Third-Party Middleware: Simulink

SimOne provides Simulink middleware support. Through the SimOneModule block library, SimOne connects the simulation platform to the MATLAB/Simulink environment for co-simulation. Developers can call SimOne sensor data and Ego Vehicle control interfaces directly in Simulink without manually writing C++ bridge code — suitable for control algorithm development and validation scenarios.

1. SimOneModule Overview

1.1 Time Synchronization Module

Connects SimOne to Simulink and initializes the SimOneAPI interface. This module is required for co-simulation.

Inputs

None

Parameters

Parameter	Type	Notes
IP	int*	A 4-element array; each element corresponds to one octet of the SimOne host IP address
FrameSync	int	0 or 1 — whether to enable frame synchronization. 0 = disabled, 1 = enabled

Outputs

None

1.2 Ego Vehicle Module

A dynamics-based control mode. Accepts throttle, brake, and steering signals as inputs, and outputs vehicle position, orientation, and other state information.

Inputs

Parameter	Type	Notes
throttleMode	enum	Throttle input mode: 0 = percentage, 1 = engine torque, 2 = speed, 3 = acceleration, 4 = engine RPM, 5 = wheel torque. Brake input is ignored in modes 2 and 3.
throttleIn	float	Throttle input. Range varies by mode (for reference only): 0 → [0, 1], 1 → Nm, 2 → m/s, 3 → m/s², 4 → rpm, 5 → Nm
brakeMode	enum	Brake input mode: 0 = percentage, 1 = master cylinder pressure, 2 = pedal force, 3 = wheel cylinder pressure, 4 = wheel torque
brakeIn	float	Brake input. Range varies by mode (for reference only): 0 → [0, 1], 1 → MPa, 2 → N, 3 → MPa, 4 → Nm
steeringMode	enum	Steering input mode: 0 = percentage, 1 = angle, 2 = torque, 3 = angular velocity, 4 = tire angle, 5 = tire angular velocity
steeringIn	float	Steering input. Negative = left, positive = right. Range varies by mode (for reference only): 0 → [-1, 1], 1 → deg, 2 → Nm, 3 → deg/s, 4 → deg, 5 → deg/s
handbrake	bool	Handbrake. Default false (not engaged)
isManualGear	bool	Manual transmission. Default false (automatic)
gearIn	int	Gear mode input: 0 = neutral, 1 = drive, 2 = reverse
throttle_input_data	float*	Input data for throttle mode 5. When used, throttleIn is ignored.
brake_input_data	float*	Input data for brake modes 3 and 4. When used, brakeIn is ignored.
steering_input_data	float*	Input data for steering modes 4 and 5. When used, steeringIn is ignored.

Parameters

Parameter	Type	Notes
DataSize	int	Data length for throttle_input_data, brake_input_data, and steering_input_data. Default is 0.

Outputs

Parameter	Type	Notes
posXYZ	float	Ego Vehicle position XYZ, unit: m
oriXYZ	float	Ego Vehicle rotation XYZ, unit: rad
velXYZ	float	Ego Vehicle velocity XYZ, unit: m/s
throttleOut	float	Throttle output, percentage mode, [0, 1]
brakeOut	float	Brake output, percentage mode, [0, 1]
steeringOut	float	Steering output, percentage mode, [-1, 1]
gearOut	int	Gear output: -2 = park, -1 = reverse, 0 = neutral, 1/2/... = refer to actual vehicle gears
accelXYZ	float	Ego Vehicle acceleration XYZ, unit: m/s²
angvelXYZ	float	Ego Vehicle angular velocity XYZ, unit: rad/s
wheelSpeed	float*	Ego Vehicle wheel speed: FL (front-left), FR (front-right), RL (rear-left), RR (rear-right), unit: m/s
engineRpm	float	Engine RPM
odometer	float	Odometer, unit: m

1.3 Ego Vehicle Module (Position Control)

A dynamics-bypass control mode. Directly sets the vehicle's position and orientation, and outputs position, orientation, and other state information.

Inputs

Parameter	Type	Notes
posIn	float	Ego Vehicle position XYZ, unit: m
oriIn	float	Ego Vehicle rotation XYZ, unit: rad
autoZ	bool	Automatically set vehicle height based on the scene. Default false.

Outputs

Same as the Ego Vehicle Module.

1.4 Driver Module

Inputs

None

Parameters

None

Outputs

Parameter	Type	Notes
throttle	float	Throttle output, [0, 1]
brake	float	Brake output, [0, 1]
steeringMode	enum	Steering mode: 0 = percentage, 1 = angle, 2 = torque, 3 = angular velocity, 4 = tire angle, 5 = tire angular velocity
steering	float	Steering output. Negative = left, positive = right. [-1, 1]
handbrake	bool	Handbrake. Default false (not engaged)
isManualGear	bool	Manual transmission. Default false (automatic)
gear	int	Gear output: -2 = park, -1 = reverse, 0 = neutral, 1/2/... = refer to actual vehicle gears

1.5 Obstacle Module (GroundTruth — No Sensor Configuration Required)

Note: Current obstacle detection range is 100 m.

Retrieves ground-truth information for obstacles by reading internal data.

Inputs

None

Parameters

Parameter	Notes
ObstacleNum	Maximum number of obstacles to detect
ObstacleId	Obstacle detection ID, starting from 1

Outputs

Parameter	Type	Notes
id	int	Obstacle ID in SimOne, starting from 11
type	enum	See obstacle type description below
theta	float	Obstacle rotation angle around the Z-axis, unit: rad
posXYZ	float	Obstacle position XYZ, unit: m
velXYZ	float	Obstacle velocity XYZ, unit: m/s
length	float	Obstacle bounding box length, unit: m
width	float	Obstacle bounding box width, unit: m
height	float	Obstacle bounding box height, unit: m
accelXYZ	float	Obstacle acceleration XYZ, unit: m/s²

Obstacle Type Description

enum SimOne_Obstacle_Type { 
        ESimOne_Obstacle_Type_Unknown = 0,
        ESimOne_Obstacle_Type_Pedestrian = 4,
        ESimOne_Obstacle_Type_Pole = 5,
        ESimOne_Obstacle_Type_Car = 6,
        ESimOne_Obstacle_Type_Static = 7,
        ESimOne_Obstacle_Type_Bicycle = 8,
        ESimOne_Obstacle_Type_Fence = 9,
        ESimOne_Obstacle_Type_RoadMark = 12,
        ESimOne_Obstacle_Type_TrafficSign = 13,
        ESimOne_Obstacle_Type_TrafficLight = 15,
        ESimOne_Obstacle_Type_Rider = 17,
        ESimOne_Obstacle_Type_Truck = 18,
        ESimOne_Obstacle_Type_Bus = 19,
        ESimOne_Obstacle_Type_SpecialVehicle = 20,
        ESimOne_Obstacle_Type_Motorcycle = 21,
        ESimOne_Obstacle_Type_Dynamic = 22,
        ESimOne_Obstacle_Type_GuardRail = 23,
        ESimOne_Obstacle_Type_SpeedLimitSign = 26,
        ESimOne_Obstacle_Type_BicycleStatic = 27,
  ESimOne_Obstacle_Type_RoadObstacle = 29
}; 

1.6 Camera Module (Requires Camera Sensor Configuration)

Corresponds to a physical-level camera in SimOne. Retrieves camera data.

Inputs

None

Parameters

Parameter	Type	Notes
IP	int*	4-element array corresponding to the 4 octets of the IP address — must match the sensor settings on the SimOne page
Port	int	Port number — must match the sensor settings on the SimOne page
CameraId	int	Camera ID assigned to the sensor on the SimOne page (numeric part of the ID)
HorizontalResolution	int	Camera horizontal resolution — must match the sensor settings on the SimOne page
VerticalResolution	int	Camera vertical resolution — must match the sensor settings on the SimOne page

Outputs

Parameter	Type	Notes
format	int	Image format: 0 = RGB. Currently only RGB is supported.
width	int	Image width, per SimOne sensor settings (max 1920)
length	int	Image height, per SimOne sensor settings (max 1080)
R, G, B	uint8	Image data. Use VideoViewer to preview camera image data.

1.7 LiDAR Module (Requires LiDAR Sensor Configuration)

Corresponds to a physical-level LiDAR in SimOne. Retrieves point cloud data.

Inputs

None

Parameters

Parameter	Type	Notes
IP	int*	4-element array corresponding to the 4 octets of the IP address — must match the sensor settings on the SimOne page
Port	int*	2-element array corresponding to 2 port values — must match the sensor settings on the SimOne page
LidarId	int	LiDAR ID assigned to the sensor on the SimOne page (numeric part of the ID)
PointCloudDataSize	int	Point cloud data size — must match the sensor settings on the SimOne web page

Outputs

Parameter	Type	Notes
width	int	Point cloud image width, per SimOne sensor configuration
length	int	Point cloud image length, per SimOne sensor configuration
pointStep	int	Bytes per point, per SimOne sensor configuration
pointCloudData	uint8*	Point cloud data array (max 3,686,400)

1.8 Millimeter-Wave Radar Module (Requires Radar Sensor Configuration)

Corresponds to an object-level millimeter-wave radar in SimOne. Retrieves obstacle information within the detection range, and outputs obstacle information corresponding to the specified radar detection index.

Inputs

None

Parameters

Parameter	Notes
RadarId	Millimeter-wave radar ID
RadarDetectNum	Maximum number of radar targets to detect
RadarDetectionsId	Radar detection target index, starting from 1

Outputs

Parameter	Type	Notes
id	int	Target ID in SimOne
subId	int	Target sub-ID
type	int	See obstacle type description in the Obstacle Module
posXYZ	float	Target position XYZ, unit: m
velXYZ	float	Target velocity XYZ, unit: m/s
range	float	Target distance, unit: m
rangeRate	float	Target relative velocity, unit: m/s
azimuth	float	Target azimuth angle, unit: rad
vertical	float	Target elevation angle, unit: rad
snrdb	float	Signal-to-noise ratio, unit: dB
rcsdb	float	Radar cross-section, unit: dB
probability	float	Target detection probability

1.9 Ultrasonic Radar Module (Requires Ultrasonic Sensor Configuration)

Corresponds to an object-level ultrasonic radar in SimOne. Retrieves information on all obstacles within the detection range.

Inputs

None

Parameters

Parameter	Type	Notes
UltrasonicRadarId	int	Ultrasonic radar ID
UltrasonicDetectNum	int	Maximum number of ultrasonic detection targets

Outputs

Parameter	Type	Notes
obstacleRanges	float*	Target relative distances, unit: m

1.10 V2X Module (Requires OBU Sensor Configuration)

Corresponds to an object-level OBU sensor in SimOne. Retrieves and outputs V2X information.

Inputs

None

Parameters

Parameter	Type	Notes
SensorId	int	OBU sensor ID
InfoType	enum	V2X information type: 1 = BSM, 2 = MAP, 3 = RSM, 4 = SPAT, 5 = RSI
MaxDataSize	int	Maximum V2X message byte count

Outputs

Parameter	Type	Notes
V2XMsgFrameSize	int	Actual V2X message byte count
MsgFrameData	int*	V2X message ASCII codes

1.11 Sensor Configuration Module

Retrieves information for all sensors, and outputs sensor information corresponding to the specified sensor index.

Inputs

None

Parameters

Parameter	Type	Notes
SensorNum	int	Maximum number of sensors
SensorConfigId	int	Sensor index, starting from 1

Outputs

Parameter	Type	Notes
index	int	Overall sensor ID
mainVehicle	int	ID of the Ego Vehicle carrying this sensor
sensorId	int	Sensor ID (numeric part, as ASCII codes)
sensorType	int8*	Sensor type (text part, as ASCII codes)
posXYZ	float	Sensor position XYZ, unit: m
oriXYZ	float	Sensor rotation XYZ, unit: rad
hz	int	Sensor frequency

1.12 Sensor Detection Module

Retrieves detection information from a specified sensor, and outputs obstacle information corresponding to the specified detection target index.

Inputs

None

Parameters

Parameter	Type	Notes
SensorId	int	Sensor ID
SensorDetectNum	int	Maximum number of sensor detections
SensorDetectionsId	int	Sensor detection target index, starting from 1

Outputs

Parameter	Type	Notes
id	int	Target ID in SimOne, starting from 1
type	int	See obstacle type description in the Obstacle Module
posXYZ	float	Target position XYZ, unit: m
oriXYZ	float	Target rotation XYZ, unit: rad
length	float	Target bounding box length, unit: m
width	float	Target bounding box width, unit: m
height	float	Target bounding box height, unit: m
range	float	Target relative distance, unit: m
velXYZ	float	Target velocity XYZ, unit: m/s
probability	float	Target detection probability
relativePosXYZ	float	Target relative position XYZ, unit: m
relativeVelXYZ	float	Target relative velocity XYZ, unit: m/s

2. HDMapModule Overview

The HDMapModule blocks provide the HD map information needed for co-simulation scenarios.

To learn about the function of each block, double-click the block to view its description:

3. Simulink Co-Simulation Code Generation

Building on the existing SimOne–Simulink co-simulation setup, users can generate code from a Simulink co-simulation model, compile it into an executable, and run it locally or in the cloud. (Note: This workflow requires source code. Please contact SimOne customer service or sales for details.)

3.1 Windows

Note: The packaging process below requires Visual Studio or a compatible C/C++ compiler to be installed locally.

Set up the co-simulation environment in MATLAB on Windows, add the relevant blocks from SimOneModule and HDMapModule along with your custom algorithm blocks, and verify that the simulation runs correctly. The following is a simple example:

Note

The directory containing the Simulink model file must include the mex files and src files for the corresponding blocks. S-functions with parameters must also include the corresponding Matlabtlc files.

Open Model Configuration Parameters from the Simulation menu.

3.1.1 Configuring Parameters

In the Configuration window, select and expand the Code Generation section in the left panel, and apply the following settings:

(1) Select Code Generation itself.

• Under Target selection:
• Set System target file to grt.tlc (Create Visual C/C++ Solution File for Simulink Coder).
• Set Language to C++.
• Check that Template makefile under Makefile configuration is set to RTW.MSVCBuild.

(2) Select the Optimization tab. Set Default parameter behavior to Tunable so that S-function parameters can be adjusted in the Visual Studio project.

(3) Select Interface under Code Generation. Set Code Interface to Nonreusable function — since the output is a single executable, code reuse is not needed.

(4) Select Custom Code under Code Generation. In the Include directories field, add the paths to required header files (SimOne's Matlab -> Simulink folder and SDK -> include folder).

(5) In Source files, enter the source files corresponding to each SimOne S-function block used (the _wrapper.cpp file for each S-function by name).

(6) In Libraries, enter the static library files in the Simulink folder (HDMapModule.lib, SSD.lib, and SimOneSMAPI.lib) along with any other project dependencies.

(7) Select the Solver tab. Under Solver Selection, set Type to Fixed-step. The recommended Fixed-step size is 0.01.

3.1.2 Generating a Visual Studio Project

After completing the Simulink Coder configuration, generate the code by selecting Code → C/C++ Code → Build Model, or pressing Ctrl+B.

• Simulink will automatically generate the corresponding Visual Studio project and save it to Simulink Models/grt_rtw.
• If code generation is successful, the generated Visual Studio project will open automatically.

3.1.3 Compiling the Executable in Visual Studio

(1) Adjust Windows SDK Configuration

Configure the appropriate Windows SDK version as needed:

(2) Set Simulation Parameters

In the Simulink project in Visual Studio:

• Use rtmSetTFinal in the .cpp file with the same name as the Simulink model (.slx) to specify the simulation run time.
• Set simulation parameters and control inputs in <slx_file_name>_data.cpp.

(3) Handle S-Function Outputs

Implement the S-function block in the sfun_<function_name>.cpp file and output the block results.

(4) Running the Executable

To successfully run the packaged executable:

• Ensure all required .dll files are present in the same directory as the executable. These are the dynamic libraries required for co-simulation.

Note

In Model Configuration Parameters → Code Generation → Target selection, you can also select grt.tlc (Generic Real-Time Target). With this option, MATLAB directly invokes the compiler to build the executable in the Simulink Models directory. However, this approach does not allow modification of the simulation time or input/output parameters.

3.2 Linux

Compile the code generated on Windows in a Linux environment.

(1) Copy Source Files:

• Copy the code generated by Simulink on Windows (including .h header files and .cpp source files) to the Linux system.
• Place the source files in the Matlab path of the SimOne simulation environment — specifically in a custom grt_rtw folder.

(2) Modify the Makefile:

• Use the Makefile template provided by SimOne to make the necessary modifications to the original Makefile so it is compatible with the Linux system and build environment.

(3) Build on Linux:

• In the directory containing the source code and modified Makefile, run make to compile the code and generate a Linux executable.

(4) Run the Executable:

• To run the compiled executable on Linux, ensure that the required .so shared library files are present in the same directory as the executable. These libraries provide the dependencies required for co-simulation.

Note

The packaging process above requires MATLAB to be installed locally (the Matlab path in the Makefile must match the installation path), as well as gcc/g++ or a compatible C/C++ compiler.