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Michael Matthäi, Christian PetschaelisZF Friedrichshafen AG
Support of automobile transmission development with co-simulation of vehicle and driver behaviour at virtual driving tests
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Agenda
Where do we come from? What should the journey be like?
Demo video
Measurements and analyses of the Co-Simulation environment
Summary
Structure of the Co-Simulation
Co-Simulation of Vehicle and Driver, 18.09.2012 & 19.09.2012
Motivation
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predictive Control
Thinkable uses of the SiL-co-simualtion at ZF
Load collective
driving strategy
Design of new developments
Co-Simulation of Vehicle and Operator, 18.09.2012 & 19.09.2012
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Analysis of:
• the number of the gear shifts
• the type of the gear shifts
• the quality of the gear shifts
The gear shifts depend on: • the environment(course of curve, slope, weather conditions)
• driver (slow, normal, aggressive)
• loading of the vehicle (with trailer, loaded, empty)
Load collective data for thetransmission
Co-Simulation of Vehicle and Operator, 18.09.2012 & 19.09.2012
Measurement Load collective data
Analysis of
relevant damaging
parameters
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Motivation for the SiLCo-Simulation environment
Vehicle HiL test bench SiL test bench
Behaviour of the driver -- --
Vehicle characteristics -- --
Environment -- --
Reproducibility
Availability
Time for tests
Danger for tester
Co-Simulation of Vehicle and Operator, 18.09.2012 & 19.09.2012
?
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Agenda
Where do we come from? What should the journey be like?
Demo video
Measurements and analyses of the Co-Simulation environment
Summary
Structure of the Co-Simulation
Co-Simulation of Vehicle and Driver, 18.09.2012 & 19.09.2012
Motivation
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Driver controller
• Controller retraces speedprofile
• No route information
• Fitful pedaling action
• Type of driver just via speedprofile
Co-Simulation of Vehicle and Operator, 18.09.2012 & 19.09.2012
Throttle
Brakes
Desired speed
RoadThrottle
BrakesDesired speed
• Test approach based on events
• Controller shall retrace the real route
• Different types of drivers haveto be installed
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Co-Simulation of Vehicle and Operator, 18.09.2012 & 19.09.2012
Structure of the SiL test environment
Vehicle
Transmission Hydraulics
Engine
Environment
Driver controller
3D Environment
Measuring software(external)
Road
Components of the vehicle
Driver controller
Traffic
Memory area
Controlelements
Test object:Transmission software
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SoftCar (ZF-Friedrichshafen)
Co-Simulation of Vehicle and Operator, 18.09.2012 & 19.09.2012
Environment
Memory areaCcontrolelements
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SoftCar im V-Model
Model-in-the-Loop
100
v_Fahr [km/h]
3
4
1
2
Spur
Lenkradwinkel
M_Lenk_soll
Gemessener Lenkradwinkel
Motormoment LRA
Lenkmoment
Lenkradaktuator
Lenkmoment [Nm]
Gemessener Lenkradwinkel
Spurstangenkraft
Spurstangenweg
Motormoment LA
Lenkaktuator
Spurstangenweg
Fahrzeuggeschwindigkeit
Spurstangenkraft
Schwimmwinkel
Gierwinkel
Fahrzeug
Lenkradwinkel
Fahrer
Software-in-the-Loop
Hardware-in-the-Loop
Integration Test
Prototype
Co-Simulation of Vehicle and Operator, 18.09.2012 & 19.09.2012
RequirementsElicitation
System RequirementsAnalysis
System ArchitecturalDesign
Software Requirements Analysis
Software Construction
Software integration& Integration Test
Software Design
Software Test
System integration& Integration Test
System Test
Validation
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CarMaker (IPG)
Co-Simulation of Vehicle and Operator, 18.09.2012 & 19.09.2012
3D Environment
Road
Vehiclecomponents
Driver controller
Traffic
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Vehicle (Simulink)(ZF-Friedrichshafen)
TransmissionHydraulics
Co-Simulation of Vehicle and Operator, 18.09.2012 & 19.09.2012
VehicleTransmission Hydraulics
EngineDriver
controller
PSM 8PxHEngine
Engine Wheel on toothed, infinite road
Transmission (Hardware)
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Agenda
Where do we come from? What should the journey be like?
Demo video
Measurements and analyses of the Co-Simulation environment
Summary
Structure of the Co-Simulation
Co-Simulation of Vehicle and Driver, 18.09.2012 & 19.09.2012
Motivation
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Co-Simulation of Vehicle and Operator, 18.09.2012 & 19.09.2012
Modification of the vehicle for the SiLCo-Simulation
PSM
Engine8PxH
Contribution ofIPG to CarMaker
Contribution ofZF to SoftCar
• Single-track model
• Accelaration only in direction x
• No slip
• Multitrack modell
• Accelaration in direction x, y, z
• Slip at the wheels
PS
MEngine8PxH
Original model
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Co-Simulation of Vehicle and Operator, 18.09.2012 & 19.09.2012
Complete SiL-Co-SimulationsEnvironment
TCP/IP
Reference macro
of SoftCar
Vehicle
Environment3D
Environment
Measuringsoftware (external)
APO-Client(Application Online)
Hardware Simulation
Control unitemulation
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Operating principle of the APO-Client
SoftCar
APO-Client
CarMaker
APO-Client
Co-Simulation of Vehicle and Operator, 18.09.2012 & 19.09.2012
- Triggers APO
- Provides required
values
- Triggers CarMaker
- Hands over increment
- Hands over required
values from SC
- Hands over calculated
values after request
- Hands over end flag
- Hands over calculated
values from CarMaker
Interrupt
Polling
- Demands
for…
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Agenda
Where do we come from? What should the journey be like?
Demo video
Measurements and analyses of the Co-Simulation environment
Summary
Structure of the Co-Simulation
Co-Simulation of Vehicle and Driver, 18.09.2012 & 19.09.2012
Motivation
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Simulation (Route and Vehicle)
• Vehicle:
• Audi Q5 Hybrid
• System capacity: 245hp = 180kW (155kW engine + 40kW electric motor)
Co-Simulation of Vehicle and Operator, 18.09.2012 & 19.09.2012
• Route:• Deggenhausertal
• Distance ~13km
• Country road with small towns
• Difference in altitude ~230m
• Maximum slope ~10%
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Agenda
Where do we come from? What should the journey be like?
Demo video
Measurements and analyses of the Co-Simulation environment
Summary
Structure of the Co-Simulation
Co-Simulation of Vehicle and Driver, 18.09.2012 & 19.09.2012
Motivation
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Simulation (Types of drivers)
Co-Simulation of Vehicle and Operator, 18.09.2012 & 19.09.2012
Names / Characteristics
Hudson Hornet(Doc)
„The Grandpa“
Sally„Average Joe“
LightningMcQueen„Racer“
Maximum speed 100 km/h 150 km/h 300 km/h
Accelaration low (~2 m/s²) normal (~4 m/s²) large ( ~6 m/s²)
Pedal changing
timeslow (~1s) normal (~0,5s) fast (~0,25s)
Cut a corner not at all rarely all
Quelle: http://www.pixarcars.tv
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Analysis of the SiL Simulation(Number of gear shifts)
Co-Simulation of Vehicle and Operator, 18.09.2012 & 19.09.2012
120125130135140145150155160165
Doc Sally McQueen
Analysis of the gear shifts
Anzahl Schaltungen Co-Simulation
0 20 40 60 80 100 120 140 160
Co-Simulation
Fahrzeug
Mean values
Error< 5%
Number of gear shifts Co-Simulation
Vehicle
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Agenda
Where do we come from? What should the journey be like?
Demo video
Measurements and analyses of the Co-Simulation environment
Summary
Structure of the Co-Simulation
Co-Simulation of Vehicle and Driver, 18.09.2012 & 19.09.2012
Motivation
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Summary
Co-Simulation of Vehicle and Operator, 18.09.2012 & 19.09.2012
Reality Simulation
• The Co-Simulation works and delivers results which are close to reality
• Simulations in x-fold real-time (till 8-fold on office PC)
• Comparable simulation by real transmission software with real
application data
• The types of drivers have to be adjusted to the real driver• The type of driver has great influence on the gear shifts
• APO-Client and CarMaker have to be reprogrammed on interrupt• Better performance
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Thank you very much for your attention!
Co-Simulation of Vehicle and Driver, 18.09.2012 & 19.09.2012