Simulink® Modeling for Vehicle Simulator Design - Delphi

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Figure 1. Autocoding of Simulink ® Model A similar principle is also applicable for designing the vehicle simulator used to test automotive electronic controller units (ECU). The vehicle simulators used to simulate an automotive environment that can be designed using Simulink ® . The simulated model can be autocoded using real time workshop and then built into an executable using C compiler to run on real time operating system. Figure 2. Simulink ® Model Distribution on to the Targets Opal-RT TestDrive [4] provides the most effective way to implement a model-based approach to design vehicle simulation. MATLAB-Simulink ® will allow us to quickly create real-time simulations of dynamic systems and use them throughout the design cycle - from initial concepts, to controller design, test and validation using hardware-in-theloop (HIL) testing. The target system is a PC or cluster of PCs where the simulation runs. The real-time requires a real-time operating system (RTOS) such as QNX. The target system allows us to perform model compilation and real-time execution, as well as scheduling any signal I/O hardware for HIL applications. Figure 3. Test Bench Setup This paper illustrates the vehicle simulator for an adaptive cruise control (ACC) system. A radar scans the road traffic conditions and sends this information on the CAN bus. These CAN messages are used by the ACC to perform vehicle control actions (such as braking and accelerating) depending on the road traffic conditions. MATLAB-SIMULINK ® BASED VEHICLE SIMULATION Using a MATLAB - Simulink ® model, various simulations can be performed to verify any ECU functionality at bench level. This paper explains the following simulations: 1. Network simulation 2. Decoding of CAN messages from the ECU 3. Instrumentation support for reading and writing memory through CAN calibration protocol (CCP) [2] and universal calibration protocol (XCP) [3] 4. Support for periodic data acquisition (DAQ) and periodic data stimulation (STIM) using CCP and XCP 5. Simulation of fault conditions to test the ECU 6. Simulation of diagnostic test tool to read diagnostic trouble code (DTC) 7. Simulation of power waveform test tool
8. Replay CAN logs on target hardware for functional verification 9. Test automation using python scripts 10. Message logger 1. NETWORK SIMULATION Traffic data from the radar, yaw rate sensor, and vehicle speed sensor are simulated by Simulink ® models. The radar sensor transmits scan data through a set of CAN messages periodically. Each set of messages is transmitted sequentially and the sequence is repeated. Figure 4. Message Scheduler Figure 4 shows the simulation of sequences used for scheduling radar messages. Each pulse is separated from other by 2msec. Each of these pulses will trigger set of CAN messages. Figure 5. Scheduler on Simulation Each message also has individual control to simulate missing message fault diagnostics. The ACC gets CAN messages from other ECUs such as the engine management system (EMS), brakes control module (BCM), transmission control module (TCM) and instrument cluster (IC). The simulator model groups all these messages based on the appropriate periodicity, with message triggering accomplished through the Simulink ® pulse generator. Messages can employee several methods to maintain data integrity logic, through scan index, rolling count and checksum calculations. Figure 6. Network Simulation Figure 7. Data Integrity using Rolling Count and Checksum
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Page 5 and 6: Figure 12. DAQ Concept In Simulink
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Page 11 and 12: CONTACT INFORMATION Chandrakantha U

Simulink® Modeling for Vehicle Simulator Design - Delphi

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