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

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Simulation-Based Evaluation of Motor Failure Resilience in a Prototyped Multirotor eVTOLF-0081-2025-02185/20/2025
This study investigates the fault tolerance of a large-scale coaxial quadrotor Electric Vertical Takeoff and Landing (eVTOL) under motor failure through high-fidelity software-in-the-loop (SIL) simulations using PX4-Gazebo environment. The objective is to evaluate the vehicle's ability to maintain flight stability and complete critical missions under various propulsion failure scenarios, without the control system being explicitly aware of which motors have failed. Four motor failure cases-single, two adjacent, two diagonally opposite, and three distributed motor failures-were introduced during takeoff, hover, cruise, and hover under crosswind missions. Results show that the eVTOL maintained controllability and mission completion under all scenarios, with increasing levels of performance degradation under more severe failures. Notably, considerable yaw instabilities of about 10 degrees occurred under two diagonally opposite motor failures. The highest thrust demands after motor failures were observed during cruise mission, with some motors demanding about 80% to 90% of their maximum throttle. Hover under crosswind revealed compounded challenges in attitude control during descent under severe failure cases compared to calm weather. These findings underscore the robustness of the integrated control system and vehicle configuration in managing motor failure scenarios.
Asadi Khanouki, Mostafa, Sadat-Nejad, Younes, Pourmostaghimi, Nima
Test:15/2SAE-PP-078102/15/2023
Test:15/2
Mutagaana, Festo
Driving Automation System Test Scenario Development Process Creation and Software-in-the-Loop Implementation2021-01-00624/6/2021
Automated driving systems (ADS) are one of the key modern technologies that are changing the way we perceive mobility and transportation. In addition to providing significant access to mobility, they can also be useful in decreasing the number of road accidents. For these benefits to be realized, candidate ADS need to be proven as safe, robust, and reliable; both by design and in the performance of navigating their operational design domain (ODD). This paper proposes a multi-pronged approach to evaluate the safety performance of a hypothetical candidate system. Safety performance is assessed through using a set of test cases/scenarios that provide substantial coverage of those potentially encountered in an ODD. This systematic process is used to create a library of scenarios, specific to a defined domain. Beginning with a system-specific ODD definition, a set of core competencies are identified. These core competencies are then considered both in isolation and in conjunction with other potential confounding factors (e.g. other traffic or atmospheric conditions); with “edge cases” being represented as compounded or unique sets of confounding factors. Using this approach, a candidate scenario set is presented, along with a discussion of nuances and necessary considerations in scenario selection. These approaches are combined in a simulated environment to demonstrate their use. Finally, a strategy is proposed to automate the overall scenario testing process to make the execution less cumbersome. This process of test scenario creation strictly follows the ISO 26262 concept phase to verify the safety goals and functional safety requirements.
Patil, Mayur, Lybarger, Alexander, Midlam-Mohler, Shawn, Stoddart, Evan
Dyno-in-the-Loop: An Innovative Hardware-in-the-Loop Development and Testing Platform for Emerging Mobility Technologies2020-01-10574/14/2020
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-operation system for the plug-in hybrid electric bus (PHEB) has been developed and tested, which can optimize the vehicle dynamics (and potentially powertrain control via smart energy management) to reduce the operational energy consumption as well as tailpipe emissions of the target PHEB. The system performance has been evaluated on the DiL platform with respect to a variety of traffic congestion levels. The results have shown that the developed system can save fuel by more than 13% while reducing the electricity consumption by 2% in the test scenarios.
Wu, Guoyuan, Brown, Dylan, Zhao, Zhouqiao, Hao, Peng, Todd, Michael, Boriboonsomsin, Kanok, Barth, Matthew, Gao, Zhiming, LaClair, Tim
Harness Model Development by co-simulation of the Transmission Black Box model and Vehicle model for a Medium Heavy Duty Internal Combustion based Powertrain2019-01-226812/19/2019
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 environment as an S-function. The co-simulated model has been validated against the data from the field testing. On comparison with the map based transmission model, the detailed transmission model performs much better and is able to closely emulate the real world test results. Applications of this study include fuel economy estimation, performance analysis, component sizing and optimization for current and future powertrain configurations.
Shetty, Aishwarya, Pasupathi, Santhosh, Vernham, Bruce, Bergsieker, Gerald
Design tools ensure component compatibility, create autonomous driving tests19TOFHP10_1010/1/2019
Simulation has become a critical element in design and validation, expanding its reach to nearly every facet of vehicle development. Partnerships and cloud computing are among the techniques being used as tool developers strive to make it easier for programmers and engineers to see how the many elements in vehicle systems interact. Virtual tools are being used for jobs as diverse as wiring layout to creating virtual roadways for testing autonomous driving systems. Much of the focus in recent years has been on ensuring that everything works well when multiple systems work together. Tools are helping commercial-vehicle designers make significant improvements in overall designs.
Costlow, Terry
A Stochastic Physical Simulation Framework to Quantify the Effect of Rainfall on Automotive Lidar2019-01-01344/2/2019
The performance of environment perceiving sensors such as e.g. lidar, radar, camera and ultrasonic sensors is safety critical for automated driving vehicles. Therefore, one has to assess the sensors’ performance to assure the automated driving system’s safety. The performance of these sensors is however to some degree sensitive towards adverse weather conditions. A challenge is to quantify the effect of adverse weather conditions on the sensor’s performance early in the development of an automated driving system. This challenge is addressed in this work for lidar sensors. The lidar equation was previously employed in this context to derive estimates of a lidar’s maximum range in different weather conditions. In this work, we present a stochastic simulation framework based on a probabilistic extension of the lidar equation, to quantify the effect of adverse rainfall conditions on a lidar’s raw detection performance. To this end, we combine basic probabilistic models for key rainfall parameters with Mie theory and the theory of signal detection in a Monte Carlo simulation framework. This allows to analyze and optimize a sensor’s design early in the sensor development, when physical testing is not yet possible. A challenge not addressed in this work is to include the effect of road spray water on the lidar’s performance. Combining the effect of other noise sources with the presented framework in a ray tracer is an opportunity for realistic physical lidar simulations and would allow to virtually estimate the performance of a lidar’s object detection and tracking performance. Such simulations could contribute to verify the safety of automated driving functionalities.
Berk, Mario, Dura, Michael, Vargas Rivero, Jose, Schubert, Olaf, Kroll, Hans-Martin, Buschardt, Boris, Straub, Daniel
Engine-Aftertreatment in Closed-Loop Modeling for Heavy Duty Truck Emissions Control2019-01-09864/2/2019
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-certificated 15-L Cummins diesel engine. The fuel consumption engine map with the reduced data is attached in the appendix. Simulations with the combined engine and aftertreatment models above appear to reveal important trends among the fuel efficiency, emissions control, power demand for HD trucks under realistic drive cycle conditions. Thus, this type of computational simulation appears to have significant value in choosing among options for HD vehicle design and operation.
Gao, Zhiming, Deter, Dean, Smith, David, Pihl, Josh, Daw, C. Stuart, Parks, James
Advancements Made to the Wingman Software-in-the-Loop (SIL) Simulation: How to Operate the SILTBMG-288995/1/2018
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).
Tech Briefs: May 201818AERP055/1/2018
New Technologies Tackle UAV Challenges Robotic Applique Kits Leverage Existing Assets Educating UGVs Implementing AI Advancements in Thermal Image Training Data Sets Protecting Critical Data on Unmanned Underwater Platforms Advancements Made to the Wingman Software-in-the-Loop (SIL) Simulation: How to Operate the SIL New features include the creation of virtual environments that match real-world gunnery test courses. Soldier-Robot Team Communication: An Investigation of Exogenous Orienting Visual Display Cues and Robot Reporting Preferences The effective use of robots to conduct dangerous missions depends on accurate man-machine communications. Soft Robotic Fish Swims Alongside Real Ones in Coral Reefs GPS Enabled Semi-Autonomous Robot Combining GPS signals with acoustic and encoder data gives a robot the ability to determine its location and orientation within a reference frame. Development of a Vision-Based Situational Awareness Capability for Unmanned Surface Vessels Computer vision-based technique gives USVs enhanced autonomous navigation capabilities.
The Development of Skutterudite-Based Thermoelectric Generators for Vehicles2018-01-07884/3/2018
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 skutterudites have been identified and built into modules that have in turn been integrated in an experimental TEG system. Transient engine tests based on legislative drive cycles have been run, exposing the materials to realistic practical conditions. The manufacturing of limited amounts of material in a research programme demands the use of engineering tools to support the prediction of whole system performance. In the reported work, the foundation of prediction is a dynamic model validated experimentally in high temperature transient conditions. The dynamic model is developed in a form that can be executed in real time. A TEG equipped with the limited samples available is operated under practical test conditions. Meanwhile the experimental data forms the boundary conditions for the real time model. Test results generated using a JLR I4 boosted GDI engine have formed the basis for a prediction of 414 W average output during the final phase of the WLTC cycle. The overall cycle average is 120 W which includes the low output initial phases of that cycle. The physical design of the TEG on which the prediction is based has overall dimensions, 450 mm (length) x 350 mm (width) x 120 mm (height) and has the potential to be engineered in different shapes according to requirements and physical constraints.
Stobart, Richard K., Yang, Zhijia
Framework for Modelling and Simulation of Multi-Physics Aircraft Systems with Distributed Electronic Controllers2017-01-21159/19/2017
Multi-physics interactions between structural, electrical, thermal, or hydraulic components and the high level of system integration, characteristic of new aircraft designs, is increasing the complexity of both design and verification processes. Therefore the availability of tools, supporting integrated modelling, simulation, optimization and testing across all stages of aircraft design remains a critical challenge. This paper presents some results of the project MISSION (Modelling and Simulation Tools for Systems Integration on Aircraft). It is a collaborative task being developed under the European Union Clean Sky 2 Program, which is a public-private partnership bringing together aeronautics industrial leaders and public research organizations based in Europe. The first levels of integration of different models and tools proposed in the MISSION framework will be presented, along with simulation results. The paper will highlight the workflow to perform the various stages of virtual testing and the proposed way to exchange artifacts within the modelling and analysis framework. The considered system under test is an electromechanical flight control actuator together with the related control logic. The plant system is natively a physical model based on MODELICA and the causal control system is natively a MATLAB/Simulink model. These models are used in different PC-based simulation platforms, in order to perform virtual tests of different maturity levels of the embedded system by Model-in-the-Loop (with ESI ITI SimulationX and MATLAB/Simulink), Software-in-the-Loop (with dSPACE VEOS) and Virtual-Processor-in-the-Loop (with ALES DESYRE). The alignment of the simulation results demonstrates the successful model based integration. In addition, some tool specific results and metrics are presented.
Burgio, Gilberto, Mangeruca, Leonardo, Ferrari, Alberto, Carloni, Marco, Valdivia-Guerrero, Virgilio, Albiol-Tendillo, Laura, Govindaraju, Parithi, Gottschall, Marcel, Oelsner, Olaf, Reglitz, Sören, Stavesand, Jann-Eve, Himmler, Andreas, Yapi, Lionel
Modular and Open Test Bench Architecture for Distributed Testing2017-01-21179/19/2017
Currently, aircraft system Test Benches are often proprietary systems, specifically designed and configured for a dedicated System Under Test (SUT). Today, no standards for configuration, data communication, and data exchange formats are available for avionics Test Benches. This leads to high Test Bench development costs and redundant activities between aircraft system suppliers and airframers. In the case of obsolescence issues for test system components, it is very costly to replace the respective parts as a high integration and reconfiguration effort is required. In the scope of an R&T project, involving several test system suppliers and aircraft system suppliers as well as Airbus as an aircraft manufacturer, a generic and modular architecture for an open test environment is under development. A further goal of the Virtual and Hybrid Testing Next Generation (VHTNG) research project is to prepare a set of open standards for the interfaces to this architecture. The modular architecture is designed to provide a win-win situation for suppliers and customers alike, driving innovation in Test Bench development and utilization. This distributed architecture is able to support real and virtual testing, and is scalable from equipment to aircraft level. During the course of an iterative and incremental development process, collaborating with all industry partners, a technology demonstrator successfully showed that the functionality of integrated modules from multiple partners could be proven against realistic aircraft system test use cases. As the project continues, further functionality will be added, communication performance between modules will be improved, and the currently implemented interfaces will be brought closer to an open standard.
Martinen, Dirk H., Lagalaye, Marc, Pfefferkorn, Julien, Casteres, Jean
Towards a Supermileage Autonomous Vehicle2017-01-01143/28/2017
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.
New Approach of Tools Application for Systems Engineering in Automotive Software Development2017-01-16013/28/2017
This paper outlines the modeling process in SysML (Systems Modeling Language) in context of MBSE (Model Based Software Engineering) as well as the MBD (Model-Based Design) in Simulink and we compare the models to get useful information into software. For this goal, we propose the use of an RM/SM tool (Requirements Management and Systems Modeling) (3SL Cradle) and Matlab/Simulink to model the system, do the system validations, and finally embed the generated code. For automotive systems, the development process is visualized through the V-Model, which leads to the right choice of components, the integration of the system and the project realization. The first step in V-Model handles the requirements management for the development, i.e., the requirements for a project will be collected in respect to the stakeholder’s needs and system limitations. Then, the next steps consist of modeling the system based on its requirements, going through simulation, system validation through Model-In-the-Loop (MIL), Software-In-the-Loop (SIL), Processor-In-the-Loop (PIL), and Hardware-In-the-Loop (HIL) tests. For this paper, the chosen modeling language was SysML for the MBSE point of view because it aims to standardize Modeling Design, by unifying diverse modeling languages used by engineers. This language also supports specification, analysis, design, verification, and validation of systems. To get executable models, we use Matlab/Simulink models that are largely used by the Original Equipment Manufacturers (OEMs) to develop new products. Our approach addresses the V-Model through SysML and MBD in Matlab/Simulink towards software validation. To achieve that, we use the commercial RM/SM tool that is used to collect stakeholder’s and system requirements. It provides a SysML design section as well where SysML models can be developed according to project requirements. One of the objectives in using the commercial tool is that it will be possible to analyze the transition from models in RM/SM tools to models for simulation, such as Simulink and offer a new possibility for OEM’s and suppliers to abstract system models into executable models. The main contribution of this paper is that the automotive software development process is showed from its concept to its realization in real systems.
Santos, Max Mauro, Mendes, Celso, Banik, Taysa, Franco, Felipe, Neme, João, Prado, Wanderley, Cerri, Fernando, Nunes, Lauro
Yaw Stability Enhancement of Articulated Commercial Vehicles via Gain-Scheduling Optimal Control Approach2017-01-04373/28/2017
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 scheduling optimal controllers can yield enhanced yaw stability of articulated commercial vehicles by the updating of control gains with the change of vehicle velocity.
Li, Bin, Rakheja, Subhash
Real-Time Implementation and Validation for Automated Path Following Lateral Control Using Hardware-in-the-Loop (HIL) Simulation2017-01-16833/28/2017
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 bench to enable lateral control of the longitudinal controlled HIL setup for automated driving applications. 2017 Ford Fusion Hybrid powertrain controllers and actuators were used as the hardware platform for the powertrain subsystem. The simulation of other subsystem plants and controllers was achieved by using a real-time CarSim-Simulink co-simulation environment representative of the 2017 Ford Fusion Hybrid through a dSPACE HIL simulator. The objectives of this research were three-fold. The first objective was to implement a real-time version of the path-following lateral controller to add lateral capability to a powertrain-based longitudinal controlled HIL setup. The second objective was to validate the path-following capability of the lateral controller. Lastly, the third objective was to quantitatively understand the real-time behavior and sensitivity of the lateral controller using simulations over varying vehicle inertial and environmental conditions such as speed, payload mass, payload position, surface type/friction, rapid acceleration/deceleration, and crosswinds.
Joshi, Adit
Model-in-the-Loop Testing of SOC and SOH Estimation Algorithms in Battery Management Systems2017-26-00941/10/2017
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 investigate quantitatively the influence from the individual or combined factors on their SOC and SOH estimation algorithms. In addition, exemplary test results are introduced to show how this MIL environment provides valuable data and insights to evaluate the accuracy and the robustness of one representative battery algorithm, and to reduce the function development time and costs.
Li, Shi, Stapelbroek, Michael, Pfluger, Jan
Communication Infrastructure for Hybrid Test Systems - Demands, Options, and Current Discussions2016-01-20519/20/2016
The application of a communication infrastructure for hybrid test systems is currently a topic in the aerospace industry, as also in other industries. One main reason is flexibility. Future laboratory tests means (LTMs) need to be easier to exchange and reuse than they are today. They may originate from different suppliers and parts of them may need to fulfill special requirements and thus be based on dedicated technologies. The desired exchangeability needs to be achieved although suppliers employ different technologies with regard to specific needs. To achieve interoperability, a standardized transport mechanism between test systems is required. Designing such a mechanism poses a challenge as there are several different types of data that have to be exchanged. Simulation data is a prominent example. It has to be handled differently than control data, for example. No one technique or technology fits perfectly for all types of data. There are certain requirements that have to be fulfilled. For example, the mechanism for data exchange needs to have adequate performance to satisfy the demands of the industry. Another requirement is that it must rely on well-established standards to ensure stability and be future-proof. This paper describes the architecture of hybrid test systems, with special emphasis on the communication infrastructure. On the basis of this, it then analyzes the requirements for realizing a suitable communication infrastructure of hybrid test systems. Finally, it presents a proposal of how to devise a standardized interface to this communication infrastructure.
Himmler, Andreas, Stockmann, Lars, Holler, Dominik
Incorporating ISO 26262 Concepts in an Automated Testing Toolchain Using Simulink Design Verifier™2016-01-00324/5/2016
The introduction of ISO 26262 concepts has brought important changes in the software development process for automotive software. While making the process more robust by introducing various additional methods of verification and validation, there has been a substantial increase in the development time. Thus, test automation and front loading approaches have become important to meet product timelines and quality. This paper proposes automated testing methods using formal analysis tools like Simulink Design Verifier™ (SLDV) for boundary value testing and interface testing to address the demands of ISO 26262 concepts at unit and component level. In addition, the method of automated boundary value testing proposed differs from the traditional methods and the authors offer an argument as to why the traditional boundary value testing is not required at unit (function) level. There are two aspects of the proposed method: automated test case generation and automated test case execution. The paper discusses the benefits of automatic test case execution when combined with automatic test case generation. Traditional test automation implements the former and has limited advantages. One of the challenges with traditional application of the formal analysis tool is the time taken by the tool to reach to a conclusive decision for the triggered activity, i.e., the execution time of the tool. This shortcoming is overcome by an automated setup where the test framework is triggered during out of office hours, which saves developer’s work time. As a work product of the automated test execution, the developers receive test documentation which provides them with an overview of the results and specific test vectors for further analysis.
Khastgir, Siddartha, Dhadyalla, Gunwant, Jennings, Paul
Defying the disruptors and DRIVING16AUTP04_014/1/2016
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
Formal Verification in Model Based Development2015-01-02604/14/2015
Software verification is a critical component of software development. Software verification techniques include different forms of testing, inspection, static analysis, and formal verification. Formal verification offers the advantage that it corresponds, at least informally, to testing all possible paths through the software. There are two primary approaches to using formal verification to establish properties of software: (a) proving properties of a formal specification, and (b) proving an implementation is a refinement of its specification. The first approach allows inference of the proven properties of the implementation provided the implementation is correct. The second approach allows inference of the correctness of the implementation. Proving properties of a specification provides a means for detecting critical design flaws early in the development process. In model-based development, the model (e.g., a set of SIMULINK diagrams) is a formal specification of the desired system. Thus, formal methods can be applied to such models to gain the advantage of early defect detection. The technique we have developed begins by synthesizing a formal specification of a SIMULINK model in the PVS specification language. Once the model has been converted to PVS, standard theorems that characterize the basic type and consistency rules of SIMULINK are proved using the PVS verification system. Once the standard theorems are proved, theorems describing crucial properties (especially those related to safety) of the subject system are stated and proved. To demonstrate the utility and feasibility of our approach, we analyzed a hypothetical ABS controller model, based on a model provided by MathWorks.
Hocking, Ashlie B., Knight, John C., Aiello, M. Anthony, Shiraishi, Shin'ichi
10 Steps to ISO26262-compliant Model-based Software Components2015-01-01604/14/2015
Model-based software development is a well-established software development process and recognized by ISO26262 [1] as allowing for highly consistent and efficient development. Nevertheless, enhancing a model-based development process in such a way that it is compliant with the ISO26262 safety standard is a challenging task. To achieve ISO26262 compliance, the development team of a safety-related software project faces a multitude of additional requirements for the development process without a corresponding increase of the project budget to fulfill them. The fact that many of the requirements of ISO26262 are defined in a very generic way such that an interpretation is required further hampers their implementation. We propose a 10-step strategy to achieve an ISO26262 compliant model-based software development process. This strategy relates ISO26262 requirements with state-of-the art methods and approaches currently used for model-based software development. It is based on a prioritization of the requirements of ISO26262 with regard to their impact on the quality of the software. Consequently, our approach applies the project budget optimally for both: addressing possible gaps in terms of ISO26262 compliance as well as improving the quality of the developed software.
Stürmer, Ingo, Salecker, Elke
Model Predictive Control as a Solution for Standardized Controller Synthesis and Reduced Development Time Application Example to Diesel Particulate Filter Temperature Control2015-01-16324/14/2015
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 gain scheduling controller with a prototype Model Predictive Control (MPC) designed by a software toolset called OnRAMP Design Suite, marketed by Honeywell. Specific attention is drawn to the comparison of the development times and effort.
Bencherif, Karim, von Wissel, Dirk, Lansky, Lukas, Kihas, Dejan
Model-Based Real-Time Testing of Embedded Automotive Systems2014-01-01884/1/2014
The paper presents a model-based approach to testing embedded automotive software systems in a real-time. Model-based testing approach relates to a process of creating test artifacts using various kinds of models. Real-time testing involves the use of a real-time environment to implement test application. Engineers shall use real-time testing techniques to achieve greater reliability and/or determinism in a test system. The paper contains an instruction how to achieve these objectives by proper definition, implementation, execution, and evaluation of test cases. The test cases are defined and implemented in a modeling environment. The execution and evaluation of test results is made in a real-time machine. The paper is concluded with results obtained from the initial deployment of the approach on a large scale in production stream projects.
Skruch, Pawel, Buchala, Gabriel
A Primer on Building a Hardware in the Loop Simulation and Validation for a 6X4 Tractor Trailer Model2014-01-01184/1/2014
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.
A Multi-disciplinary and Multi-scale Simulation-Based Approach for the Design of Control Systems2013-01-22129/17/2013
This paper introduces a model-based systems and embedded software engineering, workflow for the design of control systems. The interdisciplinary approach that is presented relies on an integrated set of tools that addresses the needs of various engineering groups, including system architecture, design, and validation. For each of these groups, a set of best practices has been established and targeted tools are proposed and integrated in a unique platform, thus allowing efficient communication between the various groups. In the initial stages of system design, including functional and architectural design, a SysML-based approach is proposed. This solution is the basis to develop systems that have to obey both functional and certification standards such as ARINC 653 (IMA) and ARP 4754A. Detailed system design typically requires modeling and simulation of each individual physical component of the system by various engineering groups (mechanical, electrical, etc.). It also includes overall system design, assembling all physical components together, and designing the required control laws. In order to achieve the objectives for physical simulation, the paper proposes a multi-scale approach based on a combination of detailed “3D” and simplified “0D” system simulation tools, including Reduced Order Models created from “3D” simulation. For this purpose, simulation languages that implement the fundamental laws of physics are used (VHDL-AMS and Modelica). The Scade language is then used to design control laws that can be co-simulated together with the above physical models and, finally, the SCADE® qualified automatic code generator implements the control laws as embedded software behaving exactly as the model-based simulation that was previously achieved. The complete workflow described in this paper will be presented at the conference with an interactive flight controls demonstration.
Macauley, John, Delafosse, Vincent, LeSergent, Thierry
Creating a Systems Simulation Framework & Roadmap2013-01-22829/17/2013
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 development and design phase are key to realizing economic and agility gains. Promised gains come from effective execution of the whole ecosystem - ranging from requirements traceability, to as-designed, to test cases and results. In addition, with knowledge-management and access, institutions steeped in the full breadth of modeling and simulation capabilities will be able to share a view including what is possible with prospective customers. Using simulation to create a vision of the future, companies can facilitate the right level of product requirements definition. Finally, such companies stand to benefit from a holistic roadmap exercise that enables positive, institutional change initiated by leadership and involving the right stakeholders.
Corbier, Franck, Soodeen, Mark, Loembe, Sandrine, Thurston, Garrett
Model-Based Development and Production Implementation of Motor Drive Controller for Hybrid Electric Vehicle2013-01-01584/8/2013
Hybrid electric vehicles (HEV) typically have complex interaction between different powertrain devices and incorporates complex electronic control unit (ECU) network. For the electrified vehicles of the future, comprehensive ECU tests are more necessary than ever before, as the complexity and amount of embedded software increases at a breathtaking speed. The V-cycle is a widely recognized approach in the development of ECUs spanning from offline controller development to the final implementation on production hardware. This paper describes a case study with a focus on electric drive components and electric drive controller development. The V-cycle for motor controller development involving phases control design, rapid control prototyping and target implementation is explained in detail. The model components needed for HEV simulation were selected from dSPACE Automotive Simulation Models (ASM).
Patil, Kunal, Muli, Mahendra, Zhu, Zhenhua
Development of Production Control Algorithms for Hybrid Electric Vehicles by Using System Simulation: Technology Leadership Brief2012-01-900810/8/2012
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
Virtual Testing and Simulation Environment [Micro-HiL] for Engine and Aftertreatment Calibration and Development -Part 22012-01-09284/16/2012
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 detailed discussion on new components that were incorporated into the Micro-HiL, the latter part of the paper will focus on several new functional areas that were introduced. The major component discussion will involve idle governing, aftertreatment modeling, engine model extension, and how a complete desktop test cell environment was realized. Finally, the reader will be shown how a virtual testing environment can be applied by harnessing known tools, and how this approach can play a crucial role in supporting the development and calibration community in their daily activity.
Nanjundaswamy, Harsha K., Dahodwala, Mufaddel, Farsodia, Mitesh, Tomazic, Dean, Koehler, Erik
“Motion in FEA”: An Innovative Approach for More Physical and More Accurate Vehicle Dynamics Simulation2012-01-07624/16/2012
Vehicle dynamics is a discipline of mechanical engineering that benefited of significant improvements thanks to the progress of computational engineering. Vehicle dynamics engineers are using CAE for the development of a vehicle with MBS and FEA. The concurrent use of these two technologies is a standard in the automotive industry. However the current simulation process is not fully efficient because local geometrical and material nonlinearities are not accurately modeled in classical MBS software. This paper introduces a methodology for vehicle dynamics simulation integrating MBS capabilities in one single nonlinear FEA environment enabling an accurate modeling of nonlinearity in vehicles.
Colsoul, Frederic, Voss, Bernard, Wissart, Thomas
AUTOSAR-Compliant Development Workflows: From Architecture to Implementation - Tool Interoperability for Round-Trip Engineering and Verification and Validation2012-01-09624/16/2012
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 sensor data requirements can trigger a change in the software architecture. AUTOSAR offers standardized formats that allow a consistent exchange of data between tools and development phases. To realize, test, and implement software components, software component description files can be exported from system architecture tools and imported into tools for Model-Based Design. The challenge of these processes is to ensure consistent data exchange between phases without losing or corrupting design information. This paper describes the interoperability of tools that support Model-Based Design and are used to create software architectures. Specifically, this paper shows the mechanisms defined by AUTOSAR and capabilities to verify and validate these designs at different stages in the workflow.
Sandmann, Guido, Seibt, Michael
Efficiency of On-Off Semiactive Suspensions in a Pick-up Truck2012-01-09794/16/2012
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 passengers comfort in the bounce sine sweep test (9% less of movement in the vehicle body respect to the passive suspension system), and better performance, in conjunction with the Mix-1 controller, for road holding and roll control in the double lane change test. Finally, the FEB and Mix-1 control strategies reduce up to 2 degrees the vehicle slipping in the fishhook test, in comparison to the commercial suspension system of the pick-up truck.
Tudon-Martinez, Juan C., Lozoya-Santos, Jorge, Morales-Menendez, Ruben
Timing Correctness in Safety-Related Automotive Software2011-01-04494/12/2011
Automotive applications classed as safety-related or safety-critical are now important differentiating technologies in the automotive industry. The emergence of safety standard ISO 26262 underlines the increasing importance of safety in automotive software. As well as functional requirements, hard real-time requirements are of crucial importance to safety-related software as there is a need to prove that the system functionality is fulfilled, even in worst-case scenarios. Measurement-based WCET (Worst-Case Execution Time) analysis combines on-target timing measurements with static analysis of program structure to calculate predicted worst-case paths and times. This is in contrast to traditional end-to-end timing measurements, which give no confidence that the worst-case path is actually tested and no insight into the location of any timing problems that do emerge. This paper presents the principles of WCET analysis alongside the results of using a commercially available WCET toolkit within the development of a commercial, safety-related software project. The observed benefits include greatly increased confidence in timing correctness, even in worst-case scenarios, understanding of timing variability, location of timing hot-spots and greatly reduced costs of optimization.
Zalman, Rafael, Griessing, Alexander, Emberson, Paul
Efficient Method for Modeling and Code Generation of Custom Functions2011-01-00554/12/2011
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 code and code that has been automatically generated from one or both code generators. It would be cost-effective to reuse the same set of custom routines for the commonly used functions. Two different methods were proposed to model and automatically generate efficient code for lookup tables with custom data structures [ 1 ]. However, several limitations can be encountered while deploying them for wider user base, different code generators or custom functions with complicated input attributes. A new method is proposed that provides all the capabilities of previously proposed methods. Additionally, the model building blocks developed with the new method allow the control algorithm models to be automatically translated into production C code using either of the two code generators with minimal modifications while overcoming many of the challenges encountered while applying some of the earlier methods.
Nallapa, Venkatapathi, Syed, Fazal, Russell, Jeremy, Banker, Adam, Hoadley, David, Sinistaj, Marko
Using Modeling and Simulation to Support Future Medium and Heavy Duty Regulations2011-26-00481/19/2011
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 Optimization2010-01-14216/9/2010
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 rotational irregularities of the power train causing the low frequency boom noise are considered. Based on the example “tire model”, different model improvements are investigated by means of sensitivity analysis. Efficient measures are chosen to validate the quality of the results in comparison to test results. A manual approach by a stepwise analysis of each parameter is time consuming and often does not lead to accurate results due to nonlinear model behavior. Furthermore, the interdependence of an increasing number of parameters can hardly be managed manually. Therefore, the second part of the paper focuses on parameter identification methods through nonlinear optimization based on full vehicle measurements. The whole optimization process - from the formulation of the objective function to the analysis of the results - is discussed. The model improvements as well as the parameter optimization are based on vehicle tests of an all-wheel driven passenger car. The combination of model refinement and updating with non linear optimization methods demonstrates an effective approach to fine-tune simulation models for an optimum support in the product development process.
Girstmair, Josef, Priebsch, Hans H., Reich, Franz, Zehetner, Josef
Closed Loop Transaxle Synchronization Control Design2010-01-08174/12/2010
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 world's first diesel hybrid electric sports car designed in the late 1990's and fabricated in 2001 at San Diego State University. The powertrain couples an AC-Propulsion AC-150 induction motor and a Volkswagen 1.2 direct injection turbo diesel together with a significant energy storage system. This powertrain can propel the vehicle 20 miles on electric power alone with lead acid battery technology and much farther with modern lithium ion. To couple these two power sources together, a custom transaxle was designed. Due to vehicle geometry and powertrain robustness constraints the transaxle design utilizes helical gears for power transmission that are larger than in a standard passenger vehicle. The inertia is further increased by that of the motor rotor. The engine has a dedicated friction clutch and thus can be removed from the synchronization operation. Normal mechanical synchronization methods are not desirable due to the required large size of a conventional synchronizer in this application and amount of rework required to integrate such assembly. Instead, the control system does this job by monitoring input and output shaft speeds as it modulates motor torque to bring the difference between these two shaft speeds within acceptable limits in less than 1 second. Results are presented in units of time to synch vs. RPM delta between the two transaxle shafts. Application of control system development in this area has the potential to mechanically simplify and reduce the mass of a transaxle or transmission in a hybrid powertrain while maintaining robust operation and shift related drive quality. Here, the transaxle is easily synchronized in less than 1 second allowing for smooth engagement of the transaxle's gears to their respective shaft.
Falcone, Frank J., Burns, Jim, Nelson, Douglas J.
Advanced Techniques for Simulating ECU C-code on the PC2010-01-04314/12/2010
Over the last two decades, adoption of model-based techniques for the development of ECU software has resulted in major gains in productivity across the automotive industry. However, the fact remains that the majority of the ECU software today is still hand-written using the “C” programming language. Further, the need to shorten the development time, reduce costs and increase the quality of the ECU software has driven companies to adopt virtual (PC-based) simulation techniques rather than rely on expensive in-vehicle and dynamometer set-ups. This has lead to a situation where the two development philosophies (models and hand-written code) need to be properly integrated in order to fully capitalize on the advantages of PC-based techniques. For the complete ECU system to be simulated, typically, automatically generated C-code from other tools must be integrated as well. Since current tools do not support the integration of hand-written or automatically generated C-code very well, virtual PC-based simulations (e.g. software-in-the-loop) are very time consuming activities and are, therefore, not broadly introduced in the industry. INTECRIO (from ETAS) and INCODIO (from SYSTECS) offer a powerful, commercial platform for PC-based simulation of embedded software, eliminating the need for proprietary solutions.
Jaikamal, Vivek, Zurawka, Thomas
Modeling & Code Generation for Powertrain Control Monitoring2010-01-02064/12/2010
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 pilot project and some of the challenges encountered in using the current generation of commercially available MBD tools to meet the specific needs of the Torque Monitor software. Solutions to some of the problems and the lessons learned are also presented.
Badreddine, Bader, Murphy, Kim, Nallapa, Raju, Syed, Fazal, Suriyaprakash, Vignesh Govind, Hoadley, Dave
Maximizing Test Asset Re-Use across MiL, SiL, and HiL Development Platforms2010-01-06604/12/2010
The use of automated test tools for automotive ECU development has been increasing in recent years, in particular for software testing, system validation and verification, and regression testing. One of the challenges for the ECU development community is that test cases created at a specific phase of software development cannot be easily re-used upstream or downstream in the development process. For example, test cases developed for a model-in-the-loop (MiL) test environment can not be easily re-used on a hardware-in-the-loop (HiL) tests system. This results in significant costs associated with re-engineering test cases and/or poor software quality. At ETAS, we understand that a critical aspect of test case design is the ability to share and re-use test scripts on different HiL hardware platforms and across different development environments (e.g. MiL, SiL, and HiL). In this paper, we present a novel framework and toolset which enables maximum test asset re-use in embedded software and control system development. The solution allows engineers to create test cases that are test bench independent, development phase independent, test language independent, and ECU variant independent. In other words, test cases can be created in different scripting languages, parameterized for different ECU variants, and re-used on different hardware platforms or development environments (i.e. MiL, SiL or HiL). We will also present case studies that highlight the benefits of the approach.
Vuli, Pjeter, Badalament, Michael, Jaikamal, Vivek
Thermal - Power - Software Development and Validation on ATV Vehicle2009-01-25587/12/2009
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 and on-board software management, and presented in this document.
Guyot, Jean-Christophe, Oger, Patrick, Vincent, Pascal, Dore, Bachisio, Bouckaert, Frank
Techniques for Generating and Measuring Production Code Constructs from Controller Models2009-01-01494/20/2009
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 and measure code constructs used to create a set of best practices for the Simulink modeling environment. The quality of the object code is measured by examining the algorithm compiled within an Integrated Development Environment.
Chou, Bill, Mahapatra, Saurabh
Requirement Analysis and Development using MATLAB Models2009-01-15484/20/2009
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 features of visual conceptualization, rapid prototyping, simulation and ease of accessing model property data with m-scripts, not only to improve the traditional requirements development activities for understanding customer’s needs, abstraction and definition from concepts, requirements document elaboration, but also to make it possible to maintain a set of executable models that can be readily simulated and verified throughout the entire development process. We demonstrate that the methodology shall be particularly suitable to developing requirements from scratch and/or evolving a high-level requirements document to detail-level requirements specifications.
Yang, Jinming, Bauman, Jason, Beydoun, Al
Using Software Architecture Models in Automotive Development Processes2008-01-266410/7/2008
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
Method to Efficiently Implement Automotive Application Algorithms Using Signal Processing Engine (SPE) of Copperhead Microcontroller2008-01-12224/14/2008
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 implementation. The result shows more than 50% computation time reduction with the SPE.
Wu, Zhijian James, Chen, Li (Linda)
Fixed-Point ECU Development with Model-Based Design2008-01-07444/14/2008
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 and software engineers. Model-Based Design simplifies fixed-point development by providing tools and workflows that help the conversion process. System engineers doing on-target rapid prototyping for fixed-point ECUs often benefit from automated scaling and workflow assistance to support their initial fixed-point design. Production software engineers benefit from automated scaling as well, but they also require fine grain control over fixed data specification in their modeling environment to work with accumulator word sizes and target-specific optimizations. In addition to providing automated scaling and fine grain data modeling features, Model-Based Design capabilities for fixed-point verification and validation continue to evolve. One example is bit-accurate, fixed-point simulation with automated comparison to embedded software results using processor-in-the-loop testing. This paper presents Model-Based Design capabilities and tools that support development and verification of fixed-point ECU software used in mass production vehicles.
Erkkinen, Tom
A Hardware-in-the-Loop Simulator for Vehicle Adaptive Cruise Control Systems by Using xPC Target2007-01-35968/5/2007
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.2007-01-05084/16/2007
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
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