1
Table of Contents
• Introduction
• Software Environment
• Hardware Environment
• References
• Conclusion
2
Introduction
Turning a vehicle concept into an interactive Virtual Vehicle requires more than a standalone simulation model. It requires a connected software and hardware environment that can define the vehicle architecture, simulate the powertrain and vehicle dynamics, place the vehicle in realistic driving scenarios, visualize the behavior in 3D, and allow user interaction through driver-in-the-loop inputs.
This article continues the Virtual Vehicle system series by moving from the system-level overview to the enablement layer behind the application. It highlights the MathWorks tools and host-side hardware resources that make the virtual vehicle demonstrator possible.
At the core of the workflow is Model-Based Design. MathWorks tools are used to configure the vehicle architecture with Virtual Vehicle Composer, model the powertrain and vehicle dynamics, define and execute driving scenarios, create 3D road environments, exchange CAN-based signals, and analyze simulation results. The same environment also supports interactive execution, where driver inputs from a steering wheel and pedals can influence the virtual vehicle behavior during scenario playback.
3
Software Environment
The software environment provides the modeling, simulation, scenario definition, visualization, communication, and analysis capabilities required by the Virtual Vehicle system. Each MathWorks tool contributes a specific part of the workflow, from vehicle architecture definition and plant modeling to 3D scenario execution and CAN-based interaction with external systems.
3.1 MATLAB and Simulink R2025b
MATLAB and Simulink form the central engineering environment for the Virtual Vehicle.
MATLAB.pngFigure 1. MATLAB
MATLAB provides the scripting, data management, parameterization, and analysis capabilities required to configure simulations, process logged signals, and evaluate test results.
Simulink.pngFigure 2. Simulink
Simulink provides the model-based design environment in which the virtual vehicle, control logic, communication interfaces, and test harnesses are assembled. The system-level model can connect plant models, vehicle dynamics, driver inputs, scenario interfaces, and network communication blocks into a single executable simulation.
3.2 Virtual Vehicle Composer
Virtual Vehicle Composer.pngFigure 3. Virtual Vehicle Composer
Virtual Vehicle Composer is the configuration and assembly environment used to create the Virtual Vehicle model. It allows the user to define the vehicle class, select the powertrain architecture, choose the vehicle dynamics fidelity, configure components, specify test scenarios, select logged signals, build the vehicle model, run the configured tests, and analyze the results.
In this Virtual Vehicle system, Virtual Vehicle Composer acts as the entry point for building a consistent vehicle model. It assembles the selected architecture from predefined and customizable components and prepares the model for closed-loop simulation in Simulink.
The app also supports repeatable test execution. The same virtual vehicle can be operated across selected scenarios, while relevant signals are logged for review. This makes it suitable for early design studies, component comparison, control validation, and system-level behavior analysis before moving to hardware integration.
3.3 Powertrain Blockset
Powertrain Blockset.pngFigure 4. Powertrain Blockset
Powertrain Blockset provides the vehicle powertrain modeling foundation for the Virtual Vehicle model. It includes reference applications and component libraries for conventional, hybrid, and battery-electric propulsion systems.
In this system, Powertrain Blockset supports the definition of the propulsion architecture, energy storage, electric motors, drivetrain elements, tires, driver models, and supervisory control behavior. It also provides workflows that help configure, resize, calibrate, and analyze the selected powertrain components.
The generated vehicle model can be used for performance analysis, energy management studies, range evaluation, component sizing, control parameter optimization, and hardware-in-the-loop preparation. Because the models are open, project-specific subsystems can be integrated into the generated architecture when needed.
3.4 Vehicle Dynamics Blockset
Vehicle Dynamics Blockset.pngFigure 5. Vehicle Dynamics Blockset
Vehicle Dynamics Blockset provides the vehicle motion and handling foundation for the Virtual Vehicle. It includes reference applications and component libraries for propulsion, steering, suspension, vehicle body, brakes, tires, driver models, and supervisory controllers.
For the Virtual Vehicle system, the blockset enables different levels of vehicle dynamics fidelity depending on the simulation objective. Longitudinal dynamics can be used for drive-cycle and energy studies, while combined longitudinal, lateral, and vertical dynamics can be used for handling, chassis behavior, and more complex driving scenarios.
The blockset also supports 3D visualization workflows, allowing the virtual vehicle behavior to be observed in a realistic environment. This helps connect numerical simulation results with intuitive visual feedback during ride, handling, ADAS, and driver-in-the-loop demonstrations.
3.5 Automated Driving Toolbox
Automated Driving Toolbox.pngFigure 6. Automated Driving Toolbox
Automated Driving Toolbox supports the definition, simulation, and analysis of driving scenarios used to exercise the Virtual Vehicle. It provides capabilities for creating road layouts, actors, trajectories, sensor-related contexts, and repeatable test cases.
In this setup, the toolbox is used to create controlled and repeatable traffic situations around the ego vehicle. These scenarios can be used to evaluate how the virtual vehicle behaves in predefined maneuvers, traffic interactions, lane-following conditions, or other driving situations relevant to the demonstration.
By combining scenario definition with the vehicle model, the Virtual Vehicle can be validated in a structured way. Instead of testing only isolated model behavior, the complete system can be exercised against realistic road and traffic conditions.
3.6 Vehicle Network Toolbox
Vehicle Network Toolbox.pngFigure 7. Vehicle Network Toolbox Library
Vehicle Network Toolbox brings vehicle network communication into the model-based workflow. It provides MATLAB functions and Simulink blocks for sending, receiving, encoding, and decoding messages over in-vehicle network protocols such as CAN, CAN FD, J1939, and XCP.
In the Virtual Vehicle, the toolbox is used to exchange selected vehicle signals with external systems or hardware components. CAN messages can be packed and unpacked using database-driven definitions, allowing the model to follow the same signal structure expected by the vehicle-level architecture.
This makes communication behavior visible and testable during simulation. Commands, feedback, status information, and selected virtual vehicle signals can be validated before deployment or integration with physical controllers, reducing late-stage integration risk.
3.7 RoadRunner
RoadRunner.pngFigure 8. RoadRunner
RoadRunner provides the 3D scene creation environment used by the Virtual Vehicle system. It enables the design of detailed road networks, intersections, lane markings, traffic signs, buildings, terrain, and other environmental assets required for realistic driving simulation.
In this workflow, RoadRunner supplies the visual and spatial context in which the virtual vehicle operates. The generated scenes can represent controlled proving-ground layouts, urban intersections, highway segments, or demonstration environments used for scenario execution.
When combined with Simulink and the vehicle model, RoadRunner helps transform the simulation from a signal-level model into an interactive visual experience. This is especially useful for driver-in-the-loop demonstrations, ADAS workflows, and stakeholder-facing presentations.
3.8 Simulink 3D Animation
Simulink 3D Animation.pngFigure 9. Simulink 3D Animation Library
Simulink 3D Animation connects Simulink models and MATLAB algorithms to a 3D simulation environment, enabling dynamic systems to be visualized in photorealistic scenes. In the Virtual Vehicle system, it provides the visualization and interaction layer used to observe vehicle behavior in a 3D environment during simulation.
The toolbox can use prebuilt scenes or imported scenes created in RoadRunner, and it allows vehicles, objects, lighting, weather effects, and sensor-related elements to be controlled during simulation. This makes it suitable for connecting the Virtual Vehicle model to visually rich driving environments.
For driver-in-the-loop operation, Simulink 3D Animation also supports interactive navigation and manual control through hardware devices. This allows steering wheel and pedal inputs to influence the simulated vehicle while the resulting motion is visualized in the 3D scene.
3.9 Stateflow
Stateflow.pngFigure 10. Stateflow Library
Stateflow provides the graphical environment for modeling state machines, decision logic, and event-driven behavior inside the Virtual Vehicle system. It is used when vehicle behavior must depend on operating modes, transitions, conditions, timers, or fault states.
Within the Virtual Vehicle model, Stateflow can support supervisory control, mode management, scenario state handling, driver input interpretation, startup and shutdown sequencing, or fallback behavior. This helps separate discrete decision logic from continuous plant and controller behavior.
Using Stateflow keeps the system behavior easier to understand, review, and validate. Complex conditions can be represented explicitly as states and transitions, which improves traceability during simulation and debugging.
4
Hardware Environment
The hardware environment provides the execution platform, user input interface, and visualization resources required to operate the Virtual Vehicle system interactively. The main components are the GPU-accelerated PC and the Xbox-compatible steering wheel and pedal controller.
4.1 PC with GPU Acceleration
The PC is the main host platform for the Virtual Vehicle system. It runs MATLAB, Simulink, Virtual Vehicle Composer, RoadRunner-related workflows, and the supporting toolboxes used to model, simulate, visualize, and analyze the vehicle behavior.
GPU acceleration is important because the system includes visually rich 3D scenes and interactive simulation workflows. The graphics hardware helps render the driving environment smoothly, maintain responsive visualization, and support a more realistic driver-in-the-loop experience.
In this setup, the PC also acts as the integration point between the simulation model, the 3D environment, the input devices, and any external communication interfaces. This makes it the central execution and orchestration node of the Virtual Vehicle demonstration.
4.2 Xbox-Compatible Wheel Controller
Xbox-Compatible Wheel Controller The Xbox-compatible wheel controller provides the physical driver input interface for the Virtual Vehicle system. It allows the user to control steering, acceleration, and braking through a steering wheel and pedal set instead of using keyboard-based commands.
This input device makes the simulation suitable for driver-in-the-loop demonstrations. User actions can be mapped into the Simulink model and used to influence the virtual vehicle response during scenario execution.
The wheel controller improves the realism and accessibility of the demonstration. It allows engineers and stakeholders to experience the virtual vehicle behavior interactively, making it easier to evaluate the relationship between driver input, vehicle response, and 3D scene feedback.
5
References
The following resources provide useful background for the technologies referenced in this article:
MathWorks MATLAB and Simulink documentation
MathWorks Virtual Vehicle Composer documentation
MathWorks Powertrain Blockset documentation
MathWorks Vehicle Dynamics Blockset documentation
MathWorks Automated Driving Toolbox documentation
MathWorks Vehicle Network Toolbox documentation
MathWorks RoadRunner documentation
MathWorks Simulink 3D Animation documentation
MathWorks Stateflow documentation
6
Conclusion
This section described the software and hardware enablement required for the Virtual Vehicle system. The software environment combines MATLAB and Simulink with Virtual Vehicle Composer, Powertrain Blockset, Vehicle Dynamics Blockset, Automated Driving Toolbox, Vehicle Network Toolbox, RoadRunner, Simulink 3D Animation, and Stateflow to support vehicle configuration, system-level modeling, scenario execution, 3D visualization, communication, and analysis.
The hardware environment combines a GPU-accelerated PC with a steering wheel and pedal controller to support interactive driver-in-the-loop execution. Together, these elements provide the foundation for building, operating, visualizing, and validating the virtual vehicle before integration with physical controllers or target hardware.
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