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FULL VIRTUALIZATION OF
RENAULT'S ENGINE MANAGEMENT SOFTWARE
APPLICATION TO SYSTEM DEVELOPMENT
D. von Wissel, Y. Jordan,, RENAULT
A. Dolha, J. Mauss QTronic
QTronic User conference 2018
2009-01-1082
2
Introduction
V. ConclusionsIV. ApplicationsIII. Related WorkII. VirtualizationI.Motivation
QTronic Renault SAS
Renault has an established engine control SW development framework
▪ Field of application: Passenger Veh. & Light Duty Veh. with Diesel & Gasoline engines
▪ Framework is heavily based on Matlab / Simulink and the idea of MBD
Renault EMS architecture SW is composed out of
▪ 20 functions (ex. Air System, Combustion, …)
▪ A function consists of modules which are the smallest testable SW unit
▪ A module contains runnuables triggered by the Operating System (OS)
QTronic User conference 2018QTronic Renault SAS 3
6.Validation
and test of all
modules on
system level
using the real
ECU
build for standard EMS library
EMS C code library
HIL testing
function validation and test
feedback fordevelopers
platform integration
function validation and test
software integration
test
Project C code
.hex
configurationfor target CPU
feedback for software project team
Software Project Team weeks
flash
modul MiL
.mdl.m
modulvalidation and test
modulvalidation and test
modul SiL
Unit testing
C code
Function Developers
code generation
1.Specification of
about 200 generic
configurable modules
per ECU using
MATLAB / Simulink.
2.Generation of C code (EMS
application software) from all
module specifications
3.MiL test and
validation
4.Configuration of modules
to fit to the specific needs
of a software project,.
5.Integration of
generated
configured
C code on
supplied target
hardware,
V. ConclusionsIV. ApplicationsIII. Related WorkII. VirtualizationI.Motivation
SW development framework at Renault
QTronic User conference 2018QTronic Renault SAS 4
build for standard EMS library
EMS C code library
HIL testing
function validation and test
feedback fordevelopers
platform integration
function validation and test
software integration
test
Project C code
.hex
configurationfor target CPU
feedback for software project team
Software Project Team weeks
flash
modul MiL
.mdl.m
modulvalidation and test
modulvalidation and test
modul SiL
Unit testing
C code
Function Developers
code generation
Critical assessment of the development framework► There is considerable delay between delivery of a set of specs to SW project team and
system-level tests based on an ECU that runs entire SW.
V. ConclusionsIV. ApplicationsIII. Related WorkII. VirtualizationI.Motivation
1. 2.
3.
Assessment of SW development framework
QTronic User conference 2018QTronic Renault SAS 5
build for standard EMS library
EMS C code library
HIL testing
function validation and test
feedback fordevelopers
platform integration
function validation and test
software integration
test
Project C code
.hex
configurationfor target CPU
feedback for software project team
Software Project Team weeks
flash
modul MiL
.mdl.m
modulvalidation and test
modulvalidation and test
modul SiL
Unit testing
C code
Function Developers
code generation
build vECUfor MiL
► System-level test and validation should be performed interleaved with steps 1, 2 and 3
replacing the actual MiL, SiL validation process by a full ECU validation
V. ConclusionsIV. ApplicationsIII. Related WorkI. VirtualizationMotivation
1. 2.
3.
Place of vECU in SW development framework
QTronic User conference 2018
2009-01-1082
6
vECU Build Process
V. ConclusionsIV. ApplicationsIII. Related WorkI.Motivation
QTronic Renault SAS
II. Virtualization
.mdl
.m
modulewrapper
generator
Moduleinterface
data types
Calibrationdata
.mdlSimulink
Codergrt.tlc
C codebuildscript
vECU
Os specification
vECU configoptions
read at run-time
Matlab / Simulinkspecification
for all modules
wrappedmodules
Inputs▪ Consistent set of modules
▪ Dictionary with data types
of all variables
▪ Os specification.
Configuration files.
Incremental, fully automated build process.
QTronic User conference 2018
2009-01-1082
7
Discussion
V. ConclusionsIV. ApplicationsIII. Related WorkI.Motivation
QTronic Renault SAS
Differences between real and virtual ECU
A vECU remains a model : not all tests that are relevant can be moved to the PC
▪ Zero-time execution: vECU behaves like a device with unlimited computing speed
▪ Missing basic software: basic software of the ECU platform is not part of the vECU
▪ Different production code: C code is close to but not fully equivalent to production code
► Many of these differences can be avoided switching to a virtual processor type vECU
Runtime performance
▪ A virtual ECU for a typical Renault EMS loads & initializes in less than 5 sec. on a Windows PC
▪ Execution speed depends on the number of outputs to be recorded during simulation
o Recording170 variables / ms, execution of the vECU is 4 times faster than real time.
o Recoding 20.000 variables / ms, execution speed is 3 times slower than real time
II. Virtualization
QTronic User conference 20188
3 options to create a vECU
V. ConclusionsIV. Applications
QTronic Renault SAS
II. VirtualizationI.Motivation III. Related Work
Project C code
.hex
configurationfor target CPU
Software Project Team
flash
.mdl.m
Build vECUfor MiL
C codeFunction
Developerscode generation
vECU
ECU
Build vECUfor SiL
Build for target MCU
Build vECUfor PiL
vECU is created
from models that
generate the C code
vECU is created
from C code
compiled for PC
vECU is created
from the hex file
resulting from
compiling C code
for the target
processor
QTronic User conference 20189
Chip Simulaton
V. ConclusionsIV. Applications
QTronic Renault SAS
II. VirtualizationI.Motivation III. Related Work
Project C code
.hex
configurationfor target CPU
Software Project Team
flash
.mdl.m
C codeFunction
Developerscode generation
vECU
ECU
Build for target MCU
Build vECUfor PiL
vECU is created
from the hex file
resulting from
compiling C code
for the target
processor
► Suppliers of ECU hardware and MCUs: to validate their ECU and chip designs
(need of cycle accurate platform simulator)
► OEMs that need to integrate and calibrate supplied EMS software: to run EMS SW on
PC when there is access to the hex files, but no access to the C code
However, Hex files for the target
MCU become only available weeks
after a module edit ….
QTronic User conference 201810
SiL type vECU
V. ConclusionsIV. Applications
QTronic Renault SAS
II. VirtualizationI.Motivation III. Related Work
Project C code
.hex
configurationfor target CPU
Software Project Team
flash
.mdl.m
C codeFunction
Developerscode generation
vECU
ECU
Build vECUfor SiL
Build for target MCU
vECU is created
from C code
compiled for PC
► Compared to chip simulation, vECU for SiL runs typically faster and provides better
support for C level debugging, if compiled with debug option
However, production C code
generator is a shared and
limited resource here, not
easily available …
QTronic User conference 201811
MiL type vECU
V. ConclusionsIV. Applications
QTronic Renault SAS
II. VirtualizationI.Motivation III. Related Work
Project C code
.hex
configurationfor target CPU
Software Project Team
flash
.mdl.m
Build vECUfor MiL
C codeFunction
Developerscode generation
vECU
ECU
Build for target MCU
vECU is created
from models that
generate the C code
► In the automotive world today dominates MBD on PC with MATLAB/Simulink
► But this does not mean that developers are typically able to simulate their ECU on PC
✓ The choice is hear to build the vECU from the module
source (Simulink .mdl files)
QTronic User conference 201812
vECU Applications
V. Conclusions
QTronic Renault SAS
III. Related Work
► Definition of system requirements
Completion of environmental model by EMS
► Module development in system context
Bypassing / replacing implementation of module in vECU
► Pre calibration of the EMS ; frontload calibration related activities
► Virtual integration of modules before production C code is generated
► Move selected tests from HiL to MiL
► Vehicle-level simulation
Completion of Digital Electronic Integration PlatForm
Validate networked ECUs in vehicle context
II. VirtualizationI.Motivation IV. Applications
QTronic User conference 201813
Move selected tests from HiL to MiL
V. Conclusions
QTronic Renault SAS
III. Related WorkII. VirtualizationI.Motivation IV. Applications
Advantages
✓ Frontloading of automatic tests of applicative functions
✓ 1st Software tests can be done 6 weeks early► Faster feedback to function designers
► More time to correct errors
✓ Cost of a vECU is significantly lower compared to cost of a HIL
Same plant model▪ Engine
▪ Vehicle
▪ Gearbox
▪ Driver Model
Same tests
What can be moved? ▪ Applicative SoftWare validation tests
What has to stay on HIL? • Task scheduling tests of function that
combine ASW and BSW runnables
• Task distribution between cores
QTronic User conference 201814
Vehicle-level simulation : Digital Electronic Integration PlatForm
V. Conclusions
QTronic Renault SAS
III. Related WorkII. VirtualizationI.Motivation IV. Applications
DEIPFclient
DEIPFclient
DEIPFclient
DEIPFclient
(vECU+env.)
RT-Lab Orchestra API
DEIPF
✓ Check of flow coherency between all vehicles ECUs right after model design
✓ Intersystem Functional Validation including all vehicle ECUs
✓ Issues detection before physical Vehicle Integration Platform tests
► Increased time on error corrections
► Lower Cost
QTronic User conference 201815
vECU Applications
V. Conclusions
QTronic Renault SAS
III. Related Work
► Definition of system requirements ; completion of environmental model by EMS
► Module dev. in system context ; bypassing / replacing implementation of
module in vECU
► Pre calibration of the EMS ; frontload calibration related activities
► Virtual integration of modules before production C code is generated
► Move selected tests from HiL to MiL
► Vehicle-level simulation ; completion of a Digital Electronic Integration PlatForm
(D-EIPF) to validate networked ECUs in vehicle context
II. VirtualizationI.Motivation IV. Applications
QTronic User conference 201816
• In 2016, Renault created the 1st fully functional virtual EMS
• Process has been repeated for about 6 releases (updates and different
platforms) of the EMS software since then
• Renault started to use virtual ECUs to frontload test and calibration
related activities
• First results of these activities have been encouraging so far
• Existing MiL-based virtual ECUs will be complemented by SiL-based virtual ECUs
IV. Conclusions
IV. ConclusionsIII. ExampleII. Interface & ToolI. IntroductionGeneral Purpose
QTronic Renault SAS
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