bumpy road with DYNA4 Car Professional vehicle simulation and the detailed tire model FTire.

Virtual test driving on the OpenDRIVE road network with integrated CRG profiles.

Use gpx or other measurement data for your virtual test drives in DYNA4. Automated visualization as 3D animation.

Virtual winter testing on a mountain road, uphill drive test with different drivetrains.

Seamless integration of the detailed FTire model in the real-time simulation environment DYNA4.

NCAP test of automated emergency brake (AEB) with pre-defined maeuvers, incl. pedestrians, children and adults.

Simulation based ESC homologation, Sine-With-Dwell test maneuver with reporting and 3D animation.

Visio.M battery electric vehicle: Smooth workflow for usage of validated Adams axle data in DYNA4.

TMeasy is a very easy-to-use real-time and highly accurate tire model for vehicle dynamics investigations.

Vehicle stability investigations and with one or two trailers.

DYNA4 3.1 hardware & software compatibility

 Operating SystemsSupport
 Windows, 64 bit versions 
 Windows 10 
 Windows 7 
 Matlab / Simulink 1) 
 Matlab / Simulink, 64 bit versions 
 Matlab 9.6 (R2019a) 
 Matlab 9.5 (R2018b) 
 Matlab 9.4 (R2018a) 
 Matlab 9.3 (R2017b) 
 Matlab 9.2 (R2017a) 
 Matlab 9.1 (R2016b) 
 Real-time platforms 
 dSpace 2) DS1006 3), DS1007 3) and Scalexio 
 dSpace R2018-B 
 dSpace R2018-A 
 dSpace R2017-B 
 dSpace R2017-A 
 dSpace R2016-B 
 Vector Informatik 
 CANoe 12.0 4) 
 CANoe 11.0 5) 
 CANoe 10.0 6) 
 National Instruments 7) 
 NI VeriStand 2018 
 ADTF 2.x win64_vc100 7) 
 ADTF 2.x linux64 
 ETAS Labcar-Operator 5.4.4 
 ETAS Labcar-Operator 5.4.3 
 expleo (formerly Assystem) 
 Modular HiL / Messina 
 MathWorks / Speedgoat 
 Simulink Real-Time 
 Opal-RT RT-Lab 


Expand the table with + for more details.

1) Accelerator, Rapid Accelerator mode and RSIM target build require a supported Microsoft Visual C/C++ Compiler (VS2010, Windows SDK v7.1, VS2015, VS2017) details in the Installation Guide
2) dSpace XiL API has to be installed
3) OpenDRIVE roads not supported on platform
4) Vector add-on Matlab Interface V6.1.2 required
5) Vector add-on Matlab Interface V5.0.7, V5.1.3 or V6.0.4 required
6) Vector add-on Matlab Interface V4.2.4 required
7) Only in combination with Microsoft Visual 2010 C/C++ Compiler (e.g. by installing the free Windows SDK v7.1, details in the Installation Guide


Supported off-the-shelf 
Supported on demand 

More information, contacts and support

Further information


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