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S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
IPG Technology Conference 2014 Dr. Stephen Jones et. al. / DSS 23.09.2014 [email protected] +43 316 787 4484
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Outline
Introduction
Connected Vehicle & Predictive Control
Safety Co-Simulation
Special Vehicle Application
Summary & Outlook
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Outline
Introduction
Connected Vehicle & Predictive Control
Safety Co-Simulation
Special Vehicle Application
Summary & Outlook
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Introduction
Challenges in vehicle development
CO2 emission targets Increased complexity
Electrification
Hybridization
Connected vehicles
Safety & Comfort Faster development cycles
Where is the intelligence in it?
THE CONNECTED POWERTRAIN™ for Efficiency Advanced Driver Assistance Systems for Safety & Comfort
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Source: www.hybridcars.com
Source: newsroom.scania.com
Source: www.nextenergy.org
Source:IPG.de
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Introduction
How to develop interdisciplinary systems of that complexity
Co-simulation toolchain allows vital features to be incorporated:
Detailed road information including realistic real-world 3D driving route simulation
Sensor Cameras, LIDAR, RADAR, Ultrasonic, ….
V2V, C2C, V2I, C2I communication, traffic sign detection, traffic flow information, etc.
Traffic scenarios: traffic lights, overtaking, …
Source: Continental
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Introduction
Fast migration from pure office simulation to 4WD InMotion
powertrain testbed
Reusability of all developed use cases on testbed
Tests on realistic real-world 3D driving routes
Vehicle dynamics maneuvers for TCS, ESP, VDC systems
Reproducibility for safety related maneuvers: DLC, µ-split etc.
Development of connected functions & predictive control strategies
under highly realistic conditions
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Outline
Introduction
Connected Vehicle & Predictive Control
Safety Co-Simulation
Special Vehicle Application
Summary & Outlook
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Connected Vehicle & Predictive Control
Co
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Co
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S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Example 1: Predictive Energy Management with GPS for Prius III
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
ADAS RP
GoogleEarth
Virtual driving route
Vehicle Position in GE
Vehicle Position in ADASRP
Following Traffic Attributes
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Example 2: eHorizon with ADAS RP
Predictive energy management considering driving route information
Next Traffic Sign Ahead
Electronic Horizon Slope profile in 1 km Current Slope Curve Radius
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Flat Road – both vehicles with 85 kph target speed Downhill Road – vehicle with predictive control allows higher velocity Uphill Road – vehicle with predictive control reduces velocity Flat Road – both vehicles with 85 kph target speed
Standard (transparent)
Predictive (solid)
Conventional Driving Conventional Driving Recuperation Sailing Electric Boost Conventional Driving
Conventional Driving
By adapting the target speed based on the current topology,
fuel consumption and battery load can be reduced.
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Example 3: Predictive Cruise Control
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Example 4: Coasting Assistant
Automatically adapt driving speed due to legal speed limit
Controller receives traffic sign information and acts upon it as feasible
Conceptual HMI visualization through CarMaker Instruments Cluster
to provide information to the driver
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014 15
Hybrid control strategy
modeled in detail
AVL GPS based predictive
energy management
Co-simulation shows
ca. 4% real world efficiency
improvement by considering
downhill parts
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Example 5: Predictive Energy Management with GPS for Prius III
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Outline
Introduction
Connected Vehicle & Predictive Control
Safety Co-Simulation
Special Vehicle Application
Summary & Outlook
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Event
Exposure
Severity
Controllability
Inherent Risk Tolerable Risk Residual Risk
Necessary risk reduction
Actual risk reduction
3 aspects in ASIL
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Safety Co-Simulation: in Concept Phase
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Example 1: Safety Co-Simulation in Concept Phase
Wet road, Unintended full negative EM torque, Harsh driver braking
2 vehicles in video: Grey (normal, no failure), White (with failure)
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Entrance speed: 120km/h
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Example 2: Safety Co-Simulation using vehicle software in the loop
Simulated double-lane-change maneuver
Each EM is controlled separately by the Traction Control System (TCS) inside the
ESP®hev.
Recuperation torque and friction torque are coordinated (torque blending) due to
the interaction between the powertrain energy management and the ESP®hev.
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
First lane change without braking
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Example 2: Safety Co-Simulation using vehicle software in the loop
Simulated double-lane-change maneuver
Each EM is controlled separately by the Traction Control System (TCS) inside the
ESP®hev.
Recuperation torque and friction torque are coordinated (torque blending) due to
the interaction between the powertrain energy management and the ESP®hev.
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Second lane change with braking
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Example 2: Safety Co-Simulation using vehicle software in the loop
Simulated double-lane-change maneuver
Each EM is controlled separately by the Traction Control System (TCS) inside the
ESP®hev.
Recuperation torque and friction torque are coordinated (torque blending) due to
the interaction between the powertrain energy management and the ESP®hev.
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Stable driving condition
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Example 2: Safety Co-Simulation using vehicle software in the loop
Simulated double-lane-change maneuver
Each EM is controlled separately by the Traction Control System (TCS) inside the
ESP®hev.
Recuperation torque and friction torque are coordinated (torque blending) due to
the interaction between the powertrain energy management and the ESP®hev.
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Example 2: Safety Co-Simulation using vehicle software in the loop
Simulated double-lane-change maneuver
Braking with pure recuperation
Steering causes VDC (Vehicle Dynamics Control) to detect a critical situation
• Reduction of recuperation torque (Torque Blending)
• Increase of right rear brake pressure to maintain continuous braking
Driver steers back to right lane and VDC increases pressure on rear right wheel.
Individual modulation
of rear wheels brake
pressure independent
of pedal actuation
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Safety Co-Simulation
ADAS & Safety function development & testing
Safety maneuvers
Vehicle stability assessment, component failure, …
E.g. double lane change, µ-split
Traffic simulation
Safe and efficient reaction to traffic objects
E.g. optimized regenerative braking
Real-world driving routes
Virtual test drive of any road in the world
E.g. verification of regenerative braking system
Simultaneously maximized:
energy-efficiency & safety
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Road Testbed Lab Office
Reuse of office simulation environment on AVL Powertrain Testbed
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Safety Co-Simulation
Simulation toolchain easily supports
development process, model reuse
from Office PC, to HiL, to Testbed
Rapid prototype testing
Fast migration to HiL testing
Realistic real-world conditions
Complex interface between Unit Under Test, automation and measurement systems
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Outline
Introduction
Connected Vehicle & Predictive Control
Safety Co-Simulation
Special Vehicle Application
Summary & Outlook
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Special Vehicle Application
Co-simulation platform for simulation of tracked vehicles
Simulation of vehicle-ground interaction on different soil types
Detailed powertrain modeling
Integration of powertrain & vehicle control strategies
Vehicle dynamics: 3D road & driver
CarMaker Controller
Controller Powertrain co-Simulation
3D vehicle dynamics Vehicle & driver model
Longitudinal driveline simulation
Interface Interface
Interface
Control functions: steering, hydraulics, Custom caterpillar track model
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Outline
Introduction
Connected Vehicle & Predictive Control
Safety Co-Simulation
Special Vehicle Application
Summary & Outlook
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Co-simulation platform with model reuse capability for frontloaded
development
Key element to handle complexity of interdisciplinary vehicle design
Powerful & useful foundation available today
Complex traffic scenarios & emulation of sensor information (e.g. radar, video, v2x, …)
Interfaces for various specialized tools & real hardware
HOW DO WE BRING EVERYTHING TOGETHER ?
Modelin
g
Execution
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D Co-Simulation Toolchain
Co-simulation platform with model reuse capability for frontloaded
development
Key element to handle complexity of interdisciplinary vehicle design
Powerful & useful foundation available today
Complex traffic scenarios & emulation of sensor information (e.g. radar, video, v2x, …)
Interfaces for various specialized tools & real hardware
Modelin
g
Execution
S.Jones, Frontloaded Development of Efficient & Safe Conventional & Electrified Vehicles in Advanced 1D/3D CoSimulation Toolchain 23th September 2014
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