The simulink file contains a working planar 6 degree of freedom vehicle model for yaw stability studies. You can switch between asphalt, snow, wet asphalt and icy road conditions. The model can be compiled into RT code for dSPACE simulations. You can choose to have it run with all wheel steer. Right now the rear steer has been set to zero. Please go through ReadMe file. The inputs are individual wheel torques and front and rear road-wheel steering angle. You can give handwheel angle as input if you choose to have front wheel drive by multiplying it with a steering ratio of 1/20.
Model built using equations in:
Berntorp, K., Olofsson, B., Lundahl, K., & Nielsen, L. (2014).
Models and methodology for optimal trajectory generation in safety-critical road-vehicle manoeuvres.
Vehicle System Dynamics, 52(10), 1304–1332. https://doi.org/10.1080/00423114.2014.939094
Srivatsan Srinivasan (2021). 6 DoF Vehicle Model in Simulink (https://www.mathworks.com/matlabcentral/fileexchange/70497-6-dof-vehicle-model-in-simulink), MATLAB Central File Exchange. Retrieved .
MATLAB Release Compatibility
Platform CompatibilityWindows macOS Linux
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