Vector J1939 User Day Stuttgart - Weilimdorf 5 th March Verification, virtual validation with CANoe/Matlab
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1 Vector J1939 User Day Stuttgart - Weilimdorf 5 th March 2008 Verification, virtual validation with CANoe/Matlab Anthony Faucogney, Vector France Stéphane Martin, - EEEL
2
3 Summary Background Challenges Modeling concepts GSECU demonstrator Conclusions Next step... 2
4 Background Level of complexicity is growing and number of ECUs is increasing Time 3
5 Background tools Separated worlds...and how to reunify them Network simulation: J1939 J1587 LIN... CANoe Function simulation (ECU level) Vehicle model (or mechanical model) Matlab HIL Acquisition cards Simulation cards Automatic tests 4
6 Challenges Implementation Demonstrator and first applications New test rigs MATLAB CANoe Focus Improve tools used in all EEE department in the product development and verification phases. Analysis of interaction Mechanics - Networks - Electrics - Software Methods: Co-simulation between networks and models Established software plateforms Models Mechanics: PowerTrain driveline - Vehicle Functions: ECUs functions Networks: J J LIN Applications Unitary tests Sub-system tests Requirements verification martin.stephan@volvo.com 5
7 Modeling concepts ECU architecture Real ECU Virtual ECU 6
8 Modeling concepts ECU architecture Sensors Acquisition boards drivers Functions included in the ECU Activators Matlab/ Simulink model wich simulates the functions included in the ECU Simulation boards drivers Networks J1939/J1587/LIN CANoe J1939/J158/LIN Real ECU Virtual ECU 6
9 Modeling concepts Network - J1939 Interaction Layer The J1939 Interaction Layer (J1939 IL) provides signal oriented access to the J1939 bus. The mapping of the signal on the Tx messages is dones accordingly to the configuration in the used database. Database preparation Database attributes to use the Vector Interaction Layer Node configuration in CANoe to use the Vector Interaction Layer martin.stephan@volvo.com 7
10 Modeling concepts Vehicle model or functional model? 8
11 Modeling concepts Vehicle model or functional model? Functional model Transmission ECU (Robotized gearbox) e.g: gear selection, gear shifting Mechanical model or vehicle model e.g: speed range (mechanical) e.g. robotized gearbox 8
12 Modeling concepts Simulation Toolkit Simulink, Vehicle model (compiled for CANoe with RTW) Matlab Simulink, ECU models (compiled for CANoe with RTW) Matlab CANoe (automatic tests) CANoe (networks simulation) CANoe (HMI) 9
13 Modeling concepts Interface between CANoe and Simulink Simulink, Vehicle model (compiled for CANoe with RTW) Matlab Interface definition What variables do we must transmit? Naming rules Variable unit... Simulink, ECU models (compiled for CANoe with RTW) Matlab CANoe (automatic tests) CANoe (networks simulation) CANoe (HMI) 10
14 Modeling concepts Interface between CANoe and Simulink Simulink, Vehicle model (compiled for CANoe with RTW) Matlab Interface definition What variables do we must transmit? Naming rules Variable unit... Simulink, ECU models (compiled for CANoe with RTW) Matlab CANoe (automatic tests) CANoe (networks simulation) CANoe (HMI) 10
15 Gear shift ECU demonstrator What is a gear shift ECU? GSECU J1939 ECS EMS2 TECU EBS IC VECU Real ECU Virtual ECU EMS2 TECU IC VECU EBS ECS GSECU Engine ECU Transmission ECU Instrument Cluster Vehicle ECU Brake ECU Air suspension ECU Gear shift ECU martin.stephan@volvo.com 11
16 Gear shift ECU demonstrator What is a gear shift ECU? GSECU J1939 ECS EMS2 TECU EBS IC VECU Real ECU Virtual ECU EMS2 TECU IC VECU EBS ECS GSECU Engine ECU Transmission ECU Instrument Cluster Vehicle ECU Brake ECU Air suspension ECU Gear shift ECU martin.stephan@volvo.com 11
17 Gear shift ECU demonstrator What is a gear shift ECU? GSECU J1939 ECS EMS2 TECU EBS IC VECU Real ECU Virtual ECU EMS2 TECU IC VECU EBS ECS GSECU Engine ECU Transmission ECU Instrument Cluster Vehicle ECU Brake ECU Air suspension ECU Gear shift ECU martin.stephan@volvo.com 11
18 Gear shift ECU demonstrator GSECU test rig - Synoptic Matlab/Simulink allows to design: ECUs models (fonctional models) Vehicle model RTW (Real Time Workshop) with the Vector target allows to generate a *.dll to CANoe. Matlab martin.stephan@volvo.com 12
19 Gear shift ECU demonstrator CANoe s use for the panels design martin.stephan@volvo.com 13
20 Gear shift ECU demonstrator Conclusions All the objectives of the demonstrator were performed. In the different development phases this demonstrator allowed to detect errors: During the conception In sub-system test (one real ECU and virtual ECUs) 14
21 Gear shift ECU demonstrator Conclusions All the objectives of the demonstrator were performed. In the different development Definephases this demonstrator allowed to detect errors: Requirements During the conception In sub-system test (one real ECU and virtual ECUs) Field Deployement System modeling System integration & tests Software design Software integration & tests HIL Production Code 14
22 Gear shift ECU demonstrator Conclusions All the objectives of the demonstrator were performed. In the different development phases this demonstrator allowed to detect errors: During the conception In sub-system test (one real ECU and virtual ECUs) This platform allows us to develop and to validate the specifications and the integration systems upstream to the V- Cycle by short verification cycles joined into the development cycle. All components are simulated (with Matlab/simulink) In interface with a dspace Micro Autobox (rapid prototyping) martin.stephan@volvo.com 14
23 Gear shift ECU demonstrator Conclusions All the objectives of the demonstrator were performed. In the different development Definephases this demonstrator allowed to detect errors: Requirements During the conception In sub-system test (one real ECU and virtual ECUs) Field Deployement This platform allows us to develop and to validate the specifications and the integration systems upstream to the V- System Cycle by short verification cycles MIL joined into the development cycle. modeling All components are simulated (with Matlab/simulink) In interface with a dspace Micro Autobox (rapid prototyping) System integration & tests SIL Software design Software integration & tests HIL Production Code martin.stephan@volvo.com 14
24 Gear shift ECU demonstrator Conclusions All the objectives of the demonstrator were performed. In the different development phases this demonstrator allowed to detect errors: During the conception In sub-system test (one real ECU and virtual ECUs) This platform allows us to develop and to validate the specifications and the integration systems upstream to the V- Cycle by short verification cycles joined into the development cycle. All components are simulated (with Matlab/simulink) In interface with a dspace Micro Autobox (rapid prototyping) This plateform allows to create a simulator for 2 ECUs with more or less strong interaction depending of the brands Development for 4 sites two different suppliers (Siemens & Delphi) on two far location Results: only 9 minors bugs on ECU software before test loop. martin.stephan@volvo.com 14
25 Gear shift ECU demonstrator Conclusions All the objectives of the demonstrator were performed. In the different development Definephases this demonstrator allowed to detect errors: Requirements During the conception In sub-system test (one real ECU and virtual ECUs) Field Deployement This platform allows us to develop and to validate the specifications and the integration systems upstream to the V- System Cycle by short verification cycles MIL joined into the development cycle. HIL modeling All components are simulated (with Matlab/simulink) In interface with a dspace Micro Autobox (rapid prototyping) This plateform allows to create a simulator for 2 ECUs with more or less Software strong interaction depending of the brands Software design Development for 4 sites two different suppliers (Siemens & Delphi) on two far location Results: only 9 minors bugs on ECU software before test loop. integration & tests System integration & tests Production Code martin.stephan@volvo.com 14
26 The next step... Integration of reflective memory in CANoe Create a universal port for CANoe which would allow a seamless test environment combining simulation (e.g. Simulink models), networks (e.g. J1939, LIN, Flexray) and hardware (e.g, digital I/O and analog I/O). Allow to create a real-time and determinist link with others applications (e.g. LabVIEW, MathWorks Xpc Target) Allow to create a multiprocessor architecture based on CANoe realtime Parameterization of models with a setting tool Using this work for the new platform of tests martin.stephan@volvo.com 15
27 Thank you for your attention 16
28 Thank you for your attention 16
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