Simulation 3D Motorcycle

Implement motorcycle in 3D environment

Since R2021b

• 

Libraries:
Vehicle Dynamics Blockset / Vehicle Scenarios / Sim3D / Sim3D Vehicle / Components

Description

Note

Simulating models with the Simulation 3D Motorcycle block requires Simulink^® 3D Animation™.

The Simulation 3D Motorcycle block implements a motorcycle with two wheels in the 3D simulation environment.

To use this block, ensure that the Simulation 3D Scene Configuration block is in your model. If you set the Sample time parameter of this block to -1, the block uses the sample time specified in the Simulation 3D Scene Configuration block.

The block input uses the vehicle Z-down right-handed (RH) Cartesian coordinate system defined in SAE J670¹. The coordinate system is inertial and initially aligned with the vehicle geometric center:

• X-axis — Along vehicle longitudinal axis, points forward

• Y-axis — Along vehicle lateral axis, points to the right

• Z-axis — Points downward

Tip

Verify that the Simulation 3D Motorcycle block executes before the Simulation 3D Scene Configuration block. That way, Simulation 3D Motorcycle prepares the signal data before the Unreal Engine^® 3D visualization environment receives it. To check the block execution order, right-click the blocks and then click the Properties button . On the General tab, confirm these Priority settings:

• Simulation 3D Scene Configuration — 0

• Simulation 3D Motorcycle — -1

For more information about execution order, see Control and Display Execution Order.

Examples

Longitudinal Motorcycle Braking Test Reference Application

Simulate an in-plane motorcycle model undergoing a braking test. Use for motorcycle dynamics ride and handling analysis and chassis controls development.

• Open Script

Ports

Input

Translation — Motorcycle translation

4-by-3 array

Motorcycle and component translation, in m. Array dimensions are 4-by-3.

• Translation(1,1), Translation(1,2), and Translation(1,3) — Motorcycle translation along the inertial vehicle Z-down X-, Y-, and Z- axes, respectively.

• Translation(...,1), Translation(...,2), and Translation(...,3) — Motorcycle component translation relative to vehicle, along the vehicle Z-down X-, Y-, and Z- axes, respectively.

The signal contains translation information according to the locations.

$$Translation=\left[\begin{array}{ccc}{X}_v& Y_v& Z_v\\ X_H& Y_H& Z_H\\ X_F& Y_F& Z_F\\ X_R& Y_R& Z_R\end{array}\right]$$

Translation	Array Element	Translation Axis
Motorcycle, Xv	Translation(1,1)	Inertial vehicle Z-down X-axis
Motorcycle, Yv	Translation(1,2)	Inertial vehicle Z-down Y-axis
Motorcycle, Zv	Translation(1,3)	Inertial vehicle Z-down Z-axis
Handlebars, XH	Translation(2,1)	Vehicle Z-down X-axis
Handlebars, YH	Translation(2,2)	Vehicle Z-down Y-axis
Handlebars, ZH	Translation(2,3)	Vehicle Z-down Z-axis
Front wheel, XF	Translation(3,1)	Vehicle Z-down X-axis
Front wheel, YF	Translation(3,2)	Vehicle Z-down Y-axis
Front wheel, ZF	Translation(3,3)	Vehicle Z-down Z-axis
Rear wheel, XR	Translation(4,1)	Vehicle Z-down X-axis
Rear wheel, YR	Translation(4,2)	Vehicle Z-down Y-axis
Rear wheel, ZR	Translation(4,3)	Vehicle Z-down Z-axis

Rotation — Motorcycle rotation

4-by-3 array

Vehicle and component rotation, in rad. Array dimensions are 4-by-3.

• Rotation(1,1), Rotation(1,2), and Rotation(1,3) — Motorcycle rotation about the inertial vehicle Z-down X-, Y-, and Z- axes, respectively.

• Rotation(...,1), Rotation(...,2), and Rotation(...,3) — Motorcycle component rotation relative to vehicle, about the vehicle Z-down X-, Y-, and Z- axes, respectively.

The signal contains rotation information according to the locations.

$$Rotation=\left[\begin{array}{ccc}Rol{l}_v& Pitc{h}_v& Ya{w}_v\\ Rol{l}_H& Pitc{h}_H& Ya{w}_H\\ Rol{l}_F& Pitc{h}_F& Ya{w}_F\\ Rol{l}_R& Pitc{h}_R& Ya{w}_R\end{array}\right]$$

Rotation	Array Element	Rotation Axis
Vehicle, Rollv	Rotation(1,1)	Inertial vehicle Z-down X-axis
Vehicle, Pitchv	Rotation(1,2)	Inertial vehicle Z-down Y-axis
Vehicle, Yawv	Rotation(1,3)	Inertial vehicle Z-down Z-axis
Handlebar, RollH	Rotation(2,1)	Vehicle Z-down X-axis
Handlebar, PitchH	Rotation(2,2)	Vehicle Z-down Y-axis
Handlebar, YawH	Rotation(2,3)	Vehicle Z-down Z-axis
Front wheel, RollF	Rotation(3,1)	Vehicle Z-down X-axis
Front wheel, PitchF	Rotation(3,2)	Vehicle Z-down Y-axis
Front wheel, YawF	Rotation(3,3)	Vehicle Z-down Z-axis
Rear wheel, RollR	Rotation(4,1)	Vehicle Z-down X-axis
Rear wheel, PitchR	Rotation(4,2)	Vehicle Z-down Y-axis
Rear wheel, YawR	Rotation(4,3)	Vehicle Z-down Z-axis

Light controls — Vehicle lights on or off

1-by-5 vector

Light controls input signal, specified as a 1-by-5 Boolean vector. Each element of the vector turns a specific vehicle light on or off, as indicated in this table. A value of 1 turns the light on; a value of 0 turns the light off.

Vector Element	Vehicle Light
(1,1)	Headlight high beam
(1,2)	Headlight low beam
(1,3)	Brake
(1,4)	Left signal
(1,5)	Right signal

Dependencies

To create this port, on the Light Controls tab, select Enable light controls.

Data Types: Boolean

Parameters

Vehicle Parameters

Type — Type

Sports bike (default) | Motor bike | Scooter

Use the Type parameter to specify the motorcycle type. This table provides links to the motorcycle dimensions.

Setting	Vehicle Dimensions
Sports bike	Sports Bike
Motor bike	Motor Bike
Scooter	Scooter

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Mesh
Values:	Sports bike (default) | Motor bike | Scooter
Data Types:	character vector

Color — Color of vehicle

Red (default) | Orange | Yellow | Green | Blue | Black | White | Silver | Dazzle Camouflage

Select the color of the vehicle.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	MotorcycleColor
Values:	Red (default) | Orange | Yellow | Green | Blue | Black | White | Silver | Dazzle Camouflage
Data Types:	character vector

Name — Name of motorcycle

SimulinkVehicle1 (default) | character vector

Name of motorcycle. By default, when you use the block in your model, the block sets the Name parameter to SimulinkVehicleX. The value of X depends on the number of 3D simulation blocks that you have in your model.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	ActorName
Values:	SimulinkVehicle1 (default) | character vector
Data Types:	character vector

Sample time — Sample time

-1 (default) | scalar

Sample time, T_s. The graphics frame rate is the inverse of the sample time.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SampleTime
Values:	-1 (default) | scalar
Data Types:	double

Light Controls

Enable light controls, MotorcycleLightsControl — Control vehicle lights

off (default) | on

Select whether to control the vehicle headlights. Use the enabled parameters to set the light parameters, including headlight intensity.

Dependencies

Selecting this parameter:

• Creates the input port Light controls

• Enables these light parameters.

  Lights	Light Parameters
  Headlights	Headlight color High beam intensity Low beam intensity High beam cone half angle Low beam cone half angle Left headlight beam orientation Right headlight beam orientation
  Brake lights	Brake light intensity
  Turn signal lights	Turn signal light intensity Period Pulse width

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	MotorcycleLightsControl
Values:	Off (default) | On
Data Types:	character vector

Headlights

Headlight color [R,G,B], HeadlightColor — Headlight color

[1,1,1] (default) | 1-by-3 vector of RGB triplet values

Headlight color, specified as a normalized 1-by-3 vector of RGB triplet values.

Dependencies

To enable this parameter, select Enable light controls.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	HeadlightColor
Values:	[1,1,1] (default) | vector
Data Types:	double

High beam intensity, HighBeamIntensity — High beam intensity

100000 (default) | positive scalar

High beam intensity, in cd.

Dependencies

To enable this parameter, select Enable light controls.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	HighBeamIntensity
Values:	100000 (default) | scalar
Data Types:	double

Low beam intensity, LowBeamIntensity — Low beam intensity

60000 (default) | positive scalar

Low beam intensity, in cd.

Dependencies

To enable this parameter, select Enable light controls.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	LowBeamIntensity
Values:	60000 (default) | scalar
Data Types:	double

High beam cone half angle, HighBeamConeAngle — High beam cone half angle

1.22 (default) | positive scalar less than pi/2

High beam cone half angle, in rad.

Dependencies

To enable this parameter, select Enable light controls.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	HighBeamConeAngle
Values:	1.22 (default) | scalar
Data Types:	double

Low beam cone half angle, LowBeamConeAngle — Low beam cone half angle

1.22 (default) | positive scalar less than pi/2

Low beam cone half angle, in rad.

Dependencies

To enable this parameter, select Enable light controls.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	LowBeamConeAngle
Values:	1.22 (default) | scalar
Data Types:	double

Headlight beam orientation [Pitch, Yaw], HeadlightOrientation — Headlight beam orientation

[0,0] (default) | 1-by-2 vector greater with values between -pi and pi

Pitch and yaw orientation of the headlight beam orientation in the Z-down coordinate system, specified as a 1-by-2 vector, in rad. The first element of the vector, [1,1], is the pitch angle. The second element of the vector, [1,2] is the yaw angle.

Dependencies

To enable this parameter, select Enable light controls.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	HeadlightOrientation
Values:	[0,0] (default) | vector
Data Types:	double

Brake Lights

Brake light intensity, BrakelightIntensity — Intensity

500 (default) | positive scalar

Brake light intensity, in cd/m^2.

Dependencies

To enable this parameter, select Enable light controls.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	BrakelightIntensity
Values:	500 (default) | scalar
Data Types:	double

Turn Signal Lights

Turn signal light intensity, SignallightIntensity — Intensity

500 (default) | positive scalar

Turn signal light intensity, in cd/m^2.

Dependencies

To enable this parameter, select Enable light controls.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SignallightIntensity
Values:	500 (default) | scalar
Data Types:	double

Period, SignallightPeriod — Turn signal light period

1 (default) | positive scalar

Turn signal light period, in s.

Dependencies

To enable this parameter, select Enable light controls.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SignallightPeriod
Values:	1 (default) | scalar
Data Types:	double

Pulse width, SignalPulseWidth — Pulse width

50 (default) | positive scalar less than 100

Turn signal light pulse width, as a percent of the period.

Dependencies

To enable this parameter, select Enable light controls.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SignalPulseWidth
Values:	50 (default) | scalar
Data Types:	double

Initial Values

Initial array values to translate vehicle per part, Translation — Motorcycle initial translation

zeros( 4, 3 ) (default) | 4-by-3 array

Initial motorcycle and component translation, in m. Array dimensions are 5-by-3.

• Translation(1,1), Translation(1,2), and Translation(1,3) — Initial vehicle translation along the inertial vehicle Z-down coordinate system X-, Y-, and Z- axes, respectively.

• Translation(...,1), Translation(...,2), and Translation(...,3) — Initial motorcycle component translation relative to vehicle, along the vehicle Z-down X-, Y-, and Z- axes, respectively.

The parameter contains translation information according to the locations.

$$Translation=\left[\begin{array}{ccc}{X}_v& Y_v& Z_v\\ X_H& Y_H& Z_H\\ X_F& Y_F& Z_F\\ X_R& Y_R& Z_R\end{array}\right]$$

Translation	Array Element	Translation Axis
Motorcycle, Xv	Translation(1,1)	Inertial vehicle Z-down X-axis
Motorcycle, Yv	Translation(1,2)	Inertial vehicle Z-down Y-axis
Motorcycle, Zv	Translation(1,3)	Inertial vehicle Z-down Z-axis
Handlebars, XH	Translation(2,1)	Vehicle Z-down X-axis
Handlebars, YH	Translation(2,2)	Vehicle Z-down Y-axis
Handlebars, ZH	Translation(2,3)	Vehicle Z-down Z-axis
Front wheel, XF	Translation(3,1)	Vehicle Z-down X-axis
Front wheel, YF	Translation(3,2)	Vehicle Z-down Y-axis
Front wheel, ZF	Translation(3,3)	Vehicle Z-down Z-axis
Rear wheel, XR	Translation(4,1)	Vehicle Z-down X-axis
Rear wheel, YR	Translation(4,2)	Vehicle Z-down Y-axis
Rear wheel, ZR	Translation(4,3)	Vehicle Z-down Z-axis

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Translation
Values:	zeros(4,3) (default) | 4-by-3 array
Data Types:	double

Initial array values to rotate vehicle per part, Rotation — Motorcycle initial rotation

zeros( 4, 3 ) (default) | 4-by-3 array

Initial motorcycle and component rotation, about the vehicle Z-down X-, Y-, and Z- axes.

Array dimensions are 5-by-3.

• Rotation(1,1), Rotation(1,2), and Rotation(1,3) — Initial motorcycle rotation about the inertial vehicle Z-down coordinate systemX-, Y-, and Z- axes, respectively.

• Rotation(...,1), Rotation(...,2), and Rotation(...,3) — Initial motorcycle component rotation relative to vehicle, about the vehicle Z-down X-, Y-, and Z- axes, respectively.

The parameter contains rotation information according to the location.

$$Rotation=\left[\begin{array}{ccc}Rol{l}_v& Pitc{h}_v& Ya{w}_v\\ Rol{l}_H& Pitc{h}_H& Ya{w}_H\\ Rol{l}_F& Pitc{h}_F& Ya{w}_F\\ Rol{l}_R& Pitc{h}_R& Ya{w}_R\end{array}\right]$$

Rotation	Array Element	Rotation Axis
Vehicle, Rollv	Rotation(1,1)	Inertial vehicle Z-down X-axis
Vehicle, Pitchv	Rotation(1,2)	Inertial vehicle Z-down Y-axis
Vehicle, Yawv	Rotation(1,3)	Inertial vehicle Z-down Z-axis
Handlebar, RollH	Rotation(2,1)	Vehicle Z-down X-axis
Handlebar, PitchH	Rotation(2,2)	Vehicle Z-down Y-axis
Handlebar, YawH	Rotation(2,3)	Vehicle Z-down Z-axis
Front wheel, RollF	Rotation(3,1)	Vehicle Z-down X-axis
Front wheel, PitchF	Rotation(3,2)	Vehicle Z-down Y-axis
Front wheel, YawF	Rotation(3,3)	Vehicle Z-down Z-axis
Rear wheel, RollR	Rotation(4,1)	Vehicle Z-down X-axis
Rear wheel, PitchR	Rotation(4,2)	Vehicle Z-down Y-axis
Rear wheel, YawR	Rotation(4,3)	Vehicle Z-down Z-axis

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	Rotation
Values:	zeros(4,3) (default) | 4-by-3 array
Data Types:	double

References

[1] Vehicle Dynamics Standards Committee. Vehicle Dynamics Terminology J670. Warrendale, PA: SAE International, 2008.

Version History

Introduced in R2021b

R2024b: New Simulation 3D Motorcycle block color option

Starting in R2024b, you can specify Color, VehColor as Dazzle Camouflage for the Simulation 3D Motorcycle block.

R2024a: Requires Simulink 3D Animation

Simulating models with the Simulation 3D Motorcycle block requires Simulink 3D Animation.