ITEA3 Project: ACOSARacosar.eu/downloads/ACOSAR_public_presentation.pdf · ACOSAR – at a glance ITEA3 Project ACOSAR –Advanced Co-simulation Open System ARchitecture –Setting

ITEA3 Project: ACOSAR Advanced Co-Simulation Open System Architecture

Public Project Presentation

ACOSAR – at a glance

ITEA3 Project ACOSAR

– Advanced Co-simulation Open System ARchitecture

– Setting a global standard to simplify integration of RT and non-RT systems

Motivation

– Efficient integration of heterogeneous test systems

– Tool neutral integration of distributed co-simulation

9 Automotive Use-Cases

– Test system integration

– Distributed development

Public ITEA3 Project - ACOSAR - No. 14001 2

Facts Framework: ITEA3 (Call1) Duration: 09/2015 – 08/2018 Overall Budget: 7.9 M€ Countries: AT, DE, FR; 16 Partners Coordinator: VIRTUAL VEHICLE (AT) Website: www.acosar.eu

http://www.acosar.eu/

Rationale of the project …


Full Vehicle Level

Module Level

Component Level

Production Early system design

Requirements (Word, DOORS, …)

System modeling Co-simulation configuration (ICOS, SystemDesk, XML, …)

Model-in-the-loop (MiL) System simulation

Software-in-the-loop (SiL) Software validation

Hardware-in-the-loop (HiL) Hardware validation

Simulation model integration is addressed by FMI

Virtual Integration platform



Problem: Efficient integration and interconnection of Systems?

• Standardized • Methodology • Distributed

Rationale of the project …

The Problem

– FMI is focussing on simulation models only

– No standardized integration of non-RT and RT systems

– Strict separation into offline (office) and online tools

The Approach and targeted Innovations (next slides)

1) ACI Specification for standardized system integration

2) ACI Integration Methodology for consistent system integration

3) Distributed Development of CPS

The Added Value

– IPR protected and distributed subsystem integration

– Consistent system development approaches


Standardization: ACI Specification

ACI integrates real-time systems and simulation environments

ACI … Advanced Co-Simulation Interface

ACU … Advanced Co-Simulation Unit


(e.g. engine testbench)

RT System PC or Computing Cluster

ACI Communication Layer

Communication Systems

Wired Communication (e.g. CAN)

Wireless Communication (e.g. BlueTooth®)

Interprocess Communication (e.g. shared mem.)

Functional Framework

Smart Functions (e.g. adaptive coupling)

ACU 1 ACU 2

Methodology for efficient integration

Feb. 2017 / Benedikt ACOSAR Introduction 6

Model-in-the-loop

Software-in-the-loop

Hardware-in-the-loop

Concept & Design

Ap

plic

atio

n E

ffo

rt

Progress

Status Quo

Coupling Configuration

Subsystem interfacing

RT-System related configuration

Interface definition

Shift of interface definition to prior phase

in the development process system

design

Gained benefit due

to transfer of knowledge

from earlier development

phases

(Co-)Simulation Configuration

Knowledge from Model in the Loop

Knowledge from MiL & SiL to HiL

Transfer of Knowledge

Distributed development

Feb. 2017 / Benedikt ACOSAR Introduction 7

HiL Supplier I HiL Supplier II Integration OEM Supplier III

Entire System Representation

Real-time Simulation Cloud Service

INNOVATION

‘sharing’ Service

ACI Architecture


Media Driver

ACI Driver*

ACI protocol* (logic)

Model, Function, Application, …

Media (e.g. bus) runs a communication protocol

ACI driver: Standardize mapping from ACI protocol to transport protocol. Contains no execution logic.

Media driver: Proprietary or self-written libraries, executables, scripts, etc., directly controls the communication media

Proprietary or custom API

Key * Subject to standardization ~ Specification but no standardization

ACI communication API* exchange of rx/tx ACI messages

ACI protocol or ACI logic: Defines the sequence and contents of ACI messages to be exchanged between ACUs in order to carry out specified ACI functions. May be monolithic within model or RT system.

ACI control API~ Convencience API, reference

implementation will be available, not subject to standardization

Model or Function Subject to integration with other models or RT systems

ACU 1

ACU 2

Status Quo …


State Machine

Communication Protocol

ACI Specification

First Demonstrators

Data Exchange

ACI Architecture

Industrial Example: virtual RDE Tests


Offline system

Wheel speed

HIL system

FMU

Vehicle & Environment

Simulink model

Driving shaft torque Transmission

Accelerator pedal and Speed

Torque Torque Speed Accelerator pedal

Test Automation Measurement & Calibration Test System Control

UDP/IP

XIL API, XCP, ASAP3, MCD-3 MC, …

Combustion engine

FMU

Wheel speed

HIL system

FMU


Simulink model


Torque Speed Accelerator pedal



Combustion engine Dynamometer

Test bench

ECU

Automation system


Torque

Speed Torque

accelerator pedal


EtherCAT Bus


Wheel speed

HIL system

FMU


Simulink model






Test bench

ECU

Automation system


Torque

Speed Torque

accelerator pedal


EtherCAT Bus


Challenge 1: Substitution of simulation tool with mechatronic test bench

Challenge 2: Substitution of communication protocol

Challenge 3: Reuse of interface configuration

Wheel speed

HIL system

FMU


Simulink model






Test bench

ECU

Automation system


Torque

Speed Torque

accelerator pedal


EtherCAT Bus


Challenge 1: Substitution of simulation tool with mechatronic test bench

Challenge 2: Substitution of communication protocol

Challenge 3: Reuse of interface configuration

Problem: High integration effort due to proprietary interface configuration

Industrial Example: Generalization

Public

Offline System (non-RT system)

Co-Simulation Scenario

Host-Domain

Measurement & Calibration

ITEA3 Project - ACOSAR - No. 14001 9

Communication Layer

Test Automation Test System Control

Test Bench (RT System)

HIL System (RT System)


Mixed RT/non-RT system integration



ACU2 ACU3 ACU1

Communication Layer

Host-Domain

Measurement & Calibration Test Automation Test System Control

ACU-D3 ACU-D1


ACU2

ACU-D2

AC

I

AC

I

AC

I Transport Layer (e.g. UDP, EtherCAT, CAN, …)



ACU2 ACU3 ACU1

Communication Layer

Host-Domain

Measurement & Calibration

Advanced Co-Simulation Scenario

Test Automation Test System Control

ACU-D3 ACU-D1


ACU2

ACU-D2

AC

I

AC

I

AC

I Transport Layer (e.g. UDP, EtherCAT, CAN, …)

ACU description file

Solution: Efficient integration via standardized ACI

Community …

You are welcome to join

the ACOSAR initiative!


subscribe

www.acosar.eu

http://www.acosar.eu/


Dr. Martin Benedikt

VIRTUAL VEHICLE Research Center

[email protected]

Contact Details

mailto:[email protected]

Documents

ITEA3 Project: ACOSARacosar.eu/downloads/ACOSAR_public_presentation.pdf · ACOSAR – at a glance ITEA3 Project ACOSAR –Advanced Co-simulation Open System ARchitecture –Setting