FULL VIRTUALIZATION OF RENAULT'S ENGINE … › content › dam › synopsys › ...validation and test modul validation and test modul SiL Unit testing C code Function Developers

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


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


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,


SW development framework at Renault



EMS C code library

HIL testing






test

Project C code

.hex




flash

modul MiL

.mdl.m



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.


1. 2.

3.

Assessment of SW development framework



EMS C code library

HIL testing






test

Project C code

.hex




flash

modul MiL

.mdl.m



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


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.


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


3 options to create a vECU

V. ConclusionsIV. Applications

QTronic Renault SAS

II. VirtualizationI.Motivation III. Related Work

Project C code

.hex


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


Chip Simulaton


QTronic Renault SAS


Project C code

.hex



flash

.mdl.m

C codeFunction


vECU

ECU


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 ….


SiL type vECU


QTronic Renault SAS


Project C code

.hex



flash

.mdl.m

C codeFunction


vECU

ECU

Build vECUfor SiL


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 …


MiL type vECU


QTronic Renault SAS


Project C code

.hex



flash

.mdl.m

Build vECUfor MiL

C codeFunction


vECU

ECU


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)


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


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


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


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


• 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

Documents

FULL VIRTUALIZATION OF RENAULT'S ENGINE … › content › dam › synopsys › ...validation and test modul validation and test modul SiL Unit testing C code Function Developers