GVA Vehicle Simulator¶

Hardware-in-the-Loop Testing Without the Hardware¶

The GVA Vehicle Simulator (gva-qt6-vehicle-sim) is a comprehensive 3D vehicle simulation platform designed specifically for military vehicle systems testing and development. Built with Qt6, Qt3D, and C++17, it provides realistic vehicle dynamics, J1939 CAN bus message generation, and DDS integration for the full GVA ecosystem.

Why Vehicle Simulator?¶

Key Features¶

🚗 Realistic Vehicle Dynamics¶

• Physics-Based Simulation - Acceleration, braking, steering with realistic constraints
• Manual 6-Speed Transmission - Full clutch and gear shift simulation
• Automatic Transmission Mode - Optional automatic gear changes
• 4x4 Transfer Case - High/Low range selection
• Logitech G29 Support - Force feedback racing wheel integration

🗺️ OpenDRIVE Road Networks¶

Load and navigate real-world proving grounds with ASAM OpenDRIVE 1.8.1 support:

• ZalaZONE Proving Ground (Hungary) - 579 roads, 76 junctions
• Lane-accurate positioning - Follow realistic road geometry
• Traffic signs & signals - Speed limits, stop signs, direction indicators
• Road markings - Solid/dashed lines, crosswalks, stop lines
• Junction navigation - Priority signs, turn arrows, yield markings

📡 J1939 CAN Bus Generation¶

Generates authentic SAE J1939 messages over SocketCAN for hardware integration:

Supported PGNs (15 Active)¶

Total: 33 SPNs (Suspect Parameter Numbers) actively simulated

🔊 FM Synthesis Engine Sound¶

• Real-time audio - FM synthesis engine sounds based on RPM
• Dynamic mixing - Engine load and throttle position affect sound
• Gear transitions - Audio feedback for shifts

🎥 Multiple Camera Modes¶

Cycle through different perspectives with C key:

1. Third-Person Chase Cam - Follow vehicle from behind
2. Top-Down Strategic View - Overhead tactical perspective
3. Drive-Along Side View - Parallel tracking camera
4. First-Person Driver View - Cockpit perspective (planned)

🌐 DDS Integration¶

Publishes vehicle parameters to GVA DDS topics on J1939_Automotive domain:

• J1939_Automotive__Parameter - Real-time SPN values
• J1939_Automotive__Parameter_Group_Definition - PGN metadata
• J1939_Automotive__Data_Source - Simulator status

Quick Start¶

1. Build the Simulator¶

cd /home/newman/repos/ldm/build
cmake ..
make gva-qt6-vehicle-sim -j $(nproc)

2. Setup Virtual CAN Interface¶

# Load kernel module
sudo modprobe vcan

# Create vcan0 interface
sudo ip link add dev vcan0 type vcan
sudo ip link set vcan0 up

# Verify interface
ip link show vcan0

Or use the provided script:

sudo scripts/test/j1939/setup-vcan.sh

3. Launch with OpenDRIVE Map¶

./build/bin/gva-qt6-vehicle-sim \
  --domain=0 \
  --map=data/opendrive/ZalaZONE_full.xodr \
  --fullscreen

4. (Optional) Start J1939 Gateway¶

Bridge CAN to DDS for monitoring in LDMX or GVA HMI:

./build/bin/gva-j1939-gateway \
  --domain=0 \
  --interface=vcan0 \
  --config=/etc/gva/j1939-config.json

5. Monitor with LDMX¶

./build/bin/ldmx
# Navigate to J1939 tab to see live parameters

Vehicle Controls¶

Keyboard (Default - No G29)¶

Logitech G29 Racing Wheel¶

When detected, G29 automatically overrides keyboard controls:

Menu Controls¶

Command Line Options¶

gva-qt6-vehicle-sim [OPTIONS]

Options:
  -h, --help               Display help information
  --version                Display version information
  -d, --domain <id>        DDS domain ID (default: 0)
  -m, --map <filepath>     OpenDRIVE (.xodr) map file to load
  -f, --fullscreen         Start in fullscreen mode
  --device <path>          G29 input device path (default: auto-detect)

Examples¶

# Launch with ZalaZONE map on DDS domain 0
./gva-qt6-vehicle-sim --domain=0 --map=data/opendrive/ZalaZONE_full.xodr

# Fullscreen mode with custom G29 device
./gva-qt6-vehicle-sim --fullscreen --device=/dev/input/event5

# Headless mode for CI testing (no GUI)
./gva-qt6-vehicle-sim --domain=0 --headless

Configuration¶

Vehicle Parameters¶

The simulator uses realistic military vehicle characteristics:

{
  "vehicle": {
    "type": "8x8 Military Transport",
    "mass_kg": 24000,
    "wheelbase_m": 6.5,
    "max_speed_kmh": 120,
    "max_rpm": 2800,
    "idle_rpm": 800,
    "gear_ratios": [4.71, 2.84, 1.87, 1.38, 1.00, 0.76],
    "reverse_ratio": -5.10,
    "final_drive": 4.88,
    "transfer_case": {
      "high_ratio": 1.00,
      "low_ratio": 2.64
    },
    "max_steering_angle_deg": 45,
    "brake_force_N": 120000,
    "engine_max_torque_Nm": 2300
  }
}

J1939 Configuration¶

Modify J1939 output parameters:

{
  "j1939": {
    "enabled": true,
    "can_interface": "vcan0",
    "source_address": 0,
    "gateway_resource_id": 1000,
    "update_rates": {
      "engine_hz": 10,
      "vehicle_speed_hz": 10,
      "transmission_hz": 10,
      "position_hz": 4,
      "temperature_hz": 1
    }
  }
}

GPS Origin (ZalaZONE)¶

Default GPS coordinates:

• Latitude: 46.8780°N
• Longitude: 16.8439°E
• Altitude: 175m above sea level

All vehicle positions are calculated relative to this origin.

Architecture¶

Data Flow¶

Component Architecture¶

Integration Examples¶

1. HMI Dashboard Development¶

Test vehicle instrument cluster without physical vehicle:

// Subscribe to vehicle speed in your HMI
auto subscriber = std::make_unique<QtDdsSubscriberCParameter>(
    domainId, "J1939_Automotive__Parameter");

connect(subscriber.get(), &QtDdsSubscriberCParameter::OnSampleReceived,
    [](const P_J1939_Automotive_PSM::C_Parameter& param) {
        if (param.A_suspectParameterNumber() == 84) {  // SPN 84 = Vehicle Speed
            double speedKmh = param.A_value();
            updateSpeedometer(speedKmh);
        }
    });

2. CAN Bus Testing¶

Monitor raw CAN frames with candump:

# Terminal 1: Run simulator
./gva-qt6-vehicle-sim --domain=0

# Terminal 2: Monitor CAN traffic
candump vcan0 -t A

# Output example:
#  (000.123456)  vcan0  18F00400   [8]  00 7D 7D 20 19 FF FF FF  # EEC1: 800 RPM
#  (000.223456)  vcan0  18FEF100   [8]  FF 00 00 C0 FF FF FF FF  # CCVS: 0 km/h

3. Automated Testing¶

Scripted test scenarios for CI/CD:

#!/bin/bash
# Start simulator in background
./gva-qt6-vehicle-sim --domain=0 --headless &
SIM_PID=$!

# Wait for initialization
sleep 2

# Start gateway
./gva-j1939-gateway --domain=0 --interface=vcan0 &
GW_PID=$!

# Run test suite
python3 scripts/test/validate_j1939_output.py

# Cleanup
kill $SIM_PID $GW_PID

Performance Characteristics¶

Supported J1939 Messages¶

✅ Implemented (15 PGNs, 33 SPNs)¶

Fully simulated with realistic values:

• Engine: RPM, torque, load, coolant/oil/fuel temps, hours
• Transmission: Gear selection, clutch position
• Vehicle Speed: Wheel-based, speed over ground
• Position: GPS lat/lon, altitude, heading, course
• Dynamics: Steering angle, yaw rate
• Electrical: Battery/alternator voltage
• Ambient: Air temperature, barometric pressure
• Fuel: Level, rate, economy

🔲 Not Implemented (22 PGNs)¶

Future enhancements:

• ABS/Brakes: Individual wheel control (EBC1/2/3)
• TPMS: Tire pressure monitoring
• Emissions: DPF, NOx sensors (AT1I/O)
• Advanced Trans: ETC1 shift-in-progress
• Odometer: High-resolution distance (VDIST)

Troubleshooting¶

Common Issues¶

Simulator Won't Start¶

# Check Qt6 installation
pkg-config --modversion Qt6Core

# Verify OpenGL support
glxinfo | grep "OpenGL version"

# Check for missing libraries
ldd ./build/bin/gva-qt6-vehicle-sim

No CAN Output¶

# Verify vcan0 exists
ip link show vcan0

# Check for SocketCAN errors in logs
journalctl -xe | grep socketcan

# Recreate vcan0
sudo ip link delete vcan0
sudo ip link add dev vcan0 type vcan
sudo ip link set vcan0 up

G29 Not Detected¶

# List input devices
ls -l /dev/input/by-id/ | grep Logitech

# Check permissions
sudo chmod 666 /dev/input/event*

# Test with evtest
sudo evtest /dev/input/event5

Low Frame Rate¶

• Reduce map complexity: Use smaller OpenDRIVE files
• Disable advanced features: Turn off shadows, reflections
• Lower resolution: Run in windowed mode at 1280x720
• Update graphics drivers: Ensure OpenGL 4.x support

Development¶

Building from Source¶

# Install dependencies (Ubuntu 22.04)
sudo apt install qt6-base-dev qt6-3d-dev libqt6opengl6-dev

# Configure build
cd /home/newman/repos/ldm
mkdir -p build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..

# Build simulator
make gva-qt6-vehicle-sim -j $(nproc)

Adding New PGNs¶

1. Define PGN constant in J1939CanSender.h:

static constexpr uint32_t PGN_NEW_MESSAGE = 65280;

1. Implement encoder in J1939CanSender.cpp:

bool J1939CanSender::sendNewMessage(double param1, double param2) {
    uint8_t data[8] = {0};
    // Encode according to J1939 spec
    uint16_t scaled = static_cast<uint16_t>(param1 * 256);
    data[0] = scaled & 0xFF;
    data[1] = (scaled >> 8) & 0xFF;
    return sendPgn(PGN_NEW_MESSAGE, data, 8, 6);
}

1. Call from VehicleSimulator::publishJ1939Parameters():

m_j1939Sender->sendNewMessage(m_customParam1, m_customParam2);

Comparison: Physical vs. Simulated¶

Use Cases¶

🎯 HMI Development¶

• Test speedometer, tachometer, gear indicators
• Validate warning lights and alarms
• Prototype new dashboard layouts

🔬 Algorithm Testing¶

• Eco-driving algorithms (fuel economy optimization)
• Predictive maintenance (engine hours, oil pressure)
• Autonomous navigation (GPS waypoint following)

📊 Integration Validation¶

• End-to-end CAN → DDS → Application flow
• Multi-subsystem synchronization
• Gateway performance under load

🎓 Training & Education¶

• Operator training in safe environment
• Customer demonstrations without vehicle
• Teaching tool for GVA architecture

🚀 CI/CD Automation¶

• Automated regression testing
• Continuous integration builds
• Performance benchmarking

References¶

• OpenDRIVE Standard: ASAM OpenDRIVE 1.8.1
• SAE J1939: Digital Annex of Serial Control and Communications Heavy Duty Vehicle Network
• J1939 Gateway Documentation: services/j1939-gateway.md
• Source Code: src/qt6/gva-vehicle-sim/
• libOpenDRIVE: github.com/pageldev/libOpenDRIVE

Future Enhancements¶

• [ ] Multiplayer Support - Network simulation with multiple vehicles
• [ ] Physics Improvements - Advanced suspension, tire slip, terrain deformation
• [ ] Weather System - Rain, fog, snow affecting handling
• [ ] Traffic Simulation - AI-controlled civilian vehicles
• [ ] Mission Scripting - Automated test scenarios
• [ ] VR Support - Virtual reality cockpit view
• [ ] Hardware CAN - Real CAN interface (can0) support
• [ ] Record/Replay - Save and replay driving sessions
• [ ] CARLA Integration - Import CARLA maps and sensors

Last Updated: January 31, 2026
GVA LDM SDK Version: 10.0.0
Author: Astute Systems PTY LTD