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

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Next Gen Automotive EDS Architecture design verification using real-time function mode simulation & failure condition analysis2026-26-0454To be published on 01/16/2026
In current automotive electrical design practices, simulation and functional verification of the Electrical Distribution System (EDS) at the design stage are largely absent. Typically, the validation of controller behaviour and EDS wiring is performed only during HIL, SIL, MIL, prototype testing, or physical vehicle trials, often revealing issues late in the development cycle. This delay leads to costly redesigns, prolonged timelines, and increased chances of failure during vehicle integration. Therefore, there is a critical need for an early-stage simulation methodology that ensures robust EDS and controller design, enabling "first-time-right" readiness at the design stage itself. The proposed simulation framework introduces a function mode-based structural approach, where individual vehicle functions are mapped to their corresponding electrical circuits within the vehicle’s wiring system. Resistance values are allocated to specific paths depending on the active function or
Jaisankar, Gokulnath, Warke, Umakant
NN FMU: Deep Learning Models for Next-Gen xiL Vehicle Simulation2026-26-0452To be published on 01/16/2026
Functional Mock-up Units (FMUs) have become a standard for enabling co-simulation and model exchange in vehicle system development. However, traditional FMUs derived from physics-based models can be computationally intensive, especially in scenarios requiring real-time performance. This paper presents a Python-based approach for developing a Neural Network (NN) based FMU using deep learning techniques, aimed at accelerating vehicle simulation while ensuring high fidelity. The neural network was trained on vehicle simulation data and developed using Python frameworks such as TensorFlow. The trained model was then exported into FMU, enabling seamless integration with FMI-compliant platforms. The NN FMU replicates thermal behavior of vehicle with high accuracy while offering a significant reduction in computational load. Benchmark comparisons with Physical Thermal Model demonstrate that the proposed solution provides both efficiency and reliability across various driving conditions
Srinivasan, Rangarajan, ASHOK BHARDE, Pooja, MHETRAS, Mayur, CHEHIRE, Marc
Integrated Testing Platform for Complete ECU Software Validation2024-26-034001/16/2024
In today's scenario EE software validation phase in the automotive software development cycle uses three different testing environments (Verification uses Model In Loop (MIL), function validation uses Software In Loop (SIL), HW and system level tests uses Hardware In Loop (HIL), & system testing uses Vehicle). Each of these platforms are highly expensive to deploy & maintain and poses major constraints in directly comparing the test results across platforms due to the difference in test reporting structures. It is also noticed that there is high redundancy or overlapping of test cases and timely availability of these platforms for timely SW releases. The solution helps in combining MIL, SIL & HIL testing stages into one single "Integrated Testing Platform" which eventually saves testing time, effort & cost along with early bug detection during software development phase. With the reuse of relevant compatible test-cases, test-case redundancy is eliminated thus reducing total man-hours
Jain, Nayank, N T, Savitha, G, Sudip, BHOGENAHALLY LAKSHMINARAYANA, ANUROOPA, Manish, Kumar
Engine Warm-up Prediction using Machine Learning Methodology.2024-26-029501/16/2024
In the recent times, when emission & CO2 legislations are becoming more stringent, we need to adjust our simulation methods to the engine warm-up for better prediction. A typical fuel economy simulation for a WLTP drive cycle with and without considering warm-up effect differentiates up to 6-8%. Thus, there is a need to consider engine warm-up parameters for drive cycle simulations. The engine warm-up can be predicted in multiple ways but the most common way is detailed Physics based 1D modelling. These thermodynamic based models have a very good accuracy in temperature characteristics compared to actual test but take a lot of simulation time. The current requirement is to have models, which can do the same with 0.3 times real time so that these can be coupled with SiL simulation. The current paper will portrait a machine learning based methodology to predict Engine Oil & Coolant temperature based on driving profile and fuel consumption. ML model is trained by using data from one drive
Kelkar, Kshitij, Bensch, Simon, Gopalkrishnan, Suresh Kumar, Meissner, Ronny
Electric Powertrain - Standardization of Adaptable Software in Loop System2024-26-011701/16/2024
Motivation With an increase in the complexity involved in modern-day ECUs (Electronic Control Unit), it is very important to verify and validate robustness, functionality, and reliability of ECUs. Till date, Hardware in Loop (HiL) based validation or vehicle level validation is generalized approach used for testing. However, this method requires physical setup, which can incur more cost and time during the development phase. Solution We believe in minimizing the software testing time using Software in Loop (SiL) validation. Creating virtual-ECUs and the plant models is an important step in SiL. We are presenting the modularized and scalable plant models in this paper. Adaptable SiL Solution for EV This paper focuses on the standardization of electric vehicle plant models, which can help users to reduce the software development and software testing time. We created the standardized plant models for following virtual ECUs, which can be used as modular units. • Battery Management System
Sajnani, Abhishek, Vernekar, Kiran, Gosavi, Rupesh, Naik, Venkatesh
Test:15/2SAE-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 development2021-26-003309/22/2021
ADAS system development for safety as well as comfort is a major activity for all AOEMs and dedicated system suppliers. The development of these systems relies heavily on the availability of accurate driving dynamics models to validate the control algorithms and verify vehicle performance in realistic driving scenarios. AOEMs usually have access to high-fidelity full vehicle models but the availability of such models poses a significant challenge to software and sub-system suppliers. In order for them to develop their ADAS solutions, an accurate test-based model identification process using prototype or benchmark vehicles would be highly desirable. In this paper, a step-wise approach for the identification of the vehicle parameters in order to create an accurate 15-DOF (degree of freedom) vehicle dynamics model is proposed. The approach relies on an optimized use of vehicle driving test data to minimize test bench or laboratory testing. The test data is used to identify the various
Lugo, Lorenzo, Bartolozzi, Mirco, Vandermeulen, Wouter, Geluk, Theo, Dom, Steven
Model Release Process using Standardized Error Metrics for Validation of X-in-the-Loop Simulation Models2021-01-114809/21/2021
The current automotive market is dynamic, leading to complex functionalities being incorporated into the control software of various components like engine, gearbox, battery, E-motor etc. This results in utilization of virtual environments for software testing to reduce the development time. The virtual platforms under the category X-in-the-Loop (XiL) e.g. Software-in-the-Loop (SiL) and Hardware-in-the-Loop (HiL) use simulated models to achieve a desired test goal. These component models must be rigorously validated to ensure the quality of XiL-Testing. Thus, it is essential to define a model release process that maintains model quality irrespective of the modeling approach used and the user. One of the challenges is to choose an appropriate Error Metric (EM) that sets criteria for model release. This paper proposes a combination of Theil’s Inequality Coefficient (TIC) and Unscaled Mean Bounded Relative Absolute Error (UMBRAE) as the EM. TIC is used to characterize the steady and non
Narasimha, Vedantha, Nayak, Manish, Bick, Alexander
Utilizing Engine Dyno Data to Build NVH Simulation Models for Early Rapid Prototyping2021-01-106908/31/2021
As the move to decrease physical prototyping increases the need to virtually prototype vehicles become more critical. Assessing NVH vehicle targets and making critical component level decisions is becoming a larger part of the NVH engineer’s job. To make decisions earlier in the process when prototypes are not available companies need to leverage more both their historical and simulation results. Today this is possible by utilizing a hybrid modelling approach in an NVH Simulator using measured on road, CAE, and test bench data. By starting with measured on road data from a previous generation or comparable vehicle, engineers can build virtual prototypes by using a hybrid modeling approach incorporating CAE and/or test bench data to create the desired NVH characteristics. This enables the creation of a virtual drivable model to assess subjectively the vehicles acoustic targets virtually before a prototype vehicle is available. This approach can also be used with, but not limited to
Thom, Brian, Singh, Vinod, Newton, Gary, Rengarajan, Revathi, Radic, Nebojsa
Driving Automation System Test Scenario Development Process Creation and Software-in-the-Loop Implementation2021-01-006204/06/2021
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
Patil, Mayur, Lybarger, Alexander, Midlam-Mohler, Shawn, Stoddart, Evan
Making Data Logging, Replay and Prototyping More Efficient20AVEP07_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
Hardware-in-the-Loop, Traffic-in-the-Loop and Software-in-the-Loop Autonomous Vehicle Simulation for Mobility Studies2020-01-070404/14/2020
This paper focuses on finding and analyzing the relevant parameters affecting traffic flow when autonomous vehicles are introduced for ride hailing applications and autonomous shuttles are introduced for circulator applications in geo-fenced urban areas. For this purpose, different scenarios have been created in traffic simulation software that model the different levels of autonomy, traffic density, routes, and other traffic elements. Similarly, software that specializes in vehicle dynamics, physical limitations, and vehicle control has been used to closely simulate realistic autonomous vehicle behavior under such scenarios. Different simulation tools for realistic autonomous vehicle simulation and traffic simulation have been merged together in this paper, creating a realistic simulator with Hardware-in-the-Loop (HiL), Traffic-in-the-Loop (TiL), and Software in-the-Loop (SiL) simulation capabilities. Our work merges the traffic simulation software Vissim to create realistic traffic
Meneses Cime, Karina, Cantas, Mustafa Ridvan, Dowd, Garrett, Guvenc, Levent, Aksun Guvenc, Bilin, Mittal, Archak, Joshi, Adit, Fishelson, James
Dyno-in-the-Loop: An Innovative Hardware-in-the-Loop Development and Testing Platform for Emerging Mobility Technologies2020-01-105704/14/2020
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
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
Shetty, Aishwarya, Pasupathi, Santhosh, Vernham, Bruce, Bergsieker, Gerald
Design tools ensure component compatibility, create autonomous driving tests19TOFHP10_1010/01/2019
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 Lidar2019-01-013404/02/2019
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
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 Control2019-01-098604/02/2019
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 Engine2019-01-117404/02/2019
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
Tech Briefs: May 201818AERP0505/01/2018
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
Advancements Made to the Wingman Software-in-the-Loop (SIL) Simulation: How to Operate the SILTBMG-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).
Diesel Combustion and Control Using a Novel Ignition Delay Model2018-01-124204/03/2018
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
The Development of Skutterudite-Based Thermoelectric Generators for Vehicles2018-01-078804/03/2018
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
Modular and Open Test Bench Architecture for Distributed Testing2017-01-211709/19/2017
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
Martinen, Dirk H., Lagalaye, Marc, Pfefferkorn, Julien, Casteres, Jean
Framework for Modelling and Simulation of Multi-Physics Aircraft Systems with Distributed Electronic Controllers2017-01-211509/19/2017
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
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
New Approach of Tools Application for Systems Engineering in Automotive Software Development2017-01-160103/28/2017
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
Santos, Max Mauro, Mendes, Celso, Banik, Taysa, Franco, Felipe, Neme, João, Prado, Wanderley, Cerri, Fernando, Nunes, Lauro
Towards a Supermileage Autonomous Vehicle2017-01-011403/28/2017
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) Simulation2017-01-168303/28/2017
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 Approach2017-01-043703/28/2017
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 Systems2017-26-009401/10/2017
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
Communication Infrastructure for Hybrid Test Systems - Demands, Options, and Current Discussions2016-01-205109/20/2016
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
Himmler, Andreas, Stockmann, Lars, Holler, Dominik
Incorporating ISO 26262 Concepts in an Automated Testing Toolchain Using Simulink Design Verifier™2016-01-003204/05/2016
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
Khastgir, Siddartha, Dhadyalla, Gunwant, Jennings, Paul
Defying the disruptors and DRIVING16AUTP04_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
10 Steps to ISO26262-compliant Model-based Software Components2015-01-016004/14/2015
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
Stürmer, Ingo, Salecker, Elke
Formal Verification in Model Based Development2015-01-026004/14/2015
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
Hocking, Ashlie B., Knight, John C., Aiello, M. Anthony, Shiraishi, Shin'ichi
Model Predictive Control as a Solution for Standardized Controller Synthesis and Reduced Development Time Application Example to Diesel Particulate Filter Temperature Control2015-01-163204/14/2015
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
Model-Based Real-Time Testing of Embedded Automotive Systems2014-01-018804/01/2014
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 Model2014-01-011804/01/2014
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.
A Multi-disciplinary and Multi-scale Simulation-Based Approach for the Design of Control Systems2013-01-221209/17/2013
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
Macauley, John, Delafosse, Vincent, LeSergent, Thierry
Creating a Systems Simulation Framework & Roadmap2013-01-228209/17/2013
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
Model-Based Development and Production Implementation of Motor Drive Controller for Hybrid Electric Vehicle2013-01-015804/08/2013
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 Brief2012-01-900810/08/2012
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
“Motion in FEA”: An Innovative Approach for More Physical and More Accurate Vehicle Dynamics Simulation2012-01-076204/16/2012
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
Virtual Testing and Simulation Environment [Micro-HiL] for Engine and Aftertreatment Calibration and Development -Part 22012-01-092804/16/2012
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
Efficiency of On-Off Semiactive Suspensions in a Pick-up Truck2012-01-097904/16/2012
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 Validation2012-01-096204/16/2012
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
Flexible Real-Time Simulation of Truck and Trailer Configurations11VCV4070112/05/2011
Real-time simulation of truck and trailer combinations can be applied to hardware-in-the-loop (HIL) systems for developing and testing electronic control units (ECUs). The large number of configuration variations in vehicle and axle types requires the simulation model to be adjustable in a wide range. This paper presents a modular multibody approach for the vehicle dynamics simulation of single track configurations and truck-and-trailer combinations. The equations of motion are expressed by a new formula which is a combination of Jourdain's principle and the articulated body algorithm. With the proposed algorithm, a robust model is achieved that is numerically stable even at handling limits. Moreover, the presented approach is suitable for modular modeling and has been successfully implemented as a basis for various system definitions. As a result, only one simulation model is needed for a large variety of track and trailer types. The number of simulated axles of the track and the
Haupt, Hagen
Timing Correctness in Safety-Related Automotive Software2011-01-044904/12/2011
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
Zalman, Rafael, Griessing, Alexander, Emberson, Paul
Efficient Method for Modeling and Code Generation of Custom Functions2011-01-005504/12/2011
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 Regulations2011-26-004801/19/2011
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
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