Virtual Integration and Consistent Testing of Advanced Driver Assistance Functions

Transcription

1 Stuttgart, Testing Expo 2012 Virtual Integration and Consistent Testing of Advanced Driver Assistance Functions Jürgen Schüling

2 Agenda Introduction and Motivation State of the Art Hardware in the Loop Virtual Integration Our Consistent Test Approach Test System Example Summary 2

3 Introduction and Motivation Driver assistance systems are highly networked and the functions are distributed in the vehicle on several electronic control units High integration with sensors and actuators Close interaction between driver, vehicle and environment Functions are observable for customers Brand Profiling Challenge - Control of complexity in compliance with the development time and budget during the entire development process Minimizing the number of test vehicles and test drives Reduce the development risk Pressure for innovation and short development cycles 3

4 HiL - State of the Art Procedure The vehicle functions are verified during the development in component- and integration tests Use of HiL (Hardware-in-the-Loop) test systems Simulation of the real environment by models (vehicle dynamics, engine,...) Test Automation 4

5 HIL-Test Method The objects to be tested (1..n ECUs) are tested on their electrical interface (= black box testing at the system boundary) Tests in real time (typically 1 ms clock) The functional simulation of the environment reactions outside the system boundary is realized by executable models Manipulated variables are changed by the tester or an executable test script A closed control loop is called close-loop simulation Driver Test Case Engine Model 5

6 Integration of HiL into the Development Process Integration Test on HiL Requirements Model Verification System Test Distributed functions over several control units Functional Model Model Simulation System Integration SW Design Implementation SW Verification ECU Integration Component Test on HiL Single functions in a control unit Model-based development methods allow an early test of the functions - Frontloading 6

7 Frontloading with Model-Based Development Model development and MiL testing Integration Test on HiL MATLAB/Simulink, ASCET, UML Requirements Model Verification System Test Distributed functions over several control units Functional Model Model Simulation System Integration SW-development and SiL testing SW Design Implementation SW Verification ECU Integration Component Test on HiL Code-Generation /SW-Coding Single functions in a control unit Implementation/ Integration Software / Hardware 7

8 Virtual Integration in the Development Process Model development and MiL testing Virtual Integration Integration Test on HiL MATLAB/Simulink, ASCET, UML Requirements Model Verification System Test Distributed functions over several control units Functional Model Model Simulation System Integration SW-development and SiL testing SW Design Implementation SW Verification ECU Integration Component Test on HiL Code-Generation /SW-Coding Single functions in a control unit SW/HW Integration Software / Hardware 8

9 Our Consistent Test Approach I Early error detection with MiL/SiL tests and virtual integration together with environment simulations A test tool for all modeling tools as well as AUTOSAR code and compiled objects Simultaneous MiL-HiL Tests Reuse of real-time test sequences of a MiL test at the HiL test 9

10 Windows MESSINA-HiL MESSINA-HiL Our Consistent Test Approach II Test platform MESSINA Systematic test case generation with CTE Professional Test case modeling with JAVA Modular environment models, e. g. with TESIS DYNA4,... Automated testing in real-time MESSINA: Test standard for model-based simulation, virtual integration, MiL, SiL and HiL tests 10

11 MiL-HiL Migration (1) Virtual Integration Example: Test system for a camera-based lane assist function Involved software components: Lane assist controller and steer torque manager model as a test objects Environment models (roads, own vehicle, road marking,...) Test case with the scenario parameters 11

12 MiL-HiL Migration (2) HiL-Test Exchanging the models for HW ECUs (+ I/O adapter) Environmental models and test cases can be reused 12

13 MiL-HiL Migration (3) Simultaneous MiL HiL Simultaneous use of the models and ECUs Comparing the ECU output data with the model data (reference) 13

14 MiL-HiL Migration (4) Simultaneous MiL HiL Test the Steer Torque Manager with LA function before availability of EPS ECU 14

15 ECU Stimulation with Virtual Data Simulated scenario testing ECU/sensor stimulation with virtual data Offline creation of virtual driving scenes Scenario simulation in real-time Restrictions on testing environmental conditions (weather, light,...) MESSINA interfaces to TESIS DYNA4 and IPG CarMaker available "Closed loop" test automation possible 15

16 ECU Stimulation with Recorded Data Tests with recorded driving scenarios ECU/sensor stimulation with real data Real data is collected during test drives Real data has to be expanded to include metadata for test automation Recording specific driving situations difficult Synchronous bus (e.g. CAN) and sensor data (e.g. video) MESSINA interface for ADTF for playing back the scenes available "Open loop" testing 16

17 Test system - Camera-based ADAS functions 17

18 Test System Advanced Driver Assistance Services - Development of a test system for camera-based advanced driver assistance functions - Integration of Ford in-house developed models and environmental models (e.g. TESIS DYNA4) - Real-time MiL/SiL tests in early stages of development - Automation of qualitative and quantitative regression tests Benefits - Increased efficiency by usage of reproducible test cases from MiL to HiL - Early fault detection with virtual integration and MiL/SiL tests - Simultaneous MiL allows easy generation of reference data for quantitative HiL tests Details in: ATZ 11/

19 Summary Test setup for camera-based ADAS functions as well as sensor fusion algorithms Early error detection with MiL/SiL tests and virtual integration of modeled functions together with environment models Simplify migration from MiL to HiL by reusing the test cases and parallel testing Simultaneous development of OEM and Suppliers with IP protection Quick regression tests on the various verification levels and development stages Reduction of test drives and increasing test quality Details in: ATZextra 05/

20 Thank you for your attention! Jürgen Schüling Account Manager Automotive Mobile: Tel: Web: More information: Hall 1 Stand 1537 Berner & Mattner Systemtechnik GmbH Gottfried-Hagen-Str. 60 D Cologne 20