Adoption of Model-Based Software for Vehicle Systems ... · • MATLAB Report Generator • Simulink Report Generator Virtual Truck, HiL, Shared Code Placement Reference Config Sets

Adoption of Model-Based Software for Vehicle Systems Development

Material prepared for MathWorks Automotive Conference, May 9, 2017

Presented by:

Marc McClain

Crown Equipment Company

One of the World’s Largest Material Handling Companies

Leader in material

handling innovation and

technology

5 regional

headquarters

2.5 Billion USD

FY201412,000

employees

Over 500 retail locations across 84 countries

17 manufacturing plants in 11 locations worldwide

Family owned and managed industry leader since 1945

Global line of trucks

designed to local

work practices

Innovative fleet

management

solutions

Crown Lift Trucks

Adopting Model Based Software

Agenda

I. Initial Goals

II. Architecture Decisions

III. Code Generation Experience

IV. Virtual Truck Simulations

V. Performance Improvements

VI. Verify, Test and Report

I. Model Based Software – Initial Goals

• Code Generation from Reusable Models for All Products

• Support Expansion of Features for New Technology

Initial MBS Version: • MATLAB

• Simulink

• Stateflow

Data Dictionary Concept

Shared Network Files

(8) Legacy MATLAB Users

R2011b

II. Model Based Software – Architecture Decisions

Hydraulic Steering

GENERATOR

CODE

Traction

Operator Interface Pedology & Interlocks

Throttles

Contactor

SRO

Traction

Hydraulics

Steering

Switched & Pedals

Throttles

DIR Switches

DiagnosticsInputs from All Blocks

TrSpd

DCM

TDM

HDM

SDM

CAN Bus

Advise to DCM

to DCM

to TDM

to HDM

to SDM

To All Modules

to TDM, HDM, SDM

Calibration

Power Management


• Simulink

• Stateflow




R2011b

II. Model Based Software – Architecture Decisions

Hydraulic Steering

GENERATOR

CODE

Traction

Operator Interface Pedology & Interlocks

Throttles

Contactor

SRO

Traction

Hydraulics

Steering

Switched & Pedals

Throttles

DIR Switches

DiagnosticsInputs from All Blocks

TrSpd

DCM

TDM

HDM

SDM

CAN Bus

Advise to DCM

to DCM

to TDM

to HDM

to SDM

To All Modules

to TDM, HDM, SDM

Calibration

Power Management


• Simulink

• Stateflow




R2011b

Initial Code Gen:• MATLAB Coder

• Simulink Coder

• Embedded Coder

(4) System Developers

R2012b

III. Model Based Software – Code Generation

BenefitsVirtual

Subsystem

Atomic

Subsystem

Model

Reference

Ease of Use + + -

Readability + + +

Traceability + +

Reusability +

Concurrent

Development+

Unit Testing +

Performance +, -

Modular Model Design


• Simulink

• Stateflow




R2011b


• Simulink Coder

• Embedded Coder


R2012b



• Simulink

• Stateflow




R2011b R2012b


Initial Code Gen:> 2 Hrs to Generate Code

Single Core - 8 GB RAM

SVN Source Control


III. Model Based Software – Signals and Parameters


• Simulink

• Stateflow




R2011b


• Simulink Coder

• Embedded Coder


R2012b

Individual Builds: • Simscape

• MATLAB Report Generator

• Simulink Report Generator

Virtual Truck, HiL,

Shared Code Placement

Reference Config Sets


R2014a



• Simulink

• Stateflow




R2011b


• Simulink Coder

• Embedded Coder


R2012b




Virtual Truck, HiL,




R2014a


Steering

Diagn

ostic

Auto Gen C-CODE

Traction

VFB

CA

L Energy

Hydraulic

Common


• Simulink

• Stateflow




R2011b R2012b R2014a


Steering

Diagnostic Au

to G

en

C-C

OD

E

Traction

VFB

CAL

Ene

rgy

Hyd

rau

lic

Co

mm

on

Individual Builds: 10-2O Minute Code Gen


IBM’s RTC Source Control




SVN Source Control


Vehicle Apps

20

200

2000

1

System Apps

Simulink Models

Model Parameters

Auto Gen C-Code

325K Lines of Code

Steering

Diagnostic Au

to G

en

C-C

OD

E

Traction

VFB

CAL

Ener

gy

Hyd

rau

lic

Co

mm

on

APP Verif

icatio

nSystem

APP Design

Model Based Vehicle System Apps

OnTrac™ Traction Control

IV. Model Based Software – Virtual Truck

IV. Model Based Software – Virtual Truck

Pressure Correlation (test vs model)Lift Speed Correlation (test vs model)


• Simulink

• Stateflow




R2011b


• Simulink Coder

• Embedded Coder


R2012b

Parallel Builds:• Parallel Computing Toolbox

• Polyspace Static Analysis

• V&V Toolbox

Parallel Simulation and Build


R2015b




Virtual Truck, HiL,




R2014a

V. Model Based Software – Improved Performance


• Simulink

• Stateflow




R2011b



SVN Source Control


R2012b

Parallel Builds:5-10 Minute Code Gen

Quad Core - 32 GB RAM

GIT Distributed Source Control


R2015b





R2014a

V. Model Based Software – Improved Performance


• Simulink

• Stateflow




R2011b


• Simulink Coder

• Embedded Coder


R2012b

Parallel Builds:• Parallel Computing Toolbox

• Polyspace Static Analysis

• V&V Toolbox

Parallel Simulation and Build


R2015b




Virtual Truck, HiL,




R2014a

Verification: Dependency Analysis

Simulink Design Verifier

3-way compare and merge


R2017?R2016b

VI. Model Based Software – Verify, Test & Report

Test & Report: • Simulink Test

• MATLAB Compiler

Bi-Directional Req’s Links



• Simulink

• Stateflow




R2011b



SVN Source Control


R2012b

Parallel Builds:5-10 Minute Code Gen

Quad Core - 32 GB RAM



R2015b





R2014a

Verification: 5-10 Minute Code Gen

Quad Core with 32 GB RAM



R2017?R2016b


Test & Report: Simulink Test,

MATLAB Compiler,

Bi-Directional Req’s Links


Design

Simulation

Truck

Code

Control Algorithm

Fine Tuning

Coverage

Analysis

Virtual Physical

Specification Verification


Global Locations

500 retail locations across 84 countries

386 dealers and 114 branches24

Documents

Adoption of Model-Based Software for Vehicle Systems ... · • MATLAB Report Generator • Simulink Report Generator Virtual Truck, HiL, Shared Code Placement Reference Config Sets