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Development of Cross Domain Control Unit FunctionsAmir Sardari, Dr. Christian Fuchs, Marcus Boumans, Thomas HuberRobert Bosch GmbHApply & Innovate 201620./21. September 2016, Karlsruhe
Development of Cross Domain Control Unit Functions
Diesel Gasoline Systems | DGS-EC/ESY | 20/09/2016
© Robert Bosch GmbH 2016. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.2
Agenda
Motivation & Scope
Future E/E Architecture
Master Variance and Complexity of Cross Domain Functions
Important Aspects of Model based Development
Structure of Co-Simulation Environment
Sample Studies and Potential Analyses
A Sample Use Case
Summary & Conclusion
Development of Cross Domain Control Unit Functions
Diesel Gasoline Systems | DGS-EC/ESY | 20/09/2016
© Robert Bosch GmbH 2016. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.3
Future E/E Architecture
Centralization
Domain Fusion
Central Domain ECUs
Central Cross Domain ECUs(Cross) Domain
centralized E/E
architecture
TO
MO
RR
OW
Modular
Integration
Each function has his ECU
Functional IntegrationDistributed E/E
architecture
TO
DA
Y
Vehicle Computer &
Zone ECUs
Vehicle Cloud Computing
Zone Oriented Architecture
and Vehicle Computer
Vehicle functions
in the cloudVehicle centralized E/E
architecture
FU
TU
RE
increasing No of SW
Development of Cross Domain Control Unit Functions
Diesel Gasoline Systems | DGS-EC/ESY | 20/09/2016
© Robert Bosch GmbH 2016. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.4
Master Variance & Complexity of Cross Domain Functions
Increase of cross-domain functions which influence the Vehicle Motion (lateral and longitudinal
control) are caused by comfort, safety, autonomous and eco driving functions
SteeringTrans-
missionIC Engine E-Drive
Friction
Brake
Surround
Cameras
Front
CameraRadar
SensorsUltrasonic
Sensors
Cruise
Control
Parking
Assist
Valet
Parking
Autom.
DrivingADAS
Hybrid
Driving
Driver
BehaviorRecup.
Eco.
Driving
Fu
nc
tio
ns
Ac
tua
tors
Accelerate
(+x)
Steer
(+/- y)
Decelerate
(-x)
BRS
Se
ns
ors
Driving
PedalIoT
Cloud
Vehicle Motion Control
Sensor Data Fusion
Navi
El.Horizon
Complexity will be mastered by functional coordination of Vehicle Motion Control (Coordination
of Vehicle Motion Aggregates like braking, ICE, E-Machine & steering)
Development of Cross Domain Control Unit Functions
Diesel Gasoline Systems | DGS-EC/ESY | 20/09/2016
© Robert Bosch GmbH 2016. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.5
Future Cross Domain Functions - ExamplesA
ctu
ato
rs
SteeringTransmission IC Engine E-Drive BrakeBoost
Recuperation
Decelerate Steer Accelerate
Fu
ncti
on
s
Required specific driving situations are reproducible only in the simulation
Vehicle Motion Control
Example 1: Assisted
Evasive Steering SupportExample 2: Automated
Map based ecoACC
Example 3: Connected
Predictive Motion Control
based on road condition map
Development of Cross Domain Control Unit Functions
Diesel Gasoline Systems | DGS-EC/ESY | 20/09/2016
© Robert Bosch GmbH 2016. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.6
Important Aspects of Simulation based Development
Early potential analysis of cross domain functions
Creation of specific complex driving situations
Integration of real ECU software from different domains
Derive requirements regarding actuator configuration for driving functions
Use case specific model depth possible
Simulation based development is cost-effective, fast and safe
Development of Cross Domain Control Unit Functions
Diesel Gasoline Systems | DGS-EC/ESY | 20/09/2016
© Robert Bosch GmbH 2016. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.7
Model Based Cross-Domain Feature Development
Availability
Cost Time to Market
Real Prototypes are substituted by Virtual Prototypes
Development of Cross Domain Control Unit Functions
Diesel Gasoline Systems | DGS-EC/ESY | 20/09/2016
© Robert Bosch GmbH 2016. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.8
Structure of Co-Simulation Environment
Driver/DrvFcn
Actuator Management
System Functional Chain
Vehicle Model
Radar
Lidar
Camera
Inertial & wheelspeed sensors
GPS, map data
Da
ta f
us
ion
Scope: Simulation architecture for Motion Control
SensorsEnvironment
3D Road Network
& InfrastructureFreeway, rural &
Urban roads, Buildings
Traffic signs, traffic lights
Street markings
TrafficVehicles, Pedestrians
Objects
Environmental
ConditionsWeather, Lighting
Friction coefficient
Test Scenarios
Brake Steering Power Train
Actuators
Fu
nc
tio
ns
Motion Control
Development of Cross Domain Control Unit Functions
Diesel Gasoline Systems | DGS-EC/ESY | 20/09/2016
© Robert Bosch GmbH 2016. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.9
Bosch Solution for Co-Simulation Environment
Flexibility
Modularity
Reliability
Usability
Standard Co-Simulation Solution
…
S-Fct
Simulink
Development of Cross Domain Control Unit Functions
Diesel Gasoline Systems | DGS-EC/ESY | 20/09/2016
© Robert Bosch GmbH 2016. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.10
Example Studies and Potential Analyses
Torque distribution ICE warmup
0
1
2
3
4
5
6
0 20 40 60 80 100 120 140 160 180 200 220 240
Verb
rauc
h [L
/100
km]
LPA [Nm]
Abgas Verlust
Wärme Verlust
Elek. Verlust
Reib Verlust
Antrieb
6.1
6.2
6.3
6.4
6.5
6.6
6.7
0 20 40 60 80 100 120 140 160
Verb
rauc
h [L
/100
km]
LPA [Nm]
Verbrauch Warmstart
Verbrauch Kaltstart
LPA(Tmot)
Influence Battery aging on PHEV strategy
Potential Predictive Operation Strategy
Calibration Operation Strategy LHS in oil circuit of a HEV
Assessment equation based ECMS SHEV influence on Tcatalyst
Potential Predictive Cruise Control
…
Potential Predictive Start/Stop
Co-Simulation environment successful used for various use cases
Development of Cross Domain Control Unit Functions
Diesel Gasoline Systems | DGS-EC/ESY | 20/09/2016
© Robert Bosch GmbH 2016. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.11
Example: Map based EcoACC
PCC (Pred. Cruise Control)
FOC(Follow Control)
co
nn
ec
ted
Simulation scenario:
• Varying traffic
• Different road types
• CO2 saving: 2% - 5%
(depends on traffic)
Simulation scenario:
• No traffic ahead
• Vary driver & optimizer
• CO2 saving: ~10%
(depends on route)
Op
tim
ize
d
ha
nd
ov
er
HMI
Map and surround Data
Speed
Limit
Turn Preceding
vehicle
Road
Gradient
Curvature
Round
-about
Development of Cross Domain Control Unit Functions
Diesel Gasoline Systems | DGS-EC/ESY | 20/09/2016
© Robert Bosch GmbH 2016. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.12
Example: Operation Strategy in case of Interrupted Follow Control
Simulation with real traffic flow data based on measurements (ca. 2000 km) on three different road
types and different vehicle speeds and comparison between two different operation strategies S1, S2
Potential analysis of X-Domain functions in the simulation is more cost-effective, faster and safer than in the vehicle
Development of Cross Domain Control Unit Functions
Diesel Gasoline Systems | DGS-EC/ESY | 20/09/2016
© Robert Bosch GmbH 2016. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.13
Summary & Conclusion
Automotive Trends lead to more Cross-Domain Functions
Increased Complexity, High Variance
Complexity, High Variance & Fast Innovation Cycles
require enhanced E/E-Architecture Approaches
Complexity, Fast Innovation Cycles & Costs require
the usage of Virtual Prototypes in Cross-Domain
Function Development
Model Based Approach is key Enabler for E/E-Architecture & Cross Domain Function Development
THANKYOU
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