Virtual Environment for Vehicle Dynamics & ADAS/AD


rFpro's TERRAIN SERVER is its highly detailed road surface model. Accurate 1cm in the horizontal and 1mm in the vertical it provides a detailed tyre contact patch model enabling vehicle dynamics to be accurately simulated.

It is designed for both real-time Driver-in-the-Loop (DIL) simulators and off-line simulation with standard PC hardware. It feeds high bandwidth cleaned LiDAR-scanned cloud point data to the model in real-time and at up 5kHz.

It is a low-lag solution that captures detailed surface information that is often missed by point-based sampling methods. As a result, it achieves very high correlation with the actual road surfaces used during 'real world' testing.

TERRAIN SERVER also provides the user with the option to vary the roughness profiles of the surface. For example, engineers can add a fully dimensionally controlled cobbled street into the road model. High frequency inputs to the vehicle model can be controlled up to 100Hz.


Inbuilt frequency controls, separated by surface type, allow an incredibly high level of ground surface reproduction. Should you wish, you can achieve tighter frequency controls on the main driving surfaces or switch to allowing higher frequency inputs coming from other surface types.


Weighted Multisampling

  • Classical user defined multi-point 2D contact patch shape with individual point weighting
  • As with the higher fidelity volumetric method, below, a single height and normal vector can be calculated for use in Pacejka - Magic Formula based tyre models, either commercial or in-house managed

Volumetric Interaction

  • Your model provides position, orientation, radius and width, to define each tyre as a cylinder in space
  • TERRAIN SERVER HD integrates every point submerged within the cylinder and passes you back the position of the contact patch centre and the averaged normal of every point submerged within the cylinder.

Enveloping Model

  • Your model provides position, orientation, radius and width of each tyre, to define spatial location
  • TERRAIN SERVER HD passes back all the ground surface points beneath your tyre for processing by your own Eveloping Model.

Multi-Disc, Radial Spoke

  • You model the tyre as a number of radial spokes in a series of discs across the width of the tyre.
  • TERRAIN SERVER HD calculates and passes back to you the length and velocity of each spoke as it meets the contact patch.