Browse Topic: Hardware-in-the-loop (HIL)

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NN FMU: Deep Learning Models for Next-Gen xiL Vehicle Simulation2026-26-04521/16/2026
Functional Mock-up Units (FMUs) have become a standard for enabling co-simulation and model exchange in vehicle system development. However, traditional FMUs derived from physics-based models can be computationally intensive, especially in scenarios requiring real-time performance. This paper presents a Python-based approach for developing a Neural Network (NN) based FMU using deep learning techniques, aimed at accelerating vehicle simulation while ensuring high fidelity. The neural network was trained on vehicle simulation data and developed using Python frameworks such as TensorFlow. The trained model was then exported into FMU, enabling seamless integration with FMI-compliant platforms. The NN FMU replicates thermal behavior of vehicle with high accuracy while offering a significant reduction in computational load. Benchmark comparisons with Physical Thermal Model demonstrate that the proposed solution provides both efficiency and reliability across various driving conditions
Srinivasan, Rangarajan, ASHOK BHARDE, Pooja, MHETRAS, Mayur, CHEHIRE, Marc
Model Standardization for MBD Throughout Entire Power Unit Development Process2026-26-04281/16/2026
The distribution of mobility equipped with electrified power units is advancing towards carbon-neutral society. The electrified power units require an integration of numerous hardware components and large-scale software to refine high-performance system. Additionally, a value-enhancement cycle of mobility needs to be accelerated more than ever. The challenge is to achieve high-quality performance and efficient development using Model-Based Development (MBD). The development process based on V-model has been applied to electrified power units in passenger vehicle. Traditionally, MBD has been primarily utilized in the left bank (performance design phase) of the V-model for power unit development. MBD in performance design phase has been widely implemented in research and development because it refines prototype performance and reduces the number of prototypes. However, applying MBD to the entire power unit development process, from performance design phase to performance verification
Ogata, Kenichiro, Katsuura, Akihiro, Tsuji, Minako, Matsumoto, Takumi, Iwase, Hiromu, Nakasako, Seiya, TAKAHATA, Motoki
Testing Framework and Safety Evaluation for Vehicle-to-Vehicle (V2V) Charging Systems in Electric Mobility2026-26-01761/16/2026
As the adoption of electric vehicles (EVs) accelerates, innovative charging strategies like Vehicle-to-Vehicle (V2V) charging are gaining attention for their potential to offer emergency energy support and decentralized charging options. Particularly in countries like India, where the charging infrastructure is still maturing, V2V charging can play a vital role in extending operational range and enhancing user convenience in fleet and remote applications. This paper proposes a structured testing framework to evaluate the functionality, safety, communication protocols, and energy transfer efficiency of V2V systems. Emphasis is placed on real-time testing using HIL simulations, thermal behavior under load transfer, fault detection, and protection mechanisms. The framework supports OEMs and integrators in validating reliable, scalable V2V solutions aligned with future EV interoperability standards.
Uthaman, Sreekumar, Mulay, Abhijit B
Human-Centric Automotive Interior Lighting assessment: A feedback-Based Approach2026-26-01321/16/2026
Automotive interior lighting systems must comply with rigorous internal standards while aligning with evolving customer expectations across diverse vehicle segments. As technological advancements accelerate and consumer demands grow, these systems have become increasingly advanced. Traditionally, validation relied on physical integration with vehicle and its hardware particularly silver box unit and infotainment systems. However, this conventional approach presents several limitations, including dependency on mature hardware and software, challenges in testing and synchronization across multiple lighting modules, and constraints in design validation accuracy. To address these limitations, this paper introduces an innovative approach that employs real-time hardware-in-the-loop (HIL) simulation for digital lamp testing. This method facilitates autonomous and abuse testing, enabling independent validation of interior lighting systems within a controlled virtual environment while
Shah, Kunal, Joshi, Vivek S., Mandloi, Prince
A methodology to evaluate steering performance using Hardware in Loop Testing2026-26-05441/16/2026
In the present generation, steering system plays a major role in vehicle performance and factors like vehicle stability and control. This is because it is a direct interface to the driver. But to tune the steering system to the required standard, it takes several months for an OEM. This increases the lead time and development cost. Steering test benches have been increasingly popular in the recent automobile development process as they offering great advantages. They offer high level of control over system parameters which helps tune the performance of a steering system, especially for the perception of steering feel while driving. There are various steering test benches being developed to solve concerns that OEMs are facing while tuning and validating. A new methodology is defined involving the Steering Test Bench which can perform Hardware in Loop (HIL) and Driver in Loop (DIL) simulations. The objective of this paper is to establish correlation between Vehicle level & Virtual level
Agarwal, Gourav, Rajput, Srijan, Rasal, Shraddhesh, ahire, Manoj, Naidu, Kethireddi, Kumar, Deva, Prusty, B Rabi
SEooC-Based Design Framework for Integrated EV Power Conversion Systems under ISO 26262 Compliance2026-26-01921/16/2026
The rapid integration of electric vehicle (EV) power conversion elements—such as traction inverters, onboard chargers, and DC-DC converters—into unified architectures poses new challenges for ensuring functional safety compliance as per ISO 26262. This paper presents a system-level framework that leverages the Safety Element out of Context (SEooC) approach to design and validate reusable safety-critical components independent of vehicle-specific applications. By defining clear assumptions of use and ASIL decomposition strategies, the proposed method facilitates early-stage fault analysis and verification. The framework integrates model-based development with Hardware-in-the-Loop (HIL) testing and formal verification techniques to validate both control logic and hardware behavior under diverse fault injection scenarios. The result is a scalable, standards-compliant methodology that reduces time-to-market and enhances reliability in integrated EV power electronics platforms. The work
Uthaman, Sreekumar, Mulay, Abhijit B, Gadekar, Pundlik
Virtual Powertrain Development and Calibration methodology: The Role of Model-in-the-Loop in Calibration and Testing of EV power Train integrated with real road simulation tools.2026-26-04721/16/2026
The automotive industry has witnessed significant advancements in powertrain development over recent years, with further evolution expected in the near future. Modern vehicle propulsion systems now encompass a broad spectrum, including fully electric vehicles, plug-in hybrid models, mild 48V hybrid powertrains, and traditional internal combustion engine vehicles. This growing variety demands extensive engineering efforts for development and testing across different powertrain configurations. To facilitate the simultaneous advancement of multiple powertrain technologies while keeping costs manageable, optimizing calibration and testing processes is crucial. A combination of cutting-edge simulation techniques and state-of-the-art testing equipment offers an effective solution, introducing innovative testing methodologies that streamline the development of sophisticated propulsion architectures. This paper explores the implementation of Model-in-the-Loop (MIL) testing as a key methodology
Elumalai, Elakkia, P, SahayaSurendiraBabu, S, Sivashankar, J, Frederick Royston, S, Gowtham
Next Gen Automotive EDS Architecture design verification using real-time function mode simulation & failure condition analysis2026-26-04541/16/2026
In current automotive electrical design practices, simulation and functional verification of the Electrical Distribution System (EDS) at the design stage are largely absent. Typically, the validation of controller behaviour and EDS wiring is performed only during HIL, SIL, MIL, prototype testing, or physical vehicle trials, often revealing issues late in the development cycle. This delay leads to costly redesigns, prolonged timelines, and increased chances of failure during vehicle integration. Therefore, there is a critical need for an early-stage simulation methodology that ensures robust EDS and controller design, enabling "first-time-right" readiness at the design stage itself. The proposed simulation framework introduces a function mode-based structural approach, where individual vehicle functions are mapped to their corresponding electrical circuits within the vehicle’s wiring system. Resistance values are allocated to specific paths depending on the active function or
Jaisankar, Gokulnath, Warke, Umakant
Advancing Automotive Radar Characterization: OTA HIL Testing for Enhanced ADAS Safety2026-26-00431/16/2026
The increasing demand for reliable Advanced Driver-Assistance Systems (ADAS) and autonomous driving technologies necessitates the precise validation of automotive radar sensors. Traditional on-road testing, while effective, presents challenges such as limited repeatability, high costs, and safety concerns. To address these limitations, this paper introduces an Over-the-Air (OTA) Hardware-in-the-Loop (HIL) methodology for radar characterization, providing a controlled and repeatable lab-based validation approach. This methodology enables dynamic testing of key radar parameters, including range estimation, angle of arrival measurement, Doppler velocity analysis, and object detection accuracy. The proposed setup supports diverse testing scenarios, such as variable target distances, relative speeds, multiple object simulation, and environmental effects, ensuring a comprehensive evaluation of radar behaviour under complex and safety-critical conditions. Through OTA testing, developers can
Jadhav, Tejas, Karle, Ujjwala, Paul, Harshit, SNV, Karthik
Hardware in Loop Validation of Gear Selection Switch2026-26-05401/16/2026
The increasing complexity of modern automotive drive control systems necessitates the adoption of robust validation methods to ensure functional safety, reliability and customer satisfaction. This paper presents the development and implementation of a comprehensive Hardware-in-the-Loop (HIL) testing framework designed specifically for a specific ECU known as Gear Selection Switch (GSS)/Drive control switch (DCS) system. Hardware-in-the-Loop (HIL) Testing is a simulation-based testing technique where real physical hardware (like an electronic control unit, switch or sensor) is tested by connecting it to a virtual simulation of the rest of the system — instead of testing it inside a real vehicle. Following the analysis of all the field failure incidents reported till date for GSS, detailed root cause investigations were conducted using in-house testing and Ishikawa diagram analysis. A critical failure mode was identified and addressed through targeted mechanical design modification and
Bhuyan, Anurag, Jahagirdar, Shweta, Khandekar, Dhiraj Baburao
Shaping the Future of Mobility with Innovative Power Tailgate Testing Solutions2026-26-04731/16/2026
Abstract With increasing demand for automation and user convenience in modern vehicles, Power Operated Tailgates (POT) have become standard in premium and mid-segment cars. However, validating such systems—comprising electronic control units (ECUs), sensors, actuators, and mechanical components poses significant challenges in safety, reliability, and cost. This paper introduces a Hardware-in-the-Loop (HiL) based validation framework that allows comprehensive, automated, and safe testing of POT systems without depending on full vehicle prototypes. The HiL platform integrates Real Time Hardware and Real Time software with dynamic models to simulate real-world behaviors. It enables automated validation of normal and fault scenarios—such as open/close commands, anti-pinch protection, voltage sensitivity, and communication errors—ensuring robust system performance. The proposed framework accelerates development, improves test coverage, and supports early fault detection, making it a
More, Shweta, GHANWAT, Hemant, Shetti, Suraj, Jape, Akshay, Kulkarni, Shraddha, Jagdale, Nitin
Proactive AI-Enhanced Cybersecurity for Next-Gen Automotive Infotainment ECU2026-26-06191/16/2026
Abstract With the rapid advancement of connected vehicle technologies, infotainment Electronic Control Units (ECUs) have become central to user interaction and connectivity within modern vehicles. However, this enhanced functionality has introduced new vulnerabilities to cyberattacks. This paper explores the application of Artificial Intelligence (AI) in enhancing the cybersecurity framework of infotainment ECUs. The study introduces AI-powered modules for threat detection and response, presents an integrated architecture, and validates performance through simulation using MATLAB, CANoe, and NS-3. This approach addresses real-time intrusion detection, anomaly analysis, and voice command security. Key benefits include zero-day exploit resistance, scalability, and continuous protection via OTA updates. The paper references real-world automotive cyberattack cases such as Tesla's OTA vulnerability patches, BMW ConnectedDrive exploits, and Jeep Cherokee's Uconnect hack, emphasizing the
More, Shweta, Kulkarni, Shraddha, Kumar, Priyanshu, GHANWAT, HEMANT, Joshi, Vivek
SAE TOMORROW TODAY - Smarter Automotive Testing with AI and Simulation135227/3/2025
The new test track isn't asphalt--it's AI and simulation. From hardware-in-the-Loop (HIL) to real-time performance analytics, new innovations are reshaping how vehicles are designed, validated, and brought to market. At the forefront of this transformation is A&D Technology, a leader in integrated test automation and lab management solutions for the transportation and energy markets. By integrating AI-driven analytics with high-fidelity simulation environments, the company is empowering automotive engineers to streamline testing workflows, reduce physical prototypes, and accelerate innovation in everything from EV powertrains to autonomous systems. To learn more, we sat down with Mike Uhl, President & CEO, to discuss how A&D Technology's work in simulation and test automation is helping engineers bring the next generation of mobility technologies to life. We'd love to hear from you. Share your comments, questions and ideas for future topics and guests to podcast@sae.org. Don't forget
Hineman, Marcie
ENGINE, BATTERY AND VEHICLE SIMULATION STRATEGIES FOR TRANSMISSION TESTING2024-01-311711/15/2024
WHY DO WE NEED SIMULATIONS? This paper is intended to provide a broad presentation of the simulation techniques focusing on transmission testing touching a bit on power train testing. Often, we do not have the engine or vehicle to run live proving ground tests on the transmission. By simulating the vehicle and engine, we reduce the overall development time of a new transmission design. For HEV transmissions, the battery may not be available. However, the customer may want to run durability tests on the HEV motor and/or the electronic control module for the HEV motor. What-if scenarios that were created using software simulators can be verified on the test stand using the real transmission. NVH applications may prefer to use an electric motor for engine simulation to reduce the engine noise level in the test cell so transmission noise is more easily discernable.
Johnson, Bryce
Test Cycle Simulation of Bench Based on Deep Reinforcement Learning15-17-03-00157/31/2024
Abstract Test cycle simulation is an essential part of the vehicle-in-the-loop test, and the deep reinforcement learning algorithm model is able to accurately control the drastic change of speed during the simulated vehicle driving process. In order to conduct a simulated cycle test of the vehicle, a vehicle model including driver, battery, motor, transmission system, and vehicle dynamics is established in MATLAB/Simulink. Additionally, a bench load simulation system based on the speed-tracking algorithm of the forward model is established. Taking the driver model action as input and the vehicle gas/brake pedal opening as the action space, the deep deterministic policy gradient (DDPG) algorithm is used to update the entire model. This process yields the dynamic response of the output end of the bench model, ultimately producing the optimal intelligent driver model to simulate the vehicle’s completion of the World Light Vehicle Test Cycle (WLTC) on the bench. The results indicate that
Gong, Xiaohao, Li, Xu, Hu, Xiong, Li, Wenli
Identification and correction of Fuel level indication in Automotives using HIL system and camera-based measuring system2024-26-03291/16/2024
Automotives are provided with lot of intelligence that monitors, controls, actuates, and diagnose the various aspects of vehicle functionalities. One of the critical parameters required to monitor is Vehicle fuel level. Fuel level in the vehicle is key input for engine performance, drivability, and fuel level indication in Instrumentation cluster for customer. Most economic and reliable fuel level sensor is resistive sensor with float. The purpose of this paper is to address the wrong fuel level indication in Vehicle level. Wrong fuel level indication may be due to malfunction of Instrumentation cluster signal input or Fuel level sensor function. To verify this, Instrumentation cluster is tested with HIL system instead of real time Fuel level sensor. By configuring the HIL module to analogue resistance channel, cluster is tested for fuel level bar indication. Fuel level sensor is tested by Vehicle level fuel calibration and exact issue is simulated. Failed fuel level sensor is strip
K, Vishali, Patil, Pratik
Integrated Testing Platform for Complete ECU Software Validation2024-26-03401/16/2024
In today's scenario EE software validation phase in the automotive software development cycle uses three different testing environments (Verification uses Model In Loop (MIL), function validation uses Software In Loop (SIL), HW and system level tests uses Hardware In Loop (HIL), & system testing uses Vehicle). Each of these platforms are highly expensive to deploy & maintain and poses major constraints in directly comparing the test results across platforms due to the difference in test reporting structures. It is also noticed that there is high redundancy or overlapping of test cases and timely availability of these platforms for timely SW releases. The solution helps in combining MIL, SIL & HIL testing stages into one single "Integrated Testing Platform" which eventually saves testing time, effort & cost along with early bug detection during software development phase. With the reuse of relevant compatible test-cases, test-case redundancy is eliminated thus reducing total man-hours
Jain, Nayank, N T, Savitha, G, Sudip, BHOGENAHALLY LAKSHMINARAYANA, ANUROOPA, Manish, Kumar
Framework for the Verification & Validation (V&V) of Advanced Driver Assistance Systems2024-26-00221/16/2024
Autonomous Emergency Braking (AEB) systems play a critical role in ensuring vehicle safety by detecting potential rear-end collisions and automatically applying brakes to mitigate or prevent accidents. This paper focuses on establishing a framework for the Verification & Validation (V&V) of Advanced Driver Assistance Systems (ADAS) by testing & verifying the functionality of a RADAR-based AEB ECU. A comprehensive V&V approach was adopted, incorporating both virtual and physical testing. For virtual testing, closed-loop Hardware-in-Loop (HIL) simulation technique was employed. The AEB ECU was interfaced with the real-time hardware via CAN. Data for the relevant target such as the target position, velocity etc. was calculated using an ideal RADAR sensor model running on the real-time hardware. The methodology involved conducting a series of test scenarios, including various driving speeds, obstacle types, and braking distances. Automation was leveraged to perform automated testing and
Bhagat, Ajinkya, Kale, Jyoti Ganesh, Pachhapurkar, Ninad, Karle, Manish, R, Manish, Karle, Ujjwala
A New Holistic Approach for System-Level Development of Seat Features2024-26-03811/16/2024
System engineering-based approach is now ubiquitous in the automotive industry. It is a disciplined approach that ensures that targets are clearly defined and met through a structured and holistic approach. In this paper, we report an application of a systems engineering-based methodology for developing seating system features. It starts with a Business Requirement Document (BRD), which enlists the business requirements of a feature. We then developed a Logical Architecture Diagram (LAD) on a Simulink environment, which serves as an initial proposal for the design of the logic that would realize the desired functionality. As a next step, we perform Functional Failure Analysis (FFA) on the LAD to identify potential failure modes. We propose a few ways to mitigate the identified failures or modify the design so that these failures are rendered inconsequential to the end user. Based on the updated LAD, a System Requirement Document (SRD) is created, which contains all the requirements
Ghosh, Soumik, Vidhu, Nandagopal
Electric Powertrain - Standardization of Adaptable Software in Loop System2024-26-01171/16/2024
Motivation With an increase in the complexity involved in modern-day ECUs (Electronic Control Unit), it is very important to verify and validate robustness, functionality, and reliability of ECUs. Till date, Hardware in Loop (HiL) based validation or vehicle level validation is generalized approach used for testing. However, this method requires physical setup, which can incur more cost and time during the development phase. Solution We believe in minimizing the software testing time using Software in Loop (SiL) validation. Creating virtual-ECUs and the plant models is an important step in SiL. We are presenting the modularized and scalable plant models in this paper. Adaptable SiL Solution for EV This paper focuses on the standardization of electric vehicle plant models, which can help users to reduce the software development and software testing time. We created the standardized plant models for following virtual ECUs, which can be used as modular units. • Battery Management System
Sajnani, Abhishek, Vernekar, Kiran, Gosavi, Rupesh, Naik, Venkatesh
Distributed Co-Simulation for Effective Development of Battery Management Functions2023-01-12006/26/2023
Electrification calls for a range of system components, that need to be developed and tested. On one hand, these system components include hardware components, like battery cells, modules, and packs, and battery management systems (BMS). On the other hand, software components are used for testing, e.g. algorithms for BMS or simulation models for batteries. Execution of tests on real batteries is typically time- and cost-intense, and includes considerable risks, leading to safety hazards. In this paper, we introduce a novel development and test approach for battery systems, that is driven by a unified, standardized interface between hardware- and software components and physical devices alike. Whereas established Hardware-in-the-Loop (HiL) systems are built on proprietary systems and environments, our approach is based on both open-source and industrial simulation software solutions. The Distributed Co-Simulation Protocol (DCP) is used to encapsulate and virtualize these components, as
Hrvanovic, Dino, Haberl, Hannes, Krammer, Martin, Scharrer, Matthias K.
The Virtual Boosted DISI Engine Model Development Based on Artificial Neural Networks2022-01-04563/29/2022
To efficiently reduce the required experimental data and improve the prediction accuracy, a virtual engine mod-el has been built by integrating an artificial neural network (ANN) system consisting of multiple subnets with the principle component analysis (PCA) method. The PCA method could preprocess the training data and leads to a more efficient training process. By coupling with 1-D GT power platform, this model has been adopted to predict the combustion phases (including CA10, CA50 and CA90), exhaust gas temperature, brake specific fuel consumption rate (be) and engine emissions such as un-burnt hydrocarbon (UBHC), NOx and CO. The results are then compared with the experimental data from around 5000 operating points of a boosted DISI engine running at universal performance map and conditions with various valve timing configurations. The mean abso-lute errors in combustion phases and exhausted gas temperature are less than 1.0 °CA and 10.1 K, respectively. The average relative errors
Chen, Ceyuan, Wu, Jian, Wei, Jingsi, Xu, Hanjun
Development of an Integrated Co-Simulation Environment to Model and Test Advanced DAT Features Utilizing MIL and HIL2022-01-01033/29/2022
The widespread deployment of Connected and Automated Vehicles (CAVs) in the future will bring major changes in the automotive industry and the vehicle features it will offer. Currently, technology and infrastructure are not ready to test and develop CAV features fully in real traffic. Simulators are becoming popular to develop CAVs and assisted automated driving features for all levels of automation to overcome the infrastructural needs of the automotive industry. Simulators allow researchers to design CAV algorithms safely, quickly, and efficiently, and test these algorithms for various metrics. A co-simulation environment, where a vehicle simulator like CarSim and a traffic simulator like Simulation of Urban Mobility (SUMO) feed into each other, is an invaluable tool, allowing CAV features to be tested in a realistic traffic environment. This paper presents a co-simulation environment, where the vehicle simulator CarSim and the traffic simulator SUMO share data. The paper follows the
Kavas-Torris, Ozgenur, cai, Xiaolin, Joshi, Adit, Mittal, Archak, Djavadian, Shadi, Fishelson, James
Aspects of Migrating from Decentralized to Centralized E/E Architectures2022-01-09063/29/2022
As centralization of automotive E/E architectures becomes reality for future vehicles, it is crucial that existing assets be reused in the most efficient and effective manner. We report on our experience developing a new centralized E/E architecture for a propulsion domain, and migrating the corresponding propulsion elements of an existing decentralized, CAN-based architecture to a prototype of the centralized propulsion domain. Our migration adopts automotive Ethernet and supporting standards as a next-generation communications backbone technology; a next-generation computation platform from automotive supplier NXP; and a new automotive virtualization solution from OpenSynergy. We discuss aspects of legacy software re-use and adaptation; modification of vehicle HiL simulation models used in testing; existing vendor tool support; and implications arising from functional safety and the ISO 26262 standard.
Bandur, Victor, Kapinski, Ryan, Pantelic, Vera, Lawford, Mark, Wasacz, Bryon
Visual System Analysis of High Speed on-off Valve Based on Multi-physics Simulation 2022-01-04653/29/2022
High speed on-off valves(HSV) are widely used in advanced hydraulic braking actuators, including the regenerative braking system and the active safety system, which take crucial part in improving the energy efficiency and safety performance of vehicles. As a component involving multiple physical fields, the HSV is affected by interaction of fluid, electromagnetic, mechanical, and even the temperature. Since the opening of the HSV is small and the flow speed is high, cavitation and vortex are inevitably brought out so that increase the valve’s noise and instability. However, it is costly and complex to observe the flow status by visual fluid experiments. Hence a visual multi-physics system simulation model of HSVs is explored in this paper, in which the flow field model of the HSV built by the computational fluid dynamic (CFD) is co-simulated with the model of hydraulic control actuator established by AMESim. Accordingly, the pressure and the opening of the HSV are variable with actual
Meng, Aihong
Hybrid Validation Model for System Level Test 2022-01-09423/29/2022
Hybrid model mainly use HIL (Hardware in Loop) and SIL (Software in Loop) test environment combinations for validation at system level test. Universal Implement ISO Stick-Match is device to show customer compatibility to ISOBUS implements to off highway vehicle. In the market we have many third party implements and it’s very difficult to validate all implements on vehicle. This ISO stick-match can be used to perform automatic switching on and off implements sections, automatically adjust the output rate for the implement, data storage etc. This paper mainly presents hybrid validation model for system level test using universal implement ISO stick- match functionality. Hybrid model includes use of vehicle controller simulation interface with universal implement ISO stick- match. Hybrid model could be utilized to run Automotive Electronic Foundation (AEF) conformance test. This also enable us to perform end to end validation activity for a machine which will be useful from safety. We can
Suryawanshi, Archana Ashok, Labade, Chetan
Parameter Analysis and Optimization of Road Noise Active Control System2022-01-03553/29/2022
The parameter setting has a great influence on the noise reduction performance of the road noise active control (RNC) system. This paper analyzes and optimizes the parameters of the RNC system. Firstly, the model of the RNC system is established based on the FxLMS algorithm. Based on this model, taking the maximum noise reduction as the evaluation index, the sensitivity analysis of convergence coefficient, filter order, and reference signal gain was carried out using the Sobol method with the data measured by a real vehicle on asphalt pavement at 40km/h. The results show that there is no significant interaction between the three parameters. Then, using the idea of orthogonal experiment, the simulation results of the control model are analyzed by taking the maximum noise reduction as the evaluation index. It is found that the convergence coefficient has the greatest effect on the maximum noise reduction, followed by the filter order, and the reference signal gain has the least effect
Pi, Xiongfei, Meng, Dejian, Zhang, Lijun
Design and Hardware in the Loop testing of AEB controllers2022-01-01063/29/2022
Current ADAS systems can improve vehicle safety directly influencing its dynamics, reducing the impact of human error while driving. These functionalities have a high impact on the complexity of each unit installed on the car, potentially increasing the development time. In this work, a Hardware in the Loop testing methodology for Autonomous Emergency Braking system is presented, aiming to enable a faster system development process. A commercial production brake by wire unit has been installed on a real-time driving simulator. The AEB functionality of the unit is activable in real-time during the simulation, by the means of a customizable control strategy. Three different AEB controllers have been implemented: the first one reproduces the unit stock functionality, while the two remaining compute the requested deceleration using a PID and a Fuzzy control strategy. The three controllers have been tested in standardized EuroNCAP Car-to-Car Rear (CCR) collision scenarios, implemented on
Alfatti, Federico, Garinei, Michele, Annicchiarico, Claudio, Capitani, Renzo
Multi-Modal Traffic Simulation Calibration and Integration with Real-Time Hardware in Loop Simulator2022-01-01643/29/2022
The ongoing research in intelligent transport systems and connected and automated vehicles, enabled by advancements in artificial intelligence, integrating traffic simulations has become an essential part of product/software development for the automotive industry. Nowadays, traffic simulations are used to mimic real-world environment scenarios for connected and automated driving assist systems (ADAS). With the increase in data collection methods for traffic flow, the calibration of the microscopic traffic simulations has emerged as an important research area. The underlying question in traffic modeling is how accurately simulations can mimic the real environment traffic flow conditions? This paper attempts to create a framework for microscopic traffic simulation calibration procedure which can be scaled for large networks. This paper makes the following major contributions. First, a calibration framework is proposed which harnesses the existing GPS data set of OSU campus shuttles
kalra, Vikhyat, Tulpule, Punit, Isaman, Jacob
Dynamic Brake Test Stand2021-01-127410/11/2021
Nowadays, inertia dynamometers or roller dynamometers are used for the development and testing of vehicle brakes. However, these testing methods are either entirely unable to simulate dynamical conditions, close to real driving maneuvers, or they can do so approximately only at very high costs. This means that brakes, braking systems and brake-related assistance systems such as the ESC system can ultimately only be tested in a full prototype of the car, or before that on hardware-in-the-loop test stands. In the case of the ESC, these test stands have to simulate the behavior of the brake and the surrounding vehicle in real time, then stimulate the interfaces of the ESC sensors accordingly, and finally evaluate the reaction of the ESC system in different situations. The problem here, however, is that the braking system can only be approximated by simulations. Nevertheless, it would be important to be able to carry out detailed stability tests with real hardware on suitable brake test
Kraus, Andreas, Stiegelmeyr, Andreas
Test-driven full vehicle modelling for ADAS algorithm development2021-26-00339/22/2021
ADAS system development for safety as well as comfort is a major activity for all AOEMs and dedicated system suppliers. The development of these systems relies heavily on the availability of accurate driving dynamics models to validate the control algorithms and verify vehicle performance in realistic driving scenarios. AOEMs usually have access to high-fidelity full vehicle models but the availability of such models poses a significant challenge to software and sub-system suppliers. In order for them to develop their ADAS solutions, an accurate test-based model identification process using prototype or benchmark vehicles would be highly desirable. In this paper, a step-wise approach for the identification of the vehicle parameters in order to create an accurate 15-DOF (degree of freedom) vehicle dynamics model is proposed. The approach relies on an optimized use of vehicle driving test data to minimize test bench or laboratory testing. The test data is used to identify the various
Lugo, Lorenzo, Bartolozzi, Mirco, Vandermeulen, Wouter, Geluk, Theo, Dom, Steven
Subjective and Objective Steering feel Evaluation of compact SUV electric power steering system using Hardware in the Loop Simulation2021-26-00809/22/2021
Hardware-in-the-loop (HIL) test benches are indispensable for the development of modern vehicle dynamics controllers (VDCs). They can be regarded as a standard methodology today, because of the extremely safety critical nature of the multi-sensor and multi-actuator systems used in vehicle dynamics control. The required high quality standards can only be ensured by systematic testing within a virtual HIL environment before going into a real car. The steering system is an important aspect of the automobile from operational safety and driver enjoyment perspectives. Current Problem/Opportunity is realistic subjective steering feel prediction before vehicle build. And upfront predict the handling characteristics more accurately with subjective feel before proto build. Current Issue is difficult to convert the objective data into subjective feel and difficult to incorporate the nonlinear steering characteristics with hysterics, friction and power assist curves using virtual simulation
Anthonysamy, Baskar, TK, Sreeraj, TK, Sreedeep, N, BALARAMAKRISHNA, NAGARAJAN, NAGAPRAKASH
Model Release Process using Standardized Error Metrics for Validation of X-in-the-Loop Simulation Models2021-01-11489/21/2021
The current automotive market is dynamic, leading to complex functionalities being incorporated into the control software of various components like engine, gearbox, battery, E-motor etc. This results in utilization of virtual environments for software testing to reduce the development time. The virtual platforms under the category X-in-the-Loop (XiL) e.g. Software-in-the-Loop (SiL) and Hardware-in-the-Loop (HiL) use simulated models to achieve a desired test goal. These component models must be rigorously validated to ensure the quality of XiL-Testing. Thus, it is essential to define a model release process that maintains model quality irrespective of the modeling approach used and the user. One of the challenges is to choose an appropriate Error Metric (EM) that sets criteria for model release. This paper proposes a combination of Theil’s Inequality Coefficient (TIC) and Unscaled Mean Bounded Relative Absolute Error (UMBRAE) as the EM. TIC is used to characterize the steady and non
Narasimha, Vedantha, Nayak, Manish, Bick, Alexander
Utilizing Engine Dyno Data to Build NVH Simulation Models for Early Rapid Prototyping2021-01-10698/31/2021
As the move to decrease physical prototyping increases the need to virtually prototype vehicles become more critical. Assessing NVH vehicle targets and making critical component level decisions is becoming a larger part of the NVH engineer’s job. To make decisions earlier in the process when prototypes are not available companies need to leverage more both their historical and simulation results. Today this is possible by utilizing a hybrid modelling approach in an NVH Simulator using measured on road, CAE, and test bench data. By starting with measured on road data from a previous generation or comparable vehicle, engineers can build virtual prototypes by using a hybrid modeling approach incorporating CAE and/or test bench data to create the desired NVH characteristics. This enables the creation of a virtual drivable model to assess subjectively the vehicles acoustic targets virtually before a prototype vehicle is available. This approach can also be used with, but not limited to
Thom, Brian, Singh, Vinod, Newton, Gary, Rengarajan, Revathi, Radic, Nebojsa
An Automatic Emergency Braking System for Collision Avoidance Assist of Multi-Trailer Vehicle Based on Model Prediction Control2021-01-01174/6/2021
The autonomous collision avoidance problem for multi-trailer vehicle maneuvering is investigated in this paper. Different from conventional vehicle systems that contain one single moving part or multi-parts that can be considered as one rigid body, the interconnection between the tractor and each trailer, and interactions between trailers in the multi-trailer system introduce a high dimensional and highly complex dynamic system for the controller design. The external disturbance and parametric uncertainties further increase the difficulty in system identification and state space formulation. To implement a real time control system for various scenarios where the locations and states of the obstacles are not known beforehand, a supervisory algorithm is designed to convert the control problem to a discrete event system. The model predictive control (MPC) using limited lookahead policy is employed in the proposed algorithm. By viewing the system model under consideration as a finite
Liu, Yucheng, Ball, John, Abdelwahed, Sherif, He, Ge
Accurate Pressure Control Based on Driver Braking Intention Identification for a Novel Integrated Braking System2021-01-01004/6/2021
With the development of intelligent and electric vehicles, higher requirements are put forward for the active braking and regenerative braking ability of the braking system. The traditional braking system equipped with vacuum booster has difficulty meeting the demand, therefore it has gradually been replaced by the integrated braking system. In this paper, a novel Integrated Braking System (IBS) is presented, which mainly contains a pedal feel simulator, a permanent magnet synchronous motor (PMSM), a series of transmission mechanisms, and the hydraulic control unit. As an integrative system of mechanics-electronics-hydraulics, the IBS has complex nonlinear characteristics, which challenge the accurate pressure control. Furthermore, it is a completely decoupled braking system, the pedal force doesn’t participate in pressure-building, so it is necessary to precisely identify driver’s braking intention. To improve the control accuracy of the system, this paper proposed a novel pressure
Zhu, Bing, Zhang, Yihan, Zhao, Jian, Chen, Zhicheng, Jin, Wanli
7.0.103 - High Fidelity Modeling and HIL Porting of a Hybrid Electric Car DevelopmentSAE-PP-002792/4/2021
A hybrid electric powertrain being a complex system requires analysis of all its subsystems to optimally utilize, size components for performance evaluation and control strategy development. An integrated high fidelity model of these can lower development costs, time and achieve the targeted performance while allowing for early redefinition of the system. A high fidelity model of a sedan car featuring chassis with longitudinal and lateral dynamics, suspension with joints, tires calculating longitudinal & lateral forces during vehicle motion, Engine model with combustion & dynamics of reciprocating and rotating components, Electric motors, Battery system, and gearbox with synchronizers and friction components was developed. Powertrain components were interconnected using 3D rotational flanges. Weight distribution was accomplished by appropriately locating various powertrain components using 3D supporting mounts, which help to study the mount forces as well. The environment definition
Lname, Fname
Bell V-280 System Identification and Model Validation with Flight Test Data using the Joint Input-Output MethodF-0076-2020-1639310/5/2020
With modern aerospace vehicle configurations, highly-coupled redundant flight control surfaces are becoming standard practice. For such vehicles, traditional System Identification (SID) methods may not accurately capture the individual contributions of effectors to the vehicle bare-airframe response. A Joint Input-Output (JIO) methodology was used to estimate the control power for each highly-correlated roll effector of the Bell V-280 hover configuration. The methodology was demonstrated using flight test data, where the identification results were compared to a high-fidelity hardware-in-the-loop simulation in the V-280 System Integration Lab.
Berrigan, Caitlin, J., Mark, Prasad, J.V.R., Ruckel, Paul
Hardware-in-the-Loop Dynamic Wind Tunnel Investigation of Slung Loads Dynamics with Application to Active Cargo Hook Stabilization of an M119 HowitzerF-0076-2020-1636510/5/2020
A new hardware-in-the-loop (HIL) dynamic wind tunnel setup is used to study the behavior of a slung load at high speeds and methods of stabilizing problematic loads. The main element of the setup is a movable cargo hook. In addition the cable angles, model spatial attitude, and hook force are measured continuously. All the measurements are fed into a computer that calculates the cargo hook resultant motion in real-time by summing the rotorcraft angular motion effects (not used in the current study) and the hook motion relative to the rotorcraft fuselage. The computer output includes motion commands to the hook. The slung loads are two configurations of an M119 howitzer: folded and ready for firing. Initial wind tunnel studies showed that these loads exhibit significant LCO (Limit Cycle Oscillations) and severe instabilities at high speeds. Frequency sweep tests are used to derive dynamic models of the slung loads. These models are used to develop two controllers based on an Active
Rosen, Aviv, Nadell, Samuel, Chen, Zhouzhou, Cicolani, Luigi, Tischler, Mark, Raz, Reuben, Cheung, Kenny, Enciu, Jacob, Horn, Joseph
Scenario Analysis and Control Comparison for a High Speed Autonomous Vehicle2020-01-07104/14/2020
This paper studies the simulation and control of an autonomous dragster. Four scenarios are provided that are critical to vehicle and driver safety in drag racing. Equations are then created to model the behavior during these safety scenarios. The use of a kinematic bicycle model and a Newtonian wheel stand model are discussed for plane-of-motion and out-of-plane vehicle movement, respectively. A separate controller is designed for each model by comparing different control methods. Proportional-Integral-Derivative (PID) control, optimal control, and model predictive control (MPC) are presented and applied to the models. The models are simulated from a speed of 75 m/s, being the estimated top speed of the research vehicle, up to a top speed of 150.5 m/s which is in alignment with the highest recorded speed of a dragster. The comparison of the control techniques yields MPC as superior for the bicycle model and PID as sufficient for the wheel stand model. Latency of the system is also
Donikian, Vatche, Bell, Joseph, Washington, Gregory
Performance Evaluation of the Pass at Green Connected Vehicle V2I Application Using Simulation, Dynamometer and Track Testing2020-01-13804/14/2020
In recent years, the trend in the automotive industry has been favoring the reduction of fuel consumption in vehicles with the help of new and emerging technologies, such as Vehicle to Infrastructure (V2I), Vehicle to Vehicle (V2V) and Vehicle to Everything (V2X) communication. As the world of transportation gets more and more connected through these technologies, the need to implement algorithms with V2I capability is amplified. In this paper, an algorithm called Pass at Green (PaG), utilizing V2I to modify the speed profile of a vehicle to decrease fuel consumption has been studied. PaG uses Signal Phase and Timing (SPaT) information acquired from upcoming traffic lights, which are the current phase of the upcoming traffic light and the remaining time that the phase stays active. Then, PaG modifies the speed of the vehicle by accelerating, keeping its speed constant or decelerating to decrease fuel consumption, minimize idling time and reduce the likelihood of catching a red light in
Kavas-Torris, Ozgenur, Cantas, Mustafa Ridvan, Gelbal, Sukru Yaren, Guvenc, Levent
Hardware-in-the-Loop, Traffic-in-the-Loop and Software-in-the-Loop Autonomous Vehicle Simulation for Mobility Studies2020-01-07044/14/2020
This paper focuses on finding and analyzing the relevant parameters affecting traffic flow when autonomous vehicles are introduced for ride hailing applications and autonomous shuttles are introduced for circulator applications in geo-fenced urban areas. For this purpose, different scenarios have been created in traffic simulation software that model the different levels of autonomy, traffic density, routes, and other traffic elements. Similarly, software that specializes in vehicle dynamics, physical limitations, and vehicle control has been used to closely simulate realistic autonomous vehicle behavior under such scenarios. Different simulation tools for realistic autonomous vehicle simulation and traffic simulation have been merged together in this paper, creating a realistic simulator with Hardware-in-the-Loop (HiL), Traffic-in-the-Loop (TiL), and Software in-the-Loop (SiL) simulation capabilities. Our work merges the traffic simulation software Vissim to create realistic traffic
Meneses Cime, Karina, Cantas, Mustafa Ridvan, Dowd, Garrett, Guvenc, Levent, Aksun Guvenc, Bilin, Mittal, Archak, Joshi, Adit, Fishelson, James
Continuous Integration as Mandatory Puzzle Piece for the Success of Autonomous Vehicles2020-01-00874/14/2020
The transition to autonomous driving technology is widely discussed topic today. In order to make autonomous vehicles work safely in the long run it will be a necessity to keep their software up to date at any time. The challenge is that software released with today’s traditional release methods for vehicle updates is not deployed fast enough. Newly discovered corner cases or glitches in the design could restrict the usage of entire fleets for long time. This paper discusses the use of continuous integration methods implemented into the automotive system development in order to keep up with the pace needed to make the new technology a success, and accepted by the users. The development process has to contain smart branching strategies for fast turn around. It is mandatory to have a frozen and stable branch to release hotfixes in case of need, a validation branch with feature lock in order to stabilize, and a feature branch heavy development space that is supported by full system
Rohde, Florian
Urban Pilot Motion Planning and Control Deployment Via Real-Time Multi-Core Multi-Thread Prototyping2020-01-01254/14/2020
In this work, the functional development of motion planning and control for SAE level-4 autonomous urban pilot is presented, including its architecture design, algorithm development, software implementation and hardware prototype. First, a completely AVL in-house designed, modular and generic Advanced Driver Assist System (ADAS) and Automated Driving (AD) application architecture is deployed, such that the motion planning and control modules can communicate with decision making, environment modeling and localization modules. Second, A road-navigation-oriented, sampling-and-searching-based iterative spatial-temporal motion planning algorithm is developed and integrated with classical motion control algorithms, via a ©MATLAB/Simulink implementation platform. Finally, the integrated motion planning and control subsystem is prototyped in ©Speedgoat hardware, via a real-time multi-core multi-thread deployment methodology. The proposed motion planning and control deployment has been
Sun, Yue, Goila, Ankit, Demir, Damla, Tapli, Tugba
A Decentralized Time- and Energy-Optimal Control Framework for Connected Automated Vehicles: From Simulation to Field Test2020-01-05794/14/2020
The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework for real-time control aimed at optimizing energy consumption with associated benefits. In this paper, we implement an optimal control framework, developed previously, in an Audi A3 etron plug-in hybrid electric vehicle, and demonstrate that we can improve the vehicle’s efficiency and travel time in a corridor including an on-ramp merging, a speed reduction zone, and a roundabout. Our exposition includes the development, integration, implementation and validation of the proposed framework in (1) simulation, (2) hardware-in-the-loop (HIL) testing, (3) connectivity enabled virtual reality based bench-test, and (4) field test in Mcity. We show that by adopting such inexpensive, yet effective process, we can efficiently integrate and test the control framework, establish proper connectivity and data transmission between different modules of the system, and reduce uncertainty. We
Mahbub, A M Ishtiaque, Karri, Vasanthi, Parikh, Darshil, Jade, Shyam, Malikopoulos, Andreas A.
A Platform for Quick Development, Simulation and Test of Autonomous Driving Vehicles2020-01-07134/14/2020
This paper proposes a platform to conduct rapid development, simulation and test of autonomous driving vehicles. By combining the advantages of rapid prototyping and software development, the proposed platform could automatically generate codes and download them into domain controllers, therefore the efficiency of development process of the core functions of ADAS can be largely improved. The platform is made up of scene simulation, vehicle dynamics simulation software, a rapid prototyping system, a chassis drive-by-wire control and road-load simulation system. Meaningful tasks including key algorithm development, MIL simulations, domain controller based HIL tests and the development of drive-by-wire systems can all be accomplished by the platform. Since that the E/E architecture of vehicles, intra-vehicle communication and physical characteristics of drive-by-wire systems are well considered, the platform ensures that the developed domain controllers can be directly deployed to road
Qiong, Wu, Man, Adm Jiang Jian, Wei, Liang Hua, Bing, Li Wei
Modeling and Identification of an Electric Vehicle Braking System: Thermal and Tribology Phenomena Assessment2020-01-10944/14/2020
A rapidly shifting market and increasingly stringent environmental regulations require the automotive industry to produce more efficient low-emission Electric Vehicles (EVs). Regenerative braking has proven to be a major contributor to both objectives, enabling the charging of the batteries during braking and a reduction of the load and wear of the brake pads. The optimal sizing of such systems requires the availability of good simulation models to improve their performance and reliability at all stages of the vehicle design. This enables the designer to study both the integration of the braking system with the full vehicle equipment and the interactions between electrical and mechanical braking strategies. This paper presents a generic simulation framework for the identification of thermal and wear behaviour of a mechanical braking system, based on a lumped parameter approach. The thermal behaviour of the system is coupled back to the friction coefficient between the pad and the disk
D’hondt, Thomas, Forrier, Bart, Sarrazin, Mathieu, Favilli, Tommaso, Pugi, Luca, Berzi, Lorenzo, Viviani, Riccardo, Pierini, Marco
DFD Stratagem Investigation on Suspension Subframe Durability Test with Spindle Coupled Road Test Simulator2020-01-09924/14/2020
In order to replicate the vehicle chassis proving ground (PG) durability test on the laboratory half vehicle spindle coupled Road Test Simulator (RTS), a drive file which can excite the actuators of the RTS to duplicate the chassis component strain state need to be developed. Traditionally the Drive File Development (DFD) aims to match the spindle forces and moments in addition with some supplemental channels such as the suspension link axial forces and the suspension travels. However the suspension subframe which is connected to the vehicle body achieves the equilibrium state with the inertia force applied on the vehicle body at arbitrary time when the vehicle is running on the PG. Suspension subframes mounted on the fixture of the RTS experience reaction forces from a fixed static boundary. This boundary condition discrepancy between the vehicle PG test and the laboratory RTS test may particularly lead to a different strain state on the suspension subframe. In this paper, the impact
Gao, Jianghua, Guo, Matt, Zhang, Xin, Yu, Xiao
Obstacle Avoidance Using Model Predictive Control: An Implementation and Validation Study Using Scaled Vehicles2020-01-01094/14/2020
Over the last decade, tremendous amount of research and progress has been made towards developing smart technologies for autonomous vehicles such as adaptive cruise control, lane keeping assist, lane following algorithms, and decision-making algorithms. One of the fundamental objectives for the development of such technologies is to enable autonomous vehicles with the capability to avoid obstacles and maintain safety. Automobiles are real-world dynamical systems - possessing inertia, operating at varying speeds, with finite accelerations/decelerations during operations. Deployment of autonomy in vehicles increases in complexity multi-fold especially when high DOF vehicle models need to be considered for robust control. Model Predictive Control (MPC) is a powerful tool that is used extensively to control the behavior of complex, dynamic systems. As a model-based approach, the fidelity of the model and selection of model-parameters plays a role in ultimate performance. Hardware-in-the
Bulsara, Ardashir, Raman, Adhiti, Kamarajugadda, Srivatsav, Schmid, Matthias, Krovi, Venkat N
Autonomous Vehicles Scenario Testing Framework and Model of Computation12-02-04-001512/18/2019
Autonomous Vehicle (AV) technology has the potential to fundamentally transform the automotive industry, reorient transportation infrastructure, and significantly impact the energy sector. Rapid progress is being made in the core artificial intelligence engines that form the basis of AV technology. However, without a quantum leap in testing and verification, the full capabilities of AV technology will not be realized. Critical issues include finding and testing complex functional scenarios, verifying that sensor and object recognition systems accurately detect the external environment independent of weather conditions, and building a regulatory regime that enables accumulative learning. The significant contribution of this article is to outline a novel methodology for solving these issues by using the Florida Poly AV Verification Framework (FLPolyVF).
Alnaser, Ala Jamil, Akbas, Mustafa Ilhan, Sargolzaei, Arman, Razdan, Rahul
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