Conference article

Deployment of high-fidelity vehicle models for accurate real-time simulation

Johan Andreasson
Modelon KK, Japan

Naoya Machida
Nissan Motor Co., Japan

Masashi Tsushima
Nissan Motor Co., Japan

John Griffin
Modelon Inc., USA

Peter Sundström
Modelon AB, Sweden

Download article

Published in: The First Japanese Modelica Conferences, May 23-24, Tokyo, Japan

Linköping Electronic Conference Proceedings 124:11, p. 78-86

Show more +

Published: 2016-05-18

ISBN: 978-91-7685-749-6

ISSN: 1650-3686 (print), 1650-3740 (online)


In the effort to shorten development cycles and with the reduced ability to test in real life, driver-in-the-loop simulators are increasingly used by automotive OEMs and in Motorsports to enable engineers and drivers to experience a new vehicle design in a realis-tic environment before it is built. With the right level of accuracy, the same model can be applied in other real-time vehicle dynamics applications to allow for testing and verification in the development of new ve-hicle functions. This paper gives and overview of the requirements for automotive real-time application and the solution chosen. Emphasis is given on the model definition and real-time configuration as well as parameterization from existing data sources and integration of third party subsystem models.


vehicle simulators, vehicle dynamics, real-time, hardware-in-the-loop, driver-in-the-loop


Andreasson, J. et al. (2014). Realtime simulation of detailed vehicle models using multiple cores, in proceedings of International symposium of Ad-vanced Vehicle Control, AVEC, Tokyo.

Concurrent (2015).

DelftTyre (2015).

Elmqvist, H. et. al. (1995). Inline Integration: A new mixed symbolic/numeric approach for solving differential-algebraic equation systems, Proceed-ings of European Simulation Multiconference, June, Prague, pages XXIII-XXXIV.

Elmqvist, H. et al. (2004). Realtime Simulation of Detailed Vehicle and Powertrain Dynamics. In Proceedings of the SAE World Congress 2004, Paper no 2004-01-0768, Detroit, Michigan.

Elmqvist, H. et. al. (2014). Parallel Model Execution on Many Cores, Proceedings of 10th Interna-tional Modelica Conference, Lund, Sweden.

FMI (2015).

FTire (2015).

Hydraulics Library (2015).

Modelica (2015).

OpenCRG (2015).

OpenMP (2015).

Pneumatics Library (2015).

Rauh, J. (2003). Virtual development of ride and handling characteristics for advanced passenger cars. Vehicle System Dynamics, 40(1-3), 135-155.

Toso, A. and Moroni, A. (2014). Professional Driv-ing Simulator to Design First-Time-Right Race Cars. SAE Technical Paper 2014-01-0099.

Vehicle Dynamics Library (2015).

Yasuno, Y. et al. (2014). Nissan’s New High Perfor-mance Driving Simulator For Vehicle Dynamics Performance & Man-Machine Interface Studies. In proceedings of Driving Simulation Confer-ence 2014 Paris, France, September 4-5, 2014

Citations in Crossref