Reference Generator for Motorcycle (Virtual Vehicle Models)

Generate maneuver reference signals

Since R2026a

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    Description

    The Reference Generator for Motorcycles block sets the parameters that configure the maneuver and 3D simulation environment. By default, the block implements the Drive Cycle block with the 3D simulation engine environment disabled.

    Model

    Maneuver Setting

    Implementation

    Drive Cycle

    Implements the Drive Cycle Source block to generate signals.

    Manual Maneuver Design

    Implements manual maneuvers that you can specify with parameters.

    3D Engine

    The 3D engine implements the 3D simulation environment. Vehicle Dynamics Blockset™ integrates the 3D simulation environment with Simulink® so that you can query the world around the motorcycle for virtually testing perception, control, and planning algorithms. For 3D engine requirements, see Unreal Engine Simulation Environment Requirements and Limitations. To enable the 3D engine, on the 3D Engine tab, select Enabled.

    Ports

    Input

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    Bus containing motorcycle feedback signals, including velocity, acceleration, and steering wheel torque.

    Output

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    Bus containing the visualization reference signals, including longitudinal and lateral displacement, and steering.

    Bus containing the motorcycle reference signals, including longitudinal and lateral displacement, and steering.

    Bus containing motorcycle location feedback signals, including position.

    Parameters

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    Model

    Configuration

    Specify the scene type.

    Maneuver start time, in s.

    Target velocity.

    Units for target velocity.

    Drive Cycle

    • FTP75 — Load the FTP75 drive cycle from a .mat file into a 1-D Lookup Table block. The FTP75 represents a city drive cycle that you can use to determine tailpipe emissions and fuel economy of passenger cars.

      To install additional drive cycles from a support package, see Install Drive Cycle and Maneuver Data.

    • Wide Open Throttle (WOT) — Use WOT parameters to specify a drive cycle for performance testing.

    • Workspace variable — Specify time, speed, and, optionally, gear data as a structure, 2-D array, or time series object.

    • .mat, .xls, .xlsx or .txt file — Specify a file that contains time, speed and, optionally, gear data in column format.

    Once you have installed additional cycles, you can use set_param to set the drive cycle. For example, to use drive cycle US06:

    set_param([gcs '/Drive Cycle Source'],'cycleVar','US06')

    A workspace variable containing a monotonically increasing time vector, a velocity vector, and, optionally, a gear data vector. You can use a structure, 2-D array, or time series object. Enter units for velocity in the Source velocity units parameter field.

    A valid point must exist for each corresponding time value. You cannot specify inf, empty, or NaN.

    Dependencies

    To enable this parameter, select Workspace variable from Drive cycle source.

    File containing monotonically increasing time data, velocity data, and, optionally, gear data in column or comma-separated format. The block ignores units in the file. Enter units for source velocity in the Source velocity units parameter field.

    You can import standard drive cycle file from an external source. For example, you can import the Worldwide Harmonized Motorcycle Emissions Certification and Test Procedure (WMTC) cycle by following the instructions on WTMC. Specifically:

    1. Download the gearshift sheets and instructions.

    2. Follow the instructions to calculate the gear shift data based on your inputs.

    3. The velocity units are km/hr. Convert the velocity to m/s using the conversion factor 1000/3600.

    4. Copy and save the data into a new .xls or .xlsx file for use as a source file.

    Dependencies

    To enable this parameter, select .mat, .xls, .xlsx or .txt file from Drive cycle source.

    Drive cycle start time, in s. For example, this plot shows a drive cycle with a start time of 10 s.

    Initial reference speed, in units that you specify with the Source velocity units parameter. For example, this plot shows a drive cycle with an initial reference speed of 4 m/s.

    Dependencies

    To enable this parameter, select the Drive cycle source parameter Wide Open Throttle (WOT).

    Nominal reference speed, in units that you specify with the Source velocity units parameter. This is the maximum speed in the cycle. For example, this plot shows a drive cycle with a nominal reference speed of 28 m/s.

    Input velocity units.

    Time to start vehicle deceleration, in s. For example, this plot shows a drive cycle with vehicle deceleration starting at 25 s.

    Manual Maneuver Design

    • Time-based activation — Start maneuver at specified time

    • Longitudinal-based activation — Start maneuver at specified longitudinal position

    Time breakpoints, in s.

    Longitudinal position breakpoints, in m.

    Steering torque, in N·m.

    Time, in s.

    3D Engine

    3D Engine

    Enable 3D visualization.

    Specify the name of the 3D scene.

    Graphics frame rate, in s. The graphics frame rate is the inverse of the sample time.

    Use vehicle positions that are recommended for the scene.

    Specify to set your own initial vehicle position values.

    Initial vehicle CG position along the earth-fixed X-axis, in m.

    Initial vehicle CG position along the earth-fixed Y-axis, in m.

    Initial vehicle CG position along the earth-fixed Z-axis, in m.

    Rotation of the vehicle-fixed frame about the earth-fixed X-axis (roll), in rad.

    Rotation of the vehicle-fixed frame about the earth-fixed Y-axis (pitch), in rad.

    Rotation of the vehicle-fixed frame about the earth-fixed Z-axis (yaw), in rad.

    Version History

    Introduced in R2026a

    See Also

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