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

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SAE TOMORROW TODAY - Smarter Automotive Testing with AI and Simulation1352207/03/2025
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
Test Cycle Simulation of Bench Based on Deep Reinforcement Learning15-17-03-001507/31/2024
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
Integrated Testing Platform for Complete ECU Software Validation2024-26-034001/16/2024
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
Electric Powertrain - Standardization of Adaptable Software in Loop System2024-26-011701/16/2024
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
A New Holistic Approach for System-Level Development of Seat Features2024-26-038101/16/2024
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
Distributed Co-Simulation for Effective Development of Battery Management Functions2023-01-120006/26/2023
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.
Development of an Integrated Co-Simulation Environment to Model and Test Advanced DAT Features Utilizing MIL and HIL2022-01-010303/29/2022
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 Architectures2022-01-090603/29/2022
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
Parameter Analysis and Optimization of Road Noise Active Control System2022-01-035503/29/2022
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 controllers2022-01-010603/29/2022
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 Simulator2022-01-016403/29/2022
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
Visual System Analysis of High Speed on-off Valve Based on Multi-physics Simulation 2022-01-046503/29/2022
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 2022-01-094203/29/2022
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
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 development2021-26-003309/22/2021
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 Simulation2021-26-008009/22/2021
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 Models2021-01-114809/21/2021
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
Coalesce of Artificial Intelligence into ADAS Hardware-In-the-Loop Testing2021-01-019304/06/2021
Automotive industry is inclined towards connected, comfortable, environment friendly, efficient and smarter systems. Advanced Driver Assist System (ADAS) technology assist drivers to achieve a safer as well as better ride by automation and improvisation of the vehicular systems. With the advent of ADAS system, there is a significant focus not only in the development of Electronic Control Units (ECUs) and its features to cater to the emerging market but also on the information that could be displayed to meet the functional as well as safety requirements. This ADAS information display ensures timely notification to the driver with unique alerts that can be acoustic or visual. These systems should be tested thoroughly to ensure reliability as failures may impose severe risk on the OEM. Hardware in the loop testing has been largely adopted by industry against manual testing in lieu of the testing constraints imposed by the latter. This paper discusses on the existing test methods for ADAS
Krishnamoorthy, Bharathi, Nammalwar, Giri, Wulf, Torsten, Pazhur, Nandini
An Automatic Emergency Braking System for Collision Avoidance Assist of Multi-Trailer Vehicle Based on Model Prediction Control2021-01-011704/06/2021
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 System2021-01-010004/06/2021
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-0027902/04/2021
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
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Platooning Vehicles Control for Balancing Coupling Maintenance and Trajectory Tracking - Feasibility Study Using Scale-Model Vehicles2020-01-012804/14/2020
Recently, car-sharing services using ultra-compact mobilities have been attracting attention as a means of transportation for one or two passengers in urban areas. A platooning system consisting of a manned leader vehicle and unmanned follower vehicles can reduce vehicle distributors. We have proposed a platooning system which controls vehicle motion based on the relative position and posture measured by non-contact coupling devices installed between vehicles. The feasibility of the coupling devices was validated through a HILS experiment. There are two basic requirements for realizing our platooning system; (1) all devices must remain coupled and (2) follower vehicles must be able to track the leader vehicle trajectory. Thus, this paper proposes two vehicle control method for satisfying those requirements. They are the “device coupling and trajectory tracking merging method” and the “trajectory shifting method”. The device coupling and trajectory tracking merging method consisting of
Fukui, Rui, Ye, Qiwei, Suzuki, Ayumi, Warisawa, Shin’ichi
A Decentralized Time- and Energy-Optimal Control Framework for Connected Automated Vehicles: From Simulation to Field Test2020-01-057904/14/2020
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.
Scenario Analysis and Control Comparison for a High Speed Autonomous Vehicle2020-01-071004/14/2020
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
Modeling and Identification of an Electric Vehicle Braking System: Thermal and Tribology Phenomena Assessment2020-01-109404/14/2020
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 Simulator2020-01-099204/14/2020
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
Energy-Optimal Deceleration Planning System for Regenerative Braking of Electrified Vehicles with Connectivity and Automation2020-01-058204/14/2020
This paper presents an energy-optimal deceleration planning system (EDPS) to maximize regenerative energy for electrified vehicles on deceleration events perceived by map and navigation information, machine vision and connected communication. The optimization range for EDPS is restricted within an upcoming deceleration event rather than the entire routes while in real time considering preceding vehicles. A practical force balance relationship based on an electrified powertrain is explicitly utilized for building a cost function of the associated optimal control problem. The optimal inputs are parameterized on each computation node from a set of available deceleration profiles resulting from a deceleration time model which are configured by real-world test drivings. Also, to maximize energy recuperation and avoid front collision and jittering, the proposed EDPS uses a hierarchical control architecture with two layers: long-sighted planning system considering the entire scope of
Kim, Dohee, Eo, Jeong Soo, Kim, Yeojun, Guanetti, Jacopo, Miller, Ryan, Borrelli, Francesco
A Platform for Quick Development, Simulation and Test of Autonomous Driving Vehicles2020-01-071304/14/2020
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
Urban Pilot Motion Planning and Control Deployment Via Real-Time Multi-Core Multi-Thread Prototyping2020-01-012504/14/2020
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
Hardware-in-the-Loop, Traffic-in-the-Loop and Software-in-the-Loop Autonomous Vehicle Simulation for Mobility Studies2020-01-070404/14/2020
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
Obstacle Avoidance Using Model Predictive Control: An Implementation and Validation Study Using Scaled Vehicles2020-01-010904/14/2020
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
Experimental Evaluation of Longitudinal Control for Automated Vehicles through Vehicle-in-the-Loop Testing2020-01-071404/14/2020
Automated driving functionalities delivered through Advanced Driver Assistance System (ADAS) have been adopted more and more frequently in consumer vehicles. The development and implementation of such functionalities pose new challenges in safety and functional testing and the associated validations, due primarily to their high demands on facility and infrastructure. This paper presents a rather unique Vehicle-in-the-Loop (VIL) test setup and methodology compared those previously reported, by combining the advantages of the hardware-in-the-loop (HIL) and traditional chassis dynamometer test cell in place of on-road testing, with a multi-agent real-time simulator for the rest of test environment. Details associated with applying the proposed VIL for testing adaptive cruise control (ACC), in conjunction with approaches for creating a virtual lead vehicle, as well as results of energy consumption analysis for a 2017 Toyota Prime with stock and improved longitudinal control algorithm, are
Di Russo, Miriam, Iliev, Simeon, Stutenberg, Kevin M., Ku, Jerry, Rask, Eric
Performance Evaluation of the Pass at Green Connected Vehicle V2I Application Using Simulation, Dynamometer and Track Testing2020-01-138004/14/2020
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
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
Digital Twins for Prognostic Profiling2019-28-245611/21/2019
Ability to have least failures in products on the field with minimum effort from the manufacturers is a major area of focus driven by Industry 4.0 initiatives. Amidst traditional methods of performing system/subsystem level tests often does not enable the complete coverage of a machine health performance predictions. This paper highlights a workable workflow that could be used as a template while considering system design especially employing Digital Twins that help in mimicking real-life scenarios early in the design cycle to increase product’s reliability as well as tend to near zero defects. With currently available disruptive technologies, systems integrated multi-domain 'mechatronics' systems operating in closed-loop/close-interaction. This poses great challenge to system health monitoring as failure of any component can trigger catastrophic system failures. It may be the reason that component failures, as per some aerospace reports, are found to be major contributing factors to
Thukaram, Painuri, Mohan, Sreeram
Performance Testing and Analysis of Multi-Channel Active Control System for Vehicle Interior Noise Using Adaptive Notch Filter2019-01-156706/05/2019
It is considered that slow convergence speed and large calculation amount of commonly used adaptive algorithm in the active control system for vehicle interior noise yield noise reduction performance and hardware requirements problems. In this paper, a 4-channel active control of vehicle interior noise based on adaptive notch filter is established, and road test is carried out to test and analyze the performance of the control system. Firstly, the general mathematic model of the multi-channel active control system based on adaptive notch filter is established. The computational complexity of the algorithm is analyzed and compared with that of the FXLMS algorithm. Secondly, a hardware-in-the-loop test bench based on multi-channel adaptive notch filter is set up, to measure the noise reduction performance of ANC system under various working conditions. Finally, the typical test conditions are designed to test the system noise reduction performance, and the road test is carried out and
Zhang, Lijun, Zhang, Xiyu, Meng, Dejian
Use of Hardware in the Loop (HIL) Simulation for Developing Connected Autonomous Vehicle (CAV) Applications2019-01-106304/02/2019
Many smart cities and car manufacturers have been investing in Vehicle to Infrastructure (V2I) applications by integrating the Dedicated Short-Range Communication (DSRC) technology to improve the fuel economy, safety, and ride comfort for the end users. For example, Columbus, OH, USA is placing DSRC Road Side Units (RSU) to the traffic lights which will publish traffic light Signal Phase and Timing (SPaT) information. With DSRC On Board Unit (OBU) equipped vehicles, people will start benefiting from this technology. In this paper, to accelerate the V2I application development for Connected and Autonomous Vehicles (CAV), a Hardware in the Loop (HIL) simulator with DSRC RSU and OBU is presented. The developed HIL simulator environment is employed to implement, develop and evaluate V2I connected vehicle applications in a fast, safe and cost-effective manner. The prepared simulator allows realistic, real-time evaluation of mobility and fuel economy benefits over simulated actual routes in
Cantas, Mustafa Ridvan, Kavas, Ozgenur, Tamilarasan, Santhosh, Gelbal, Sukru Yaren, Guvenc, Levent
On-Road and Chassis Dynamometer Evaluation of a Pre-Transmission Parallel PHEV2019-01-036504/02/2019
This paper details the vehicle testing activities performed during the Year 4 of the EcoCAR 3 competition by the Wayne State University team on a Pre-Transmission Parallel PHEV. The paper focuses on two main testing platforms: the chassis dynamometer and the closed-course track (on-road). The focus of the former is to evaluate the emissions and energy consumption associated with different driving scenarios, while the latter has been used to assess the vehicle performance and their impact on the consumer appeal. The paper presents the objectives of each test, the setup accomplished for the different vehicle testing platforms, the results obtained and the comparison with the values expected from simulations. In addition, the impact of the results on the refinement of the control strategies and on the validation of the simulation models are discussed. The EcoCAR 3 competition challenges sixteen North American universities to re-engineer a 2016 Chevrolet Camaro to reduce its environmental
Di Russo, Miriam, Arora, Vaibhav, Lyu, Ronghui, Ku, Jerry C.
Research and Development of an Electromagnetic Actuated Active Suspension2019-01-085804/02/2019
Active suspension could achieve good ride comfort and road holding performance. Traditional active suspension which utilizes air actuator or hydraulic actuator features relatively slow response or high energy consumption. Utilizing Permanent Magnet Synchronous Motor (PMSM) as actuator, the Electromagnetic Actuated Active Suspension (EAAS) benefits quick response and energy harvesting from vibration at the same time. Benchmarked with luxury cars available on the market, design parameters and design boundary are determined. A mechanism includes push bar and bell crank is designed to transfer the rotary motion of PMSM into linear motion of suspension, or verse vice. A prototype of EAAS is built in compromise of limited budget and a test bench is designed and set up. Different from conventional quarter car model, the model of EAAS in this paper is investigated and the total inertial of PMSM, gearbox and suspension control arms are calculated and simplified as an equivalent mass. Also
Yin, Jun, He, Jiaxing, Luo, Jie, Chen, Xinbo, Wu, Lixin
Development and Verification of Control Algorithm for Permanent Magnet Synchronous Motor of the Electro-Mechanical Brake Booster2019-01-110504/02/2019
To meet the new requirements of braking system for modern electrified and intelligent vehicles, various novel electro-mechanical brake boosters (Eboosters) are emerging. This paper is aimed at a new type of the Ebooster, which is mainly consisted of a permanent magnet synchronous motor (PMSM), a two-stage reduction transmission and a servo mechanism. Among them, the PMSM is a vital actuator to realize the functions of the Ebooster. To get fast response of the Ebooster system, a novel control strategy employing a maximum torque per ampere (MTPA) control with current compensation decoupling and current-adjusting adaptive flux-weakening control is proposed, which requires the PMSM can operate in a large speed range and maintain a certain anti-load interference capability. Firstly, the wide speed control strategy for the Ebooster’s PMSM is designed in MATLAB/Simulink. Then, to quickly verify the development algorithm in more real environment, dual dSPACE hardware tools are used to build a
Zhang, Haoran, Wu, Jian, He, Rui, Chen, Zhicheng
A Development of the Prediction and Optimization Tool for Wiper High Speed Performance2019-01-141703/25/2019
In this paper, we focused on the robust wiping performance of high speed driven condition as an important situation for vehicle safety. Frist, we selected appropriate wiper performance parameter to accurately predict its ability not only systematic point but also vehicle point. Second, we obtained parameter sensitivity of wiper high-speed performance using DFSS technique. Third, we developed prediction and optimization tool using commercial program; Excel and Visual Basic. Finally, we improved our tool to compare vehicle test and then modified prediction coefficient for the accuracy of tool. Thus, we proposed a systematic tool to predict wiping performance in high speed vehicle, and successfully obtained efficiency when we developed the new project’s wiper performance.
Kim, Hunjae
Modeling Response Time of Next Generation Electric Brake Boosters2018-01-187110/05/2018
In the course of this paper, a model suitable for studying the performance - in terms of response time, current draw, and peak pressure capacity - of an electric booster-based brake system is introduced. Some discussion about the need the model is attempting to fulfill and how it fits into the vehicle development process is offered, before explaining the model in full. The equations describing the physics of the model are presented, and an explanation of how the elements of the model are integrated together into an easy to use, fast-running spreadsheet environment is given. Case study examples, validating the model against physical test (hardware in the loop) test results are shown, followed by sensitivity studies testing how changing parameters such as caliper Pressure-Volume curves, hydraulic system flow characteristics, voltage supply, and temperature conditions affect performance.
Antanaitis, David B.
Effects of the Differences in Driving Behavior on Fuel Economy and Emission Characteristics during Vehicle Simulator Execution2018-01-176809/10/2018
Around the world, fuel economy and emission regulations for vehicles have become increasingly stringent year by year. In Europe, the real driving emission (RDE) testing was introduced for evaluating the emission at driving the road-going vehicles after September 2017. In order to effiency produce the actual vehicles, Each automobile manufacturer introduce the “Hardware In the Loop Simulator” (HILS) and “Engine In the Loop Simulator” (which is called the EILS or the extended HILS [1, 2]), which is combined with HILS and an actual engine. However, if the driver model used in the vehicle simulation (HILS, extended HILS) does not correctly simulate actual human driving behaviors, the model vehicle performances will differ from the actual vehicle performance. The fuel economy and emission characteristics are affected by the differences of the driver model control logic during the execution of vehicle simulation. In this study, we constructed new driver model, which is simulated the human
Okui, Nobunori
2021-12-29.TEST Fidelity Enhancement of Power-Split Hybrid Vehicle HIL (Hardware-in-the-Loop) Simulation by Integration with High Voltage Traction Battery Subsystem *CSP Meta Testing*2018-01-000804/03/2018
]. Traditionally, HIL simulations of hybrid vehicle controls and high-voltage battery controls have been implemented on separate HIL benches which are exclusively targeted for hybrid vehicle controls and battery controls simulations respectively. This research demonstrates an implementation of enhanced fidelity of a power-split hybrid vehicle powertrain controls HIL by integrating it with high-voltage traction battery subsystem HIL by networking the two aforementioned HIL systems together. The power-split hybrid vehicle HIL typically use simplified battery plant and controller models, and therefore, the addition of the high-voltage battery HIL provides a more detailed simulation of the high-voltage battery in which each cell is modeled such that cell voltage varies based on initial State-of-Charge (SOC) and temperature, capacity, fan speed, self-discharge, and other chemistry-based parameters. The integration of the battery HIL also provides the high-voltage interface to the battery
Jayaraman, Rajagopal, Joshi, Adit, To, Viet, Kaid, Ghamdan
Crank-Angle Resolved Real-Time Engine Modelling: A Seamless Transfer from Concept Design to HiL Testing2018-01-124504/03/2018
Virtual system integration and testing using hardware-in-the-loop (HiL) simulation enables front-loading of development tasks, provides a safer and reliable testing environment and reduces prototype hardware costs. One of the greatest challenges to overcome when performing HiL simulations is assuring a high model accuracy under stringent real-time requirements with acceptable development effort. This article represents a novel solution by deriving the plant model for HiL directly from the existing detailed models from the component layout phase using co-simulation methodology. It provides an effective and efficient model implementation and validation process followed by detailed quantitative analysis of the test results referred to the engine test bench measurements. For virtual calibration purpose, a detailed one-dimensional (1D) GT-POWER model for a state-of-the-art turbocharged diesel engine with exhaust gas recirculation (EGR) is simplified and transformed to a HiL platform
Xia, Feihong, Lee, Sung-Yong, Andert, Jakob, Kampmeier, Andreas, Scheel, Thomas, Ehrly lng, Markus, Tharmakulasingam, Raul, Takahashi, Yu, Kumagai, Tomohisa
Heavy Duty Diesel Engine Modeling with Layered Artificial Neural Network Structures2018-01-087004/03/2018
In order to meet emissions and power requirements, modern engine design has evolved in complexity and control. The cost and time restraints of calibration and testing of various control strategies have made virtual testing environments increasingly popular. Using Hardware-in-the-Loop (HiL), Volvo Penta has built a virtual test rig named VIRTEC for efficient engine testing, using a model simulating a fully instrumented engine. This paper presents an innovative Artificial Neural Network (ANN) based model for engine simulations in HiL environment. The engine model, herein called Artificial Neural Network Engine (ANN-E), was built for D8-600 hp Volvo Penta engine, and directly implemented in the VIRTEC system. ANN-E uses a combination of feedforward and recursive ANNs, processing 7 actuator signals from the engine management system (EMS) to provide 30 output signals. To improve the accuracy in predicting exhaust emissions, the ANNs were arranged into two layers, such that engine
Sediako, Anton D., Andric, Jelena, Sjoblom, Jonas, Faghani, Ethan
Hardware-in-the-Loop-Based Virtual Calibration Approach to Meet Real Driving Emissions Requirements2018-01-086904/03/2018
The use of state-of-the-art model-based calibration tools generate only limited benefits for seamless validation in powertrain calibration due to the often neglected system-level simulation of a closed-loop vehicle environment. This study presents a Hardware-in-the-Loop (HiL)-based virtual calibration approach to establish an accurate virtual calibration platform using physical plant models. It is based on a customisable real-time HiL simulation environment. The use of physical models to predict the behaviour of a complete powertrain makes the HiL test bench particularly suited for Engine Control Unit (ECU) calibration. With the virtual test rig approach, the calibration for the critical extended driving and ambient conditions of the new Real Driving Emissions (RDE) requirements can efficiently be optimised. This technique offers a clear advantage in terms of reducing calibration time and costs. The physical nature of the plant models permits to extrapolate the behaviour of the system
Lee, Sung-Yong, Andert, Jakob, Neumann, Daniel, Querel, Carole, Scheel, Thomas, Aktas, Sahin, Miccio, Michele, Schaub, Joschka, Koetter, Matthias, Ehrly, Markus
Development and Calibration of One Dimensional Engine Model for Hardware-In-The-Loop Applications2018-01-087404/03/2018
The present paper aims at developing an innovative procedure to create a one-dimensional (1D) real-time capable simulation model for a heavy-duty diesel engine. The novelty of this approach is the use of the top-level engine configuration, test cell measurement data, and manufacturer maps as opposite to common practice of utilizing a detailed 1D engine model. The objective is to facilitate effective model adjustments and hence further increase the application of Hardware-in-the-Loop (HiL) simulations in powertrain development. This work describes the development of Fast Running Model (FRM) in GT-SUITE simulation software. The cylinder and gas-path modeling and calibration are described in detail. The results for engine performance and exhaust emissions produced satisfactory agreement with both steady-state and transient experimental data. Therefore, the presented methodology shows a great potential for testing and validation of new control strategies in Engine Management System (EMS
Andric, Jelena, Schimmel, Daniel, Sediako, Anton D., Sjoblom, Jonas, Faghani, Ethan
Use of Robust DOB/CDOB Compensation to Improve Autonomous Vehicle Path Following Performance in the Presence of Model Uncertainty, CAN Bus Delays and External Disturbances2018-01-108604/03/2018
Autonomous vehicle technology has been developing rapidly in recent years. Vehicle parametric uncertainty in the vehicle model, variable time delays in the CAN bus based sensor and actuator command interfaces, changes in vehicle sped, sensitivity to external disturbances like side wind and changes in road friction coefficient are factors that affect autonomous driving systems like they have affected ADAS and active safety systems in the past. This paper presents a robust control architecture for automated driving systems for handling the abovementioned problems. A path tracking control system is chosen as the proof-of-concept demonstration application in this paper. A disturbance observer (DOB) is embedded within the steering to path error automated driving loop to handle uncertain parameters such as vehicle mass, vehicle velocities and road friction coefficient and to reject yaw moment disturbances. The compensation of vehicle model with the embedded disturbance observer forces it to
Wang, Haoan, Guvenc, Levent
A Modular Wide Bandwidth High Performance Automotive Lithium-Ion Cell Emulator for Hardware in the Loop Application2018-01-043104/03/2018
The performance of electrical vehicles strongly depends on characteristics of its energy storage system. A typical lithium-ion battery system is supervised by a battery management system to optimize operation and ensure safety over its whole lifecycle. Advanced battery management systems apply sophisticated fast charging procedures and active cell balancing. In future, impedance spectroscopy based on driving current stimulation for online estimation of the energy storage’s state of health can be expected. For efficient development and testing of such battery management systems it is impractical to use real lithium-ion cells in arbitrary condition of state of charge, temperature and state of health. Consequently, hardware in the loop cell emulators are state of the art. Most of them are limited to low frequency operation. In this paper, a novel modular wide bandwidth high performance lithium-ion cell emulator is introduced. The performance is proven by applying a commercial active cell
Lueke, Christopher, Haussmann, Peter, Melbert, Joachim
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