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
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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
Rationale of the project …
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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
Virtual Integration platform
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
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Standardization: ACI Specification
ACI integrates real-time systems and simulation environments
ACI … Advanced Co-Simulation Interface
ACU … Advanced Co-Simulation Unit
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(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
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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
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HiL Supplier I HiL Supplier II Integration OEM Supplier III
Entire System Representation
Real-time Simulation Cloud Service
INNOVATION
‘sharing’ Service
ACI Architecture
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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 …
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State Machine
Communication Protocol
ACI Specification
First Demonstrators
Data Exchange
ACI Architecture
Industrial Example: virtual RDE Tests
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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
Vehicle & Environment
Simulink model
Driving shaft torque Transmission
Torque Speed Accelerator pedal
Industrial Example: virtual RDE Tests
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Combustion engine Dynamometer
Test bench
ECU
Automation system
Accelerator pedal and Speed
Torque
Speed Torque
accelerator pedal
Test Automation Measurement & Calibration Test System Control
EtherCAT Bus
XIL API, XCP, ASAP3, MCD-3 MC, …
Wheel speed
HIL system
FMU
Vehicle & Environment
Simulink model
Driving shaft torque Transmission
Torque Speed Accelerator pedal
Industrial Example: virtual RDE Tests
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Combustion engine Dynamometer
Test bench
ECU
Automation system
Accelerator pedal and Speed
Torque
Speed Torque
accelerator pedal
Test Automation Measurement & Calibration Test System Control
EtherCAT Bus
XIL API, XCP, ASAP3, MCD-3 MC, …
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
Vehicle & Environment
Simulink model
Driving shaft torque Transmission
Torque Speed Accelerator pedal
Industrial Example: virtual RDE Tests
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Combustion engine Dynamometer
Test bench
ECU
Automation system
Accelerator pedal and Speed
Torque
Speed Torque
accelerator pedal
Test Automation Measurement & Calibration Test System Control
EtherCAT Bus
XIL API, XCP, ASAP3, MCD-3 MC, …
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
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Communication Layer
Test Automation Test System Control
Test Bench (RT System)
HIL System (RT System)
XIL API, XCP, ASAP3, MCD-3 MC, …
Mixed RT/non-RT system integration
Industrial Example: Generalization
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ACU2 ACU3 ACU1
Communication Layer
Host-Domain
Measurement & Calibration Test Automation Test System Control
ACU-D3 ACU-D1
XIL API, XCP, ASAP3, MCD-3 MC, …
ACU2
ACU-D2
AC
I
AC
I
AC
I Transport Layer (e.g. UDP, EtherCAT, CAN, …)
Industrial Example: Generalization
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ACU2 ACU3 ACU1
Communication Layer
Host-Domain
Measurement & Calibration
Advanced Co-Simulation Scenario
Test Automation Test System Control
ACU-D3 ACU-D1
XIL API, XCP, ASAP3, MCD-3 MC, …
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!
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www.acosar.eu
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Dr. Martin Benedikt
VIRTUAL VEHICLE Research Center
Contact Details