virtual test driving in the development process - ipg …€¦ · virtual test driving in the...

Virtual Test Driving in the Development Process –New Methods and Tools for Current Challenges

Episode 1: Hardware-in-the-Loop

SESSION 1 – Automotive Systems Engineering© IPG Automotive GmbH, 2018

327-Mar-18

Highly networked functions Platform ECUs/„Super ECUs“ Sensor data fusion

Automated DrivingNeural networksArtificial intelligence

Current and Future Challenges for Function Verification with HIL


Sensorf (.)

427-Mar-18

Aerog (.)

Chassisn (.)

…c (.)

…h (.)

…p (.)

…x (.)…

y (.)

…z (.)

…m (.)

…d (.)

ADASj (.)

…b (.)

…k (.)

Software / Office Environment


Software / Office environment

Sensorf (.)

527-Mar-18

Aerog (.)

Chassisn (.)

…c (.)

…h (.)

…p (.)

…x (.)…

y (.)

…z (.)

…m (.)

…d (.)

…b (.)

…k (.)

ADASj (.)

Hardware-in-the-Loop Environment

ECU


cmdlineoptions

C code / Infofile editing

Databases

Existing Implementation with CarMaker

627-Mar-18

.dbcC code

(IO_CAN.c,…)

Infofiles(FlexRay

Parameters, …)

APP_VER = "Car_Generic<insert.your.version.no>"APP_NAME = CarMaker.$(ARCH)$(EXE_EXT)

OPT_CFLAGS = -g -O1

LD_LIBS = $(CAR_LIB) \$(CARMAKER_LIB)

$(DRIVER_LIB) $(ROAD_LIB) $(TIRE_LIB) $(TAME_LIB)OBJS = CM_Main.o CM_Vehicle.oUser.oOBJS_xeno = IO.o $(OBJS_CANIOGEN) $(OBJS_CANIOGEN_USER)OBJS_linux =OBJS_linux64 =OBJS_win32 =OBJS_win64 =

# Prepend local include/library directory to include path:# PREINC_CFLAGS +=

-I../include -

CANiogencmdline

tool

.xml

.arxml

fibex2flexcmdline

tool

voidIO_CAN_Cam_User_Out(

const unsigned int CycleNo){

/* Modify/Delete following lines, assign values to CAN signal variables */

/* ECU CAM_Out *//* CAN Msg 0x550 (CAMcommon) */IO_CAN_Cam_Timings.SendPeriod = 1;

/*Periodenzeit in Millisekunden*/IO_CAN_Cam_Timings.SendDistrib = 0;

/*Zeitversatz der Botschaft*/IO_CAN_Cam.EPM.MEcommon_DLC

= IO_CAN_Cam_MEcommon_DLC; /*Data length coding gibt Länge der Botschaftan*/

IO_CAN_Cam.Blinker_Left= VehicleControl.Lights.IndL;

IO_CAN_Cam.Blinker_Left_State= IO_CAN_Cam_SigStates[IO_CAN_Cam_SState_


BUS CONFIGURATOR

Bus ConfiguratorFor rest bus simulation

727-Mar-18

Infofiles- FlexRayParameters- RBSParameters- FlexCardParameters

Infofiles- CANParameters- RBSParameters

Databases

.dbc

.xml

.arxml

LIVE DEMO


BUS CONFIGURATOR

827-Mar-18

Choose your database

Configure your restbus configuration

Map and refine your signals

Save and run your test


927-Mar-18

BUS CONFIGURATOR

Features at a glanceFull FlexRay support (FIBEX, AUTOSAR)

Full CAN support (FIBEX, AUTOSAR, Vector DBC)

Automatic detection of database type

Automatic generation of frames, PDUs and signals

GUI-based mapping of signals to Data Dictionary, Constants, RollingCount, E2E_P2, CRC

Additional functions for usability (e.g. filter, hooks, trigger…)

Infofile approach enables simulation start on-the-fly


Automotive Sensors

1027-Mar-18

Radar

Lidar

Front View Kamera

Rear View Kamera Surround View Kamera

Ultrasonic

GPS


Sensorf (.)

1127-Mar-18

Aerog (.)

Chassisn (.)

…c (.)

…h (.)

…p (.)

…x (.)…

y (.)

…z (.)

…m (.)

…d (.)

…b (.)

…k (.)

ADASj (.)

Hardware-in-the-Loop Environment

ECUSensors


Object List Based Injection

1227-Mar-18

Sensors

Device under test

Bypass (object lists)

ECU HIL

TES

T SY

STEM

Xpack4 RT-System

CarMaker

Restbussimulation


1327-Mar-18

Radar Sensor


Physical Sensor Integration

1427-Mar-18

Device under test

CarMakerSensor stimuli

RestbussimulationECU

Sensors

HIL

TES

T SY

STEM

Xpack4 RT-System


Example: Ultrasonic Sensor Box

1527-Mar-18

Device under test

HIL

TES

T SY

STEM

Xpack4 RT-System

CarMaker

Restbussimulation

ECU


Example: Ultrasonic Sensor Box

Restbussimulation

1627-Mar-18

Device under test HIL

TES

T SY

STEM

Xpack4 RT-System

ECU

CarMaker


Emulation of Sensor Signals

1727-Mar-18

Device under test

HIL

TES

T SY

STEM

CarMaker

Xpack4 RT-System

Sensor emulation

SensorsECU Restbus

simulation


Example: Video Interface Box

1827-Mar-18

Sending the virtual scenario

Sending the data to device under test

Sending back information to CarMaker

System reaction in CarMaker

Device under testXpack4 system with CarMaker

Video Interface Box

Closed Loop Testing


Sens

ors

TechnologyADAS Sensor InterfacesOverview

Solution depends on requirements and available informationEvery sensor type matches at least one HIL solution

1927-Mar-18

Camera

Ultrasonic

Lidar

Radar

Object list based approachEmulationPhysical(sensor-in-the-loop)

Screen capturing = Monitor-HIL

Ultrasonic sensor box

Lidar target simulator with partners of IPG Automotive

Radar target simulator with partners of IPG Automotive

Camera RSI

Ultrasonic RSI

Free Space Sensor /(Lidar RSI – coming soon)

Radar RSI

Object Sensor / Line Sensor /

Traffic Sign Sensor

Object Sensor

Object Sensor

Object Sensor / Radar HiFi Sensor


HARDWARE-IN-THE-LOOP

2027-Mar-18

LIVE DEMO


GM

SL HIL

TES

T SY

STEM

CarMaker

Xpack4 RT-PCHDMI

Drive PX2 HIL Demo System

2127-Mar-18

Video Interface Box

Device under Test

…f (.)

…g (.)

…c (.)

…p (.)

…y (.)

…b (.)Radar

RSI

Restbus simulation / Radar data

NVIDIA Drive PX2


Video Interface Box

Drive PX2 HIL Demo System

NVIDIA Drive PX2

2227-Mar-18

Device under TestRestbus simulation / Radar data

HIL

TES

T SY

STEM

CarMaker

Xpack4 RT-PC

2227-Mar-18

…f (.)

…g (.)

…c (.)

…p (.)

…y (.)

…b (.)Radar

RSI

GM

SL

HDMI


2327-Mar-18

Hardware platform (i.e. Xpack4, National Instruments PXI, dSPACE Scalexio & DS1006, ETAS Labcar)

running on

integrated in

Function under test

CarMaker HIL software as middleware

CarMaker Runs on Different Hardware Platforms

Episode 2: Virtual ECUs


FMUs allow a seamless and easy integration of own or third-party models into CarMaker

Automatic conversion of physical units between connected signals• GUI proposes factor and offset

for conversion automatically based on given units

Tunable parameters allow a runtime influencing of the FMU

2527-Mar-18

2.0


Front-loading validation and testingduring automotive

software development

Silver Virtual ECUs

2627-Mar-18


What is a virtual ECU? – Runs on a PC „like the ECU in the car“

2727-Mar-18

Silver

Plant Model

vECU and ECU share the same code C sources or Target HEX code

vECU and ECU have same interfaces Calibration – CANape, INCA Configuration files – PAR, DCM Networking – CAN, LIN, FlexRay


Software Development Process

2827-Mar-18

Model-based developmentautomotive software

ECU testand validation

Feedbackfor developers

C codelibs

Build fortarget CPU

.hex

Code gen. and hand coding

ECU

HIL

.mdl

Flash


Software Development Process

2927-Mar-18



ECU

Model-based developmentautomotive software

Build fortarget CPU

.hex

HIL

.mdl

Flash

Few and expensive: BOTTLENECK!

Days or weeks: LATE!

C codelibs



Silver Virtual ECUs – Software-in-the-Loop

3027-Mar-18

ECU

Build fortarget CPU

.hex

HIL

.mdl

Flash

Build

C codelibs


vECU

Benefit of SIL: same as MIL plus • More SW-in-the-loop• Behavior closer to real ECU • Just 1 process for code generation

Minutes or days!




Silver Virtual ECUs – Chip Simulation

3127-Mar-18

.hex

ECU

HIL

flash

Build fortarget CPU.mdl

Benefit of vPIL: same as SIL plus• No model or C code required


Minutes or days!

Build

vECU

C codelibs



.hex


Configuration file for Adaptive Cruise Control

Build a Silver Virtual ECU

3227-Mar-18

01 # set up compiler and files02 visualStudioVersion("100") # use Visual Studio 10.0 compiler03 inc_dir("$(PROJECT)\\src") # location of C header files04 src_files("$(PROJECT)\\src\\.+\.c") # C source files0506 # tasks of the virtual ACC07 task_initial(task_init)08 task_periodic(task_10ms, 0.01)0910 # interface of the virtual ACC11 input(ACC_IsActive)12 input(ACC_DesiredSpd)13 input(DM_Brake)14 input(DM_Gas)15 output(VC_Brake)16 output(VC_Gas)

.c, .h, .lib

.a2l, .dbc.ldf

sbsBuild

Virtual ACC

RTOS emulation

ECUfunctions

4 GBvirtual memory

A2Lconversion

XCP

flash


Import Silver FMU into CarMaker 7.0

Import is straightforward Just edit the configuration No need to rebuild CarMaker.exe

3327-Mar-18


SilverEntire Silver setup acts as FMU One or many networked vECUs User interface Optional plant models

Validation and test Use TestWeaver or any other test

automation solution available for CarMaker and/or Silver

Virtual Test Driving: CarMaker & Silver Virtual ECU

3427-Mar-18

CarMaker 7.0


QTronic Silver – Summary

3527-Mar-18

Silver offersPC execution platform for virtual ECUs

Proven build process for virtual ECUs

Co-simulation with CarMaker 6.0.4 and later

Extremely short edit/run cycle for agile development

Source-level debugger on PC

Used to front-load validation and testing

Benefit

Episode 3: Automated Driving


Searching for Future Solutions in Automated DrivingROS in General

Robot Operating System (ROS) Open-source software framework Background in robotics Rising interest in the ADAS and AD community Autonomous software stack available Flexible architecture, very useful especially for

big, complex systems Supports message-based inter-process

communication even across hardware boundaries

Hardware abstraction, device control and package management available

3727-Mar-18


CarMaker / TruckMakerROS (Robot Operating System) support

There are numerous trade-offs in creating a ROS AD architecture in combination with the simulation environment

3827-Mar-18

CarMaker

Node 1 Node 2

ROS node as plugin in CarMaker gives you a fast start

CarMaker builds the perfect completion for a ROS-based virtual vehicle development Simulates the missing

environment Provides the required flexibility for

typical system and test designs Straightforward data exchange

between CarMaker and ROS


Autonomous software stackCarMaker environment

Possible Architecture for Automated DrivingClosed loop for automated driving function testing

3927-Mar-18

CarMaker

Radar data processing

/ROS node

Camera data processing

/ROS node

Sensor data fusion

/ROS node

Decision making

/ROS node

Trajectory planning

/ROS nodeMap data

processing

/ROS node

Radar data

Camera dataRoad data

Environment model

Desiredmaneuver

Processedsensor data



/ROS node

Control signal generation

/ROS node

Planned trajectory

Control signals


Autonomous software stack

CarMaker environment

Possible Architecture for Automated DrivingClosed loop for automated driving function testing

4027-Mar-18

Radar data processing

/ROS node

Camera data processing

/ROS node

Sensor data fusion

/ROS node

Decision making

/ROS node

Trajectory planning

/ROS node

Control signal generation

/ROS nodeMap data

processing

/ROS node

CarMaker

Radar data

Camera dataRoad data

Control signals

Environment model

Desiredmaneuver

Planned trajectory




/ROS node


Autonomous software stack

CarMaker environment

Demo Architecture for ACC ControlClosed loop for ADAS function testing

4127-Mar-18

ACC control algorithm

/ROS node

CarMaker

/ROS node

Object sensor data

+vehicle data

Control signals


4227-Mar-18

LIVE DEMO CarMaker & ROSProof of Concept

Episode 4: High-Performance Computing


Parallelization Analysis

4427-Mar-18

Evenly distributed atomic units

Constant model complexity

Medium serialization share

Purpose driven fidelity – variable model complexity

Uneven model split

High serialization share

Single-domain Multi-domain


The Challenge of Speeding Up the SimulationAccording to Amdahl's law

4527-Mar-18

Number of cores0 4 16 32 64 128 256 512 1024

𝜂𝜂s= 𝑇𝑇/(𝑡𝑡𝑡𝑡 + 𝑡𝑡𝑡𝑡 + 𝑡𝑡𝑡𝑡/𝑛𝑛𝑡𝑡)

220

2

00

Parallel portion50%95%


Parallelization on TestRun Level

4627-Mar-18


Parallelization on TestRun Level

4727-Mar-18


The SolutionAccording to Amdahl's and Gustafson‘s law

4827-Mar-18

Number of cores

Acc

eler

atio

nfa

ctor

0 4 16 32 64 128 256 512 1024

𝜂𝜂s= 𝑇𝑇/(𝑡𝑡𝑡𝑡 + 𝑡𝑡𝑡𝑡 + 𝑡𝑡𝑡𝑡/𝑛𝑛𝑡𝑡)

220

2

00

Parallel portion50%95%

99,5%

𝜂𝜂s= 1 − 𝑡𝑡𝑡𝑡 + 𝑛𝑛𝑡𝑡 ∗ 𝑡𝑡𝑡𝑡


HPC Classes

4927-Mar-18

Number of cores

few many

Test

Man

ager

HPC

con

fig

HPC light

HPC withscheduler


ok

okHPC Light

5027-Mar-18

okok

ok

Spec

ifica

tions

Scheduler

HPC Scalability

DedicatedHardware

Scheduling

HPC Light

Embedded in CarMakerTest Manager

1 node< 100 cores

Single PC, multi-core

No special implementationResiliency

Limitation of parallel processes

Health Checks Process monitoring (tbi)


5127-Mar-18

LIVE DEMO HPC Light


???okok

???okok

Re-Use Your Company InfrastructureHPC with scheduler

5227-Mar-18


HPC with Scheduler

5327-Mar-18

okok

Spec

ifica

tions

Scheduler

HPC Scalability

Dedicated Hardware

Scheduling

HPC

With external scheduler(e.g. PBS professional)

beyond 50,000 nodesmillions of cores

Clusters, clouds, and supercomputers

Includes automatic fail-over architecture with no single point of failureResiliency

Balancing job turnaround time and utilization with optimal job placement

Health Checks

Monitors and automatically mitigates faults with a comprehensive health check framework


HILOffice

HILOffice

HILOffice

Remote control

Simulation backend

IPGMovie, IPGControl, Instruments

Test ManagerTest Configurator

Vehicle GUI with encryption

Maneuver, road, traffic, driver GUIs

FMI, SL plugins

Main GUI, APOSDK with C-interfaceCarMaker for Simulink

5427-Mar-18

Runtime Licenses

HIL

HIL

HIL

HIL

HIL

HIL

HIL

HIL


HILOffice

HILOffice

HILOffice

Integratemodels

NoGUI

Build scenarioswith road

networks and traffic

Create andencrypt virtual

prototypes

Create simulation

frameworks

Interactivelyrun

simulations

Create testcatalogs

Execute pre-defined

testcatalogs

Automation interface

5527-Mar-18

Runtime Licenses

HIL

HIL

HIL

HIL

HIL

HIL

HIL

HIL


Use Case ScenariosOffice simulations

5627-Mar-18

CarMaker/OfficeFull functionality

CarMaker/Office OperateFor interactive operation by humans

CarMaker/Office RuntimeFor automatic execution

Simulation framework established Third-Party Software


CarMaker/HIL OperateFor interactive operation by humans

CarMaker/HIL RuntimeFor automatic execution

Use Case ScenariosHIL simulations

5727-Mar-18

CarMaker/HILFull functionality Simulation framework established

HIL HIL HIL

HIL HIL HIL HIL

Third-Party Software


HPC ApplicationsJust the first ideas

5827-Mar-18

Oth

er D

omai

ns Identify the best vehicle dynamics setup

Calibrate and analyze emissions and energy consumption with design of experiments (DoE)

AD

AS

& A

D

Use HPC to test millions of test kilometers in simulation using test automation

Continuous integration - Robustness checks of daily builds

Stochastic vs. deterministic traffic simulation - Simulate the unexpected

Generate simulation data to train neural networks


IPGDriver – Lane Change Optimization

5927-Mar-18

IPGDriver is now able to identify a driving strategy for the fastest ride in double lane change and soon in slalom maneuvers

virtual test driving in the development process - ipg …€¦ · virtual test driving in the...

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