Browse Topic: Software-in-the-loop (SIL)

Items (49)

Integrated Testing Platform for Complete ECU Software Validation

2024-26-034001/16/2024

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 System

2024-26-011701/16/2024

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

Test:15/2

SAE-PP-0781002/15/2023

Test:15/2

Mutagaana, Festo

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

Test-driven full vehicle modelling for ADAS algorithm development

2021-26-003309/22/2021

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

Model Release Process using Standardized Error Metrics for Validation of X-in-the-Loop Simulation Models

2021-01-114809/21/2021

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

Making Data Logging, Replay and Prototyping More Efficient

20AVEP07_0507/01/2020

High levels of continuity and compatibility are vital to avoid interruptions in the development process - and reduce cost. The development of advanced driver assistance (ADAS) and highly automated driving systems poses great challenges for OEM and supplier engineers. It is important, therefore, that powerful, flexibly configurable development systems optimally support the various use cases in data-driven development to make it as efficient as possible. In the case of functionality for both ADAS autonomous driving, the chain of effects can be divided into several steps, starting with environment detection with the aid of extensive sensor technology - including camera, radar, lidar and ultrasonics - and ending with the final implementation of the driving strategy and actuator control (Fig. 2).

Mertens, Frank, Müller, Marius

Dyno-in-the-Loop: An Innovative Hardware-in-the-Loop Development and Testing Platform for Emerging Mobility Technologies

2020-01-105704/14/2020

Today’s transportation is quickly transforming with the nascent advent of connectivity, automation, shared-mobility, and electrification. These technologies will not only affect our safety and mobility, but also our energy consumption, and environment. As a result, it is of unprecedented importance to understand the overall system impacts due to the introduction of these emerging technologies and concepts. Existing modeling tools are not able to effectively capture the implications of these technologies, not to mention accurately and reliably evaluating their effectiveness with a reasonable scope. To address these gaps, a dynamometer-in-the-loop (DiL) development and testing approach is proposed which integrates test vehicle(s), chassis dynamometer, and high fidelity traffic simulation tools, in order to achieve a balance between the model accuracy and scalability of environmental analysis for the next generation of transportation systems. With this DiL platform, a connected eco

Wu, Guoyuan, Brown, Dylan, Zhao, Zhouqiao, Hao, Peng, Todd, Michael, Boriboonsomsin, Kanok, Barth, Matthew, Gao, Zhiming, LaClair, Tim

Hardware-in-the-Loop, Traffic-in-the-Loop and Software-in-the-Loop Autonomous Vehicle Simulation for Mobility Studies

2020-01-070404/14/2020

We are interested in finding and analyzing the relevant parameters affecting traffic flow when introducing Autonomous Vehicles for ride hailing applications and Autonomous Shuttles for circulator applications in geo-fenced urban areas. 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 such scenarios. On the other hand, software for autonomous entities is also continuously improved. However, benchmarks for such software usually run in isolation from other factors such as the ones mentioned above. Yet, in order to effectively study the effects of the introduction of autonomous agents into city streets, all these factors must be considered. For these reasons, different simulation tools are needed to converge into a single simulation

Meneses Cime, Karina, Cantas, Mustafa Ridvan, Dowd, Garrett, Guvenc, Levent, Aksun Guvenc, Bilin, Mittal, Archak, Joshi, Adit, Fishelson, James

Harness Model Development by co-simulation of the Transmission Black Box model and Vehicle model for a Medium Heavy Duty Internal Combustion based Powertrain

2019-01-226812/19/2019

With the automotive industry moving toward model based development approach, detailed model integration plays an important role in the process. In comparison to map-based models, detailed models have higher fidelity with the results being more accurate & repeatable. High fidelity models are significant as it allows for early design validation through experimentation. The primary objective of this study is to develop a co-simulation between the transmission black box in Simulink and the vehicle model in GT-Suite. The secondary objective of this study is to understand the difference in the fidelity of the map based transmission model and the detailed transmission model. For the detailed transmission model, the transmission black box provided by the supplier, is a comprehensive model setup in the Simulink platform. The co-simulation is initialized from Simulink, where in Simulink acts as the primary platform. The commands are then forwarded to GT-Suite which is embedded in the Simulink

Shetty, Aishwarya, Pasupathi, Santhosh, Vernham, Bruce, Bergsieker, Gerald

Engine-Aftertreatment in Closed-Loop Modeling for Heavy Duty Truck Emissions Control

2019-01-098604/02/2019

An engine-aftertreatment computational model was developed to support in-loop performance simulations of tailpipe emissions and fuel consumption associated with a range of heavy-duty (HD) truck drive cycles. For purposes of this study, the engine-out exhaust dynamics were simulated with a combination of steady-state engine maps and dynamic correction factors that accounted for recent engine operating history. The engine correction factors were approximated as dynamic first-order lags associated with the thermal inertia of the major engine components and the rate at which engine-out exhaust temperature and composition vary as combustion heat is absorbed or lost to the surroundings. The aftertreatment model included catalytic monolith components for diesel exhaust oxidation, particulate filtration, and selective catalytic reduction of nitrogen oxides (NOx) with urea. Both the engine and aftertreatment models have been calibrated with dynamometer measurements from a commercial 2010

Gao, Zhiming, Deter, Dean, Smith, David, Pihl, Josh, Daw, C. Stuart, Parks, James

Development and Software in the Loop Validation of a Model-based Water Injection Combustion Controller for a GDI TC Engine

2019-01-117404/02/2019

Turbocharged (TC) engines work at high Indicated Mean Effective Pressure (IMEP), resulting in high in-cylinder pressures and temperatures, improving thermal efficiency, but at the same time increasing the possibility of abnormal combustion events like knock and pre-ignition. To mitigate knocking conditions, engine control systems typically apply spark retard and/or mixture enrichment, which decrease indicated work and increase specific fuel consumption. Many recent studies have advocated Water Injection (WI) as an approach to replace or supplement existing knock mitigation techniques. Water reduces temperatures in the end gas zone due to its high latent heat of vaporization. Furthermore, water vapor acts as diluent in the combustion process. In this paper, the development of a novel closed-loop, model-based WI controller is discussed and critically analyzed. The innovative contribution of this paper is to propose a control strategy based on an analytical combustion model that describes

Ranuzzi, Francesco, Cavina, Nicolo, Brusa, Alessandro, De Cesare, Matteo, Panciroli, Marco

Advancements Made to the Wingman Software-in-the-Loop (SIL) Simulation: How to Operate the SIL

TBMG-2889905/01/2018

The US Army Research Laboratory (ARL), US Army Tank Automotive Research Development and Engineering Center (TARDEC), DCS Corp., and Naval Surface Warfare Center Dahlgren Division (NSWCDD) worked together to advance the capabilities of a software-in-the-loop (SIL) simulation environment in support of the larger TARDEC-Wingman Joint Capabilities Technology Demonstration (JCTD).

The Development of Skutterudite-Based Thermoelectric Generators for Vehicles

2018-01-078804/03/2018

With the continuing improvements to thermoelectric (TE) materials and systems, their potential for both energy recovery and thermal management is increasingly apparent. Recent developments in materials and notably Skutterudites have allowed materials to be matched much more closely to the working temperatures of a light duty power-train. The choice of TE materials remains a substantial question in the design of a thermoelectric generator (TEG). While the quest for improvements in materials performance continues, the work reported in this paper is characterized by the decision to focus on the refinement of one class of TE materials: Skutterudites. In parallel, the engineering work on the integration of the TE materials into a heat exchanger could continue and be focused on the properties of this class of material. Skutterudites offer the combination of a high working temperature and a competitive electrical output (defined by ZT, the figure of merit). Well matched p-type and n-type

Stobart, Richard K., Yang, Zhijia

Diesel Combustion and Control Using a Novel Ignition Delay Model

2018-01-124204/03/2018

The future emission standards, including real driving emissions (RDE) measurements are big challenges for engine and after-treatment development. Also for development of a robust control system, in real driving emissions cycles under varied operating conditions and climate conditions, like low ambient temperature as well as high altitude are advanced physical-based algorithms beneficial in order to realize more precise, robust and efficient control concepts. A fast-running novel physical-based ignition delay model for diesel engine combustion simulation and additionally, for combustion control in the next generation of ECUs is presented and validated in this study. Detailed chemical reactions of the ignition processes are solved by a n-heptane mechanism which is coupled to the thermodynamic simulation of in-cylinder processes during the compression and autoignition phases. All relevant engine operating conditions, like engine speed, in-cylinder charge mass and temperature as well as

Rezaei, Reza, Tilch, Benjamin, Delebinski, Thaddaeus, Bertram, Christoph

Towards a Supermileage Autonomous Vehicle

2017-01-011403/28/2017

The project consists on the mechanical and electronic instrumentation of an existing vehicle (built at Universidad de Monterrey for the SAE Supermileage Competition) to be able to control its steering, braking and throttle systems “by wire”. Insight to the stages of turning the vehicle into an autonomous one is presented. This includes identification of the current mechanical properties, choosing adequate components and the use of a simulation to allow early work on the software involving cameras and motors to provide autonomy to the vehicle. Using software in the loop methodology mathematical models of the dynamics of the vehicle are run in Simulink and update the position and orientation of the 3D model of the vehicle in V-REP, a robot simulator.

Lozoya Santos, Jorge De-J., Tudon-Martinez, J. C.

Real-Time Implementation and Validation for Automated Path Following Lateral Control Using Hardware-in-the-Loop (HIL) Simulation

2017-01-168303/28/2017

Software for autonomous vehicles is highly complex and requires vast amount of vehicle testing to achieve a certain level of confidence in safety, quality and reliability. According to the RAND Corporation, a 100 vehicle fleet running 24 hours a day 365 days a year at a speed of 40 km/hr, would require 17 billion driven kilometers of testing and take 518 years to fully validate the software with 95% confidence such that its failure rate would be 20% better than the current human driver fatality rate [1]. In order to reduce cost and time to accelerate autonomous software development, Hardware-in-the-Loop (HIL) simulation is used to supplement vehicle testing. For autonomous vehicles, path following controls are an integral part for achieving lateral control. Combining the aforementioned concepts, this paper focuses on a real-time implementation of a path-following lateral controller, developed by Freund and Mayr [2]. The controller is implemented on a powertrain subsystem HIL simulation

Joshi, Adit

Yaw Stability Enhancement of Articulated Commercial Vehicles via Gain-Scheduling Optimal Control Approach

2017-01-043703/28/2017

In this paper, a gain-scheduling optimal control approach is proposed to enhance yaw stability of articulated commercial vehicles through active braking of the proper wheel(s). For this purpose, an optimal feedback control is used to design a family of yaw moment controllers considering a broad range of vehicle velocities. The yaw moment controller is designed such that the instantaneous tractor yaw rate and articulation angle responses are forced to track the target values at each specific vehicle velocity. A gain scheduling mechanism is subsequently constructed via interpolations among the controllers. Furthermore, yaw moments derived from the proposed controller are realized by braking torque distribution among the appropriate wheels. The effectiveness of the proposed yaw stability control scheme is evaluated through software-in-the-loop (SIL) co-simulations involving Matlab/Simulink and TruckSim under lane change maneuvers. Simulation results demonstrate that the proposed gain

Li, Bin, Rakheja, Subhash

Model-in-the-Loop Testing of SOC and SOH Estimation Algorithms in Battery Management Systems

2017-26-009401/10/2017

With the increasing application of the lithium ion battery technology in automotive industry, development processes and validation methods for the battery management system (BMS) have drawn more and more attentions. One fundamental function of the BMS is to continuously estimate the battery’s state-of-charge (SOC) and state-of-health (SOH) to guarantee a safe and efficient operation of the battery system. For SOC as well as SOH estimations of a BMS, there are certain non-ideal situations in a real vehicle environment such as measurement inaccuracies, variation of cell characteristics over time, etc. which will influence the outcome of battery state estimation in a negative way. Quantifying such influence factors demands extensive measurements. Therefore, we have developed a model-in-the-loop (MIL) environment which is able to simulate the operating conditions that a BMS will encounter in a vehicle. Due to the high flexibility of this MIL environment, BMS developers are able to

Li, Shi, Stapelbroek, Michael, Pfluger, Jan

X-Plane Communication Toolbox (XPC)

TBMG-2535909/01/2016

The X-Plane Connect Toolbox is an open-source research tool used to interact with the commercial flight simulator software X-Plane. XPC allows users to control aircraft and receive real-time state information from aircraft simulated in X-Plane using functions written in C, C++, Java, MathWorks’ MATLAB, or Python in real time over the network. This research tool has been used to visualize flight paths, test control algorithms, generate ghost traffic, create third-party autopilot, perform hardware-in-the-loop testing, simulate an active airspace, or generate out-the-window visuals for in-house flight simulation software. Possible applications include active control of an X-Plane simulation, flight visualization, recording states during a flight, or interacting with a mission over UDP.

Defying the disruptors and DRIVING

16AUTP04_0104/01/2016

Four top engineering executives discuss how their “traditional” companies are finding new technology opportunities and business growth amid the start-ups- and are even doing some disrupting themselves. Need proof of the auto industry's crazy pace of change? Look no further than the daily news, where reports of each emergent player-and their impact on what remains of the status quo-seem less and less startling. Consider a vacuum cleaner company that has its eye on more than cleaning carpets. Dyson, whose efficient high-suction machines created a new technology paradigm, has applied for government funding in its native U.K. and is looking to hire up to 500 engineers, ostensibly to develop electric vehicles. Dyson, which purchased Michigan solid-state battery start-up Sakti3 for $90 million, said it plans to invest nearly $1.5B in battery technology through 2020.

Brooke, Lindsay

Model Predictive Control as a Solution for Standardized Controller Synthesis and Reduced Development Time Application Example to Diesel Particulate Filter Temperature Control

2015-01-163204/14/2015

Over the past few years, innovative engine layouts have enabled significant reductions in both fuel consumption and pollutant emissions. However, exponential growth of powertrain control strategies complexity has inevitably accompanied these achievements. As a result, control and calibration development time and effort have become an ever-growing concern in powertrain design. An illustrative example of this complexity is Diesel Particulate Filters (DPF), which requires periodic regeneration to eliminate the accumulated soot. The main challenge for a DPF is to enhance the efficiency of these regeneration events, which depend largely on the quality of the regeneration temperature control. In this paper, we describe the DPF regeneration process, especially the main constraints and identification tests. We then give a simulation based comparison of two model based control solutions for the DPF thermal control during regeneration. Finally, we compare Renault's currently applied industrial

Bencherif, Karim, von Wissel, Dirk, Lansky, Lukas, Kihas, Dejan

A Primer on Building a Hardware in the Loop Simulation and Validation for a 6X4 Tractor Trailer Model

2014-01-011804/01/2014

This research was to model a 6×4 tractor-trailer rig using TruckSim and simulate severe braking maneuvers with hardware in the loop and software in the loop simulations. For the hardware in the loop simulation (HIL), the tractor model was integrated with a 4s4m anti-lock braking system (ABS) and straight line braking tests were conducted. In developing the model, over 100 vehicle parameters were acquired from a real production tractor and entered into TruckSim. For the HIL simulation, the hardware consisted of a 4s4m ABS braking system with six brake chambers, four modulators, a treadle and an electronic control unit (ECU). A dSPACE simulator was used as the “interface” between the TruckSim computer model and the hardware.

Ashby, Ryan M., Jeong, JongYun, Rao, Shreesha Y., Heydinger, Gary J., Guenther, Dennis A.

Creating a Systems Simulation Framework & Roadmap

2013-01-228209/17/2013

The Aerospace and Automotive industries face increasing product complexity and shortening of product development cycles. One critical means companies in these industries strive to directly overcome these challenges is through modeling and simulation. Beginning at the earliest phases in the new product development process, companies derive additional value through increased deployment of simulation across the entire product life-cycle. This paper discusses three areas: 1) the business case for change; 2) technology enablement of the various types of model-based simulators; 3) institutional mobilization to move to a new enterprise state that embraces new ways of working and engaging with existing and prospective customers. The business case for change focuses on two main points in acquisition: developing a detailed understanding of the system needs and systematically working through the techno-economic estimation challenges. Simulations enabled from the systems assets created in the

Corbier, Franck, Soodeen, Mark, Loembe, Sandrine, Thurston, Garrett

Development of Production Control Algorithms for Hybrid Electric Vehicles by Using System Simulation: Technology Leadership Brief

2012-01-900810/08/2012

In an earlier paper, the authors described how Model-Based System Engineering could be utilized to provide a virtual Hardware-in-the-Loop simulation capability, which creates a framework for the development of virtual ECU software by providing a platform upon which embedded control algorithms may be developed, tested, updated, and validated. The development of virtual ECU software is increasingly valuable in automotive control system engineering because vehicle systems are becoming more complex and tightly integrated, which requires that interactions between subsystems be evaluated during the design process. Variational analysis and robustness studies are also important and become more difficult to perform with real hardware as system complexity increases. The methodology described in this paper permits algorithm development to be performed prior to the availability of vehicle and control system hardware by providing what is essentially a virtual integration vehicle.

Michaels, Lawrence, Kropinski, Michael

Efficiency of On-Off Semiactive Suspensions in a Pick-up Truck

2012-01-097904/16/2012

A comparative analysis between three different semi-active suspension control techniques in a full vehicle model of a pick-up truck is presented. Each independent corner of the vehicle uses a Magneto-Rheological (MR) damper model. The MR damper model includes nonlinearities, hysteresis, and transient response between the manipulation and actuation. The damper model parameters have been obtained from experimental data provided from a BWI™ MR damper. Different tests were used to evaluate the semi-active control strategies by using the CarSim® software. The evaluated controllers, which are based on switching manipulation between the low and high damping force, are: 1) the hybrid controller, 2) Mix 1-sensor (Mix-1) and 3) Frequency Estimation-Based (FEB) controller. These selected controllers share the next features: the use of few sensors, free of models, and they do not require anti-saturation mechanisms. Simulation results showed that the FEB controller had the best performance for

Tudon-Martinez, Juan C., Lozoya-Santos, Jorge, Morales-Menendez, Ruben

AUTOSAR-Compliant Development Workflows: From Architecture to Implementation - Tool Interoperability for Round-Trip Engineering and Verification and Validation

2012-01-096204/16/2012

AUTOSAR is on the road. Many OEMs and suppliers have established processes that are project-proven, flexible, and efficient for developing AUTOSAR-compliant applications. These development processes require a variety of tools that support requirements management, system architecture development, Model-Based Design, and verification and validation. Hence, interoperability of these tools is essential for the completion of high-quality projects on time. Building an interface from one tool to the next is often insufficient because processes for production projects are typically more complex than a top-down or bottom-up flow. However, a tool chain must support iterative development across all phases. For example, when a change in customer requirements triggers modifications to the software architecture, definitions for components, runnables, interfaces, or ports all need to be updated accordingly. Alternatively, while modeling the functional design, an engineer may realize that additional

Sandmann, Guido, Seibt, Michael

Virtual Testing and Simulation Environment [Micro-HiL] for Engine and Aftertreatment Calibration and Development -Part 2

2012-01-092804/16/2012

The growing complexity of powertrain control strategies, software, and hardware is proving to be a significant challenge to the engineering community with regard to managing effective optimization to meet the desired performance. With an increased emphasis on shorter development time and the use of additional sensors and actuators becoming common, the increased dependence on physical models and use of complex interdependent control systems demands a thorough system understanding. This also encourages the use of process improvement tools to assist in an effective engineering process. In this paper, such a tool is discussed in its second phase of development. The Micro-HiL system will be discussed over a wide scope that focuses on the interests of the calibration and development community. The purpose of this paper is to provide an update on the Phase 2 activity of Micro-HiL development; Phase 1 was discussed in-depth at the 2011 SAE World Congress [2011-01-0703]. Beginning with a

Nanjundaswamy, Harsha K., Dahodwala, Mufaddel, Farsodia, Mitesh, Tomazic, Dean, Koehler, Erik

Maturity Level and Variant Validation of Mechatronic Systems in Commercial Vehicles

2011-01-226309/13/2011

Driver assistance systems (e.g. the emergency brake assist Active Brake Assist2, or ABA2 for short, in the Mercedes-Benz Actros) are becoming increasingly common in heavy-duty commercial vehicles. Due to the close interconnection with drivetrain and suspension control systems, the integration and validation of the functions make the most exacting demands on processes and tools involved in mechatronics development. In addition to a multi-stage test process focusing on the functions of the driver assistance systems (software), the “electrical” aspects (hardware) also form part of holistic maturity level validation. The test process is supported by state-of-the-art, high-performance tools (e.g. automatable component test benches and overall vehicle HiL systems) which, in particular, allow quick and accurate configuration in line with different vehicle variants. Another challenge is the diversity of commercial vehicle variants, which entails numerous different control unit parameters that

Bardelang, Thomas

Efficient Method for Modeling and Code Generation of Custom Functions

2011-01-005504/12/2011

Custom functions are widely used in real-time embedded automotive applications to conserve scarce processor resources. Typical examples include mathematical functions, filtering routines and lookup tables. The custom routines are very efficient and have been in production for many years [ 1 ]. These hand-crafted functions can be reused in new control algorithm designs being developed using Model Based Design (MBD) tools. The next generation of vehicle control software may contain a mix of both automatically generated software and manually developed code. At Ford Motor Company, the code is automatically generated from control algorithm models that are developed using The MathWorks tool chain. Depending on the project-specific needs, the control algorithm models are automatically translated to efficient C code using either The Math Works Real-Time Workshop Embedded Coder (RTW-EC) or dSPACE TargetLink production code generators. The production software can therefore contain a mix of hand

Nallapa, Venkatapathi, Syed, Fazal, Russell, Jeremy, Banker, Adam, Hoadley, David, Sinistaj, Marko

Using Modeling and Simulation to Support Future Medium and Heavy Duty Regulations

2011-26-004801/19/2011

Other than in Japan, medium and heavy duty vehicles (MHDVs) are not regulated despite accounting for a significant portion of the fuel consumed (about 26% in the US in 2008). Government agencies worldwide are currently evaluating options to address that issue. Due to the large number of vehicle applications, some of them being “one of a kind”, vehicle modelling and simulation offers an attractive solution to medium and heavy duty regulations. This paper discusses the advantages and challenges of vehicle simulation to support regulations.

Rousseau, Aymeric, Vijayagopal, Ram

Power Train Model Refinement Linked with Parameter Updating Through Nonlinear Optimization

2010-01-142106/09/2010

In the virtual development process validated simulation models are requested to accurately predict power train vibration and comfort phenomena. Conclusions from refined parameter studies enable to avoid costly tests on rigs and on the road. Thereby, an appropriate modeling approach for specific phenomena has to be chosen to ensure high quality results. But then, parameters for characterizing the dynamic properties of components are often insufficient and have to be roughly estimated in this development stage. This results in a imprecise prediction of power train resonances and in a less conclusive understanding of the considered phenomena. Conclusions for improvements remain uncertain. This paper deals with the two different aspects of model refinement and parameter updating. First an existing power train model (predecessor power train) is analyzed whether the underlying modeling approach can reproduce the physical behavior of the power train dynamics adequately. Thereby especially

Girstmair, Josef, Priebsch, Hans H., Reich, Franz, Zehetner, Josef

Closed Loop Transaxle Synchronization Control Design

2010-01-081704/12/2010

This paper covers the development of a closed loop transaxle synchronization algorithm which was a key deliverable in the control system design for the L3 Enigma, a Battery Dominant Hybrid Electric Vehicle. Background information is provided to help the reader understand the history that lead to this unique solution of the input and output shaft synchronizing that typically takes place in a manual vehicle transmission or transaxle when shifting into a gear from another or into a gear from neutral when at speed. The algorithm stability is discussed as it applies to system stability and how stability impacts the speed at which a shift can take place. Results are simulated in The MathWorks Simulink programming environment and show how traction motor technology can be used to efficiently solve what is often a machine design issue. The vehicle test bed to which this research is applied is a parallel biodiesel hybrid electric vehicle called the Enigma. This vehicle is believed to be the

Falcone, Frank J., Burns, Jim, Nelson, Douglas J.

Modeling & Code Generation for Powertrain Control Monitoring

2010-01-020604/12/2010

With the introduction of new technologies ranging from developing new alternative energy vehicles to passive and active safety systems, the automakers are responding to the increased complexity of the control system by embracing Model Based Design (MBD) and Auto-code Generation (ACG) tools for control system design. This translates into lower development costs, higher quality and faster time-to-market. The Ford Motor Company production hybrid group launched a pilot project to study the feasibility of using MBD to speed up the development and testing of the next generation Torque Monitor software. This software uses a custom data storage format, called Double Store Variable (DSV) format, for all the critical signals. Each variable contains two fields, one for storing the actual data and the second for storing a transformed copy (e.g. one's complement) of the data. This allows the software to detect run-time corruption of the data in real-time. This paper presents the results of the

Badreddine, Bader, Murphy, Kim, Nallapa, Raju, Syed, Fazal, Suriyaprakash, Vignesh Govind, Hoadley, Dave

Thermal - Power - Software Development and Validation on ATV Vehicle

2009-01-255807/12/2009

Jules Verne (JV) is the name of the first Automated Transfer Vehicle (ATV) developed by ASTRIUM Space Transportation on behalf of European Space Agency (ESA). JV was launched the 9 March 2008 by ARIANE 5 and performed the 3 April 2008 its automatic rendezvous and docking to the International Space Station (ISS) to which it remained attached up to the 5 September 2008. In the meantime, JV has provided the ISS with dry and fluid cargo and performed one refueling, four ISS re-boosts and one Debris Avoidance Maneuver. JV completed its successful mission by offloading waste and was destroyed during its re-entry the 29 September 2008. Generally, development and verification of Power management rely on classical thermal and electrical engineering. Here, due to the mission and safety requirements, the vehicle complexity and the high level of software management, engineering and validation has been supported by a specific ATV all numerical simulator, representative for ATV thermal, electrical

Guyot, Jean-Christophe, Oger, Patrick, Vincent, Pascal, Dore, Bachisio, Bouckaert, Frank

Requirement Analysis and Development using MATLAB Models

2009-01-154804/20/2009

Requirements development and analysis for automotive electronics products have been found to be tremendously challenging to both OEMs and suppliers. Besides ambiguity, incompleteness, conflicts and other pitfalls commonly seen in requirement specifications, in some cases, a requirements document for a new electronics product may even not exist and may need to be developed from scratch. Analysis reveals that generic model-based approaches and toolsets presently available lack support for requirements development while facilitating all other development activities across the entire product development cycle. In this work, we describe a model-based development methodology centering on requirements development, engineering, and management while supporting other development activities including requirements analysis and clarification, rapid prototyping, simulation, verification and validation, automatic code generation, and SIL/HIL testing. The methodology leverages the MATLAB® toolset

Yang, Jinming, Bauman, Jason, Beydoun, Al

Techniques for Generating and Measuring Production Code Constructs from Controller Models

2009-01-014904/20/2009

A key step in Model-Based Design is the deployment of an algorithm as machine code onto a target processor in the production vehicle. Modern software tools automatically generate the algorithmic source code from models. Given the many combinatorial possibilities for realizing a given algorithm within the modeling environment, the generated C source code will be a function of a realization. This dependency is an important consideration because the quality and clarity of the source code impacts the amount of verification and analysis that must be done for production software development. Other factors involved in generating the machine code from the source code, such as compiler optimization and microprocessor architecture, also contribute to this optimization. Organizations that proactively data mine and gather these optimizations into a set of best practices stand to benefit from reduced development times and lower costs. This paper introduces techniques that can be used to generate

Chou, Bill, Mahapatra, Saurabh

Using Software Architecture Models in Automotive Development Processes

2008-01-266410/07/2008

Over the last few years the introduction of explicit system and software architecture models (e.g. AUTOSAR models) has led to changes in the automotive development process. The ability to simulate these models on a PC will be decisive for the acceptance of such approaches. This would support the early verification of distributed ECU and software systems and could therefore lead to cost savings. This paper describes an implementation of such an approach which fits into current development processes.

Niggemann, Oliver, Otterbach, Rainer, Fleischer, Dirk, Jogi, Santhosh

Transmission Control Design Approach Using Simulation, Rapid Prototyping, and Auto Code Generation

2008-01-053604/14/2008

A math-based approach is now in use to reduce transmission control algorithm development time and prototyping iterations, and to improve transmission control algorithm and software quality. This paper will describe the application of this efficient approach to the development of a transmission control algorithm for production. The processes for algorithm design, closed-loop and rapid prototype testing, auto-code generation of production software, and potential hardware-in-the-loop verification are described with references to supporting development tools. This approach enables upfront, math-based development and performance assessment of transmission control algorithms and their interactions with other powertrain and vehicle control algorithms. Examples will illustrate the efficiency of the control algorithm development approach over a wide range of conditions.

Yan, Kevin (Quanzhong), Trush, Christopher J.

Method to Efficiently Implement Automotive Application Algorithms Using Signal Processing Engine (SPE) of Copperhead Microcontroller

2008-01-122204/14/2008

This paper presents the studies on how to efficiently and easily implement ECU application algorithms using the Signal Processing Engine (SPE) of the Copperhead microcontroller. With the introduced development and testing concepts and methods, users can easily establish their own PC based SPE emulation system. All application unit testing and verification work for the fixed point implementation using SPE functions can be easily conducted in PC without relying on a costly real time test bench and expensive third party dedicated software. With this simple development environment, the code can be run in both embedded controllers and PCs with exact bit to bit numerical behavior. The paper also demonstrates many other benefits such as code statistics information retrieval, floating simulation mode, automated code verification, online and offline code sharing. As an example, knock detection algorithms were used to evaluate the SPE's benefits in computational time compared with conventional C

Wu, Zhijian James, Chen, Li (Linda)

Fixed-Point ECU Development with Model-Based Design

2008-01-074404/14/2008

When developing production software for fixed-point Engine Control Units (ECUs), it is important to consider the transition from floating-point to fixed-point algorithms. Systems engineers frequently design algorithms in floating-point math, usually double precision. This represents the ideal algorithm behavior without much concern for its final realization in production software and hardware. Software engineers and suppliers in mass production environments, however, are concerned with production realities and often need to convert these algorithms to fixed-point math for their integer-only hardware. A key task is to design scale factors that maximize code efficiency by minimizing the bytes used, while also minimizing quantization effects such that the fixed-point algorithms match the floating-point results within an acceptable numerical margin. This floating- to fixed-point conversion task is tedious, labor intensive, error-prone, and often requires multiple iterations between system

Erkkinen, Tom

A Hardware-in-the-Loop Simulator for Vehicle Adaptive Cruise Control Systems by Using xPC Target

2007-01-359608/05/2007

A HIL simulator for developing vehicle adaptive cruise control systems is presented in this paper. The xPC target is used to establish real-time simulation environment. The simulator is composed of a virtual vehicle model, real components of an ACC system like ECU, electronic throttle and braking modulator, a user interface to facilitate simulation, and brake and accelerator pedals to make interactive driver inputs easier. The vehicle model is validated against data from field test. Tests of an ACC controller in the real-time are conducted on the simulator.

Li-jun, WU, Jian-qiang, WANG, Sheng-bo, LI

A New Development Environment for Embedded Control Systems Design: F.I.R.E.

2007-01-050804/16/2007

The development of embedded control systems is still a relatively new and young discipline. There is consequently a lack of tools, methods and models to support, in particular, the early architectural design stages. In this paper a new environment for embedded control systems development is presented, which supports the modelling of such systems at a high abstraction level. The tool allows control engineers and software developers to focus on the control system aspects instead of the aspects of the platform. Two application examples will explain the important capability of this tool to provide a timing analysis before production code generation.

De Cristofaro, Ferdinando, Garofalo, Fabio, Montalto, Iolanda, Tavella, Domenico, Casavola, Alessandro

Model Based Reusable and Reliable Software Validation for Functional Coverage using Virtual ECUs

2007-01-174204/16/2007

In embedded software world, development and testing are becoming far more complex with growing functionality and fail safe strategies. As a result of that, model-based software development is getting increasingly popular in capturing the functional requirements and auto generating the code from these validated models to avoid any functional deficiency. However, the complexity in the model may not be correctly interpreted by the code generation tool and may result to an incorrect code behavior. In this paper, a methodology has been proposed and implemented to validate the generated code against the models. Simulation test scripts are recorded in the modeling environment to generate the desired set of test inputs. These input scripts are designed to get complete transition and state exposure to maximize the functional coverage. With these test scripts, expected outputs are recorded for downstream validation in the simulation environment with mature models. When the virtual ECU (created

Gautam, Naveen, Balanayagam, Sivapalan

Simulation Structure for Heterogeneous Environments

2005-01-166604/11/2005

This paper addresses a common issue in producing desktop simulations for production environments in which the most current version of the algorithm is available only in the form of the production code. The part of the system we are interested in is often called performance software (for example, slip control systems, transmission control, and engine control). From a control algorithm design perspective the ideal environment is a reference model in a high level language, which supports code generation. The complete environment would support templatized code generation so that the fixed-point code for the embedded controller can be generated directly. Many organizations have a significant investment in legacy C code, and the cost of remodeling the entire system may be unacceptably high (at least in the short term). In such an environment simulation tools are often underused because of the impression that the entire system must be remodeled. A further complication is that producing the

Shriver, Justin, Chapo, Jason, Taheri, Saied

Automatic Evaluation of ECU Software Tests

2005-01-165904/11/2005

When testing electronic control unit (ECU) software, test stimuli as well as test results are time-dependent signals. In order to effectively achieve high quality testing during development, the approved results of former tests serve as reference data for regression and back-to-back tests. The evaluation of those tests leads to a new task, the trustworthy comparison of time-dependent signals. To carry out this task we developed new concepts for signal comparisons and a tool, called MEval, for automating the test evaluation. Given a reference and a current result signal as inputs MEval evaluates their similarity. A new variant of a dynamic time warping algorithm, called difference-matrix preprocessing, allows an independent assessment of amplitude deviation and possible time shifts. Using the automatic test evaluation we defined an integrated test process for the model-based development of ECU software. In this process, regression and back-to-back-tests are performed, automatically

Conrad, Mirko, Sadeghipour, Sadegh, Wiesbrock, Hans-Werner

Using VHDL-AMS as a Unifying Technology for HW/SW Co-verification of Embedded Mechatronic Systems

2004-01-071803/08/2004

The low cost of microcontrollers makes them increasingly popular for electronic control of a wide range of embedded systems throughout the vehicle. An embedded mixed-signal or mechatronic system is one that uses a microcontroller to control some aspect of the physical system such as motion, speed, temperature etc… The added dimension of software presents a significant challenge to the design, integration and verification of this class of systems. This paper will discuss how the VHDL-AMS language can be used to describe the behavior of the physical hardware along with the controlling software algorithm together in a unified system model. This unifying technology can provide invaluable insight to the embedded system designer during the system design, integration, verification and debugging phases.

Egel, Thomas R., Elias, Norman J.

Software Life-Cycle Costs and Solutions

1999-01-284509/14/1999

Electronic control system manufactures within the off-highway industry are aggressively upgrading their embedded software development processes to include simulation, rapid prototyping, and Hardware-in-loop testing (HIL). However, software life cycle concerns are not always considered during process revolutions such as these, even though most project managers agree that the majority of software costs accrue during maintenance. This paper proposes the use of automated implementation and unit test tools to generate production code and unit test vectors from a graphical representation of the ECU model used during simulation and prototyping. These automated tools not only improve development time but, more importantly, save on maintenance and reuse costs. Another proposal is made herein regarding the use of a new rapid prototyping environment for more accurately accounting for production microcontroller constraints during control algorithm design. This reduces the number of expensive

Erkkinen, Thomas J.

Accelerated Mode Test for Automotive Electronics

96039302/01/1996

The role of tests employed in design verification and production is traditionally one which is static. Such tests are created in which ‘good’ signals are applied to the device-under-test (DUT); these tests are considered complete and are frozen once the DUT is released to production or production begins. However, the effort to reach zero parts-per-million (PPM) defect manufacturing rates demands more than such static tests can provide. Tests must evolve to support design, component, and process variability to support zero PPM. Test developers must strive to achieve maximum fault coverage at minimal test times. The real fault spectrum of a DUT, with which a manufacturing operation deals, evolves with process and design maturity over time. Additionally, there are field conditions which stress DUTs which cause them to fail and be returned, suggesting that the internal factory bounding of fault spectrums is too narrow. Static tests often are unable to cope with these two external realities

Culbertson, Gary

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