Applied Collaboration for the Virtualization of Roads and Customer Approval as Exemplified by a Brake Control System

Transcription

1 Applied Collaboration for the Virtualization of Roads and Customer Approval as Exemplified by a Brake Control System Sven-Etienne Henschel, Rohan Deshetti

2 Applied Collaboration for the Virtualization of Roads and Customer Approval as Exemplified by a Brake Control System 01 Introduction of Participated Business Divisions Goal of Collaboration Development of the Virtual Prototype Mode of Operation in the Collaboration Results of Collaboration Outlook for Collaboration

3 Introduction of Participated Business Divisions Robert Bosch GmbH ESP /ESP Hev ibooster Integrated power brake Mobility Solutions Chassis Systems Control Active Safety Yaw-rate sensor Wheel-speed sensor Steering-angle sensor Audi Customer Team - Bosch Customer Team VW Group Project Management & SW Development PM & TPM Project controlling SW Management & development Vehicle/SW Planning with OEM Application Basic application Controller application VTC Maneuvers for SW release Analysis of maneuvers Simulation ESP Controller models Integration with vehicle models Virtual application Simulation Co-ordination

4 Introduction of Participated Business Divisions Elektronische Fahrwerksysteme GmbH Virtual Development Simulation environment Environment Simulation models Models Testing environment Applied Testing Controller inclusion (SiL) Test field (HiL) Environment for virtual functional development Customization of the environment Driving dynamics: MBS model Carmaker Tires Validation of the models Environmental sensing: Sensor models Development-related testing Requirements-based testing Virtual endurance run Real driving test Test management

5 Introduction of Participated Business Divisions Strategic Positioning of the Partner Businesses Mutual increase and protection of know-how at the same time!

6 Goal of Collaboration Introduction of the Pilot Project Q7M4 CAE To review the possibilities and constraints in virtual validation methods during the Development phase of ESP, A Pilot Project (Q7 M4) between AUDI, EFS und Bosch is defined Step 1 Pilot Project Q7M4 Application support through Simulation e.g. Basic Application, Check for Robustness Model validation Master Car Robustness check Step 2 Less Prototype Vehicles Virtual application & virtual cross-check for Development-/Application baselines of SW Virtual application Use of master car SW proof-check for different baselines Step 3 Worst-Case Validation Virtual application & virtual cross-check for vehicle variants considering vehicle dynamics aspects Wide range usability Virtual application for variants Different wheelbase, engine, chassis

7 Goal of Collaboration Division of Responsibilities between EFS and Bosch ABS EBV VDC ASR.. Development of a virtual prototype Verification of the driving physics Common validation Functional test at the SiL Development of a catalog for virtual driving maneuvers Execution of the catalog for virtual driving maneuvers Combined HIL Hardware/ECUs Evaluation of the catalog for virtual driving maneuvers

8 Development of the Virtual Prototype Development of Vehicle Model EG EK Input of data from test-bench measurement, component checks Integration checks Functional development EF List of testing maneuvers: standstill, start, coast, braking, circular drive,, Sine-With-Dwell Virtual prototype Testing Piloted driving EA ISO standards Steady-state circular Sine with dwell TE

9 Development of the Virtual Prototype ESP System Integration Virtual prototype : A combined simulation model Vehicle model + ESP system model Key Points : Similar routine between App & Sim Same parameter format (DCM) + Same measurement format (MM6x) Animation Complete Simulation Environment with ESP System Vehicle Interface: Vehicle, road, driver model Tire model Control systems(w/o ESP ) Test manager Flexray Restbus Signals ESP System Interface: Act/Mod controller Brake system model Sensors & actuator models Test measurement Inputs to Controller: Vehicle, Driver, Environment etc. Inputs to Vehicle: Controlled Act & ESP signals CM Traces ESP Traces Combined signals for analysis Test measurement including traces from CM & ESP DCM parameters from vehicle 7-Sep-18 9

10 Development of the Virtual Prototype Overall Interconnection SQ7 Implementation of: ESC (ESP ) Air spring Damping control 7-Sep-18 10

11 Development of the Virtual Prototype Further Development Based on the example of Tires MF Tire determined relaxation length reduced relaxation length TMeasy determined relaxation length 7-Sep-18 11

12 Mode of Operation in the Collaboration Simulation Workshop in Boxberg Proving Ground Vehicle Tests : Vehicle basic application & driving maneuvers to cover the vehicle response w.r.t. longitudinal & lateral dynamics Virtual Tests : SiL (for Application SW) & HiL (Remote HiL in Gaimersheim for complete SW) Control from Boxberg Internet Vehicle Tests SiL Simulation (ASW) HiL Simulation (CSW) HiL Set-Up in Gaimersheim 1. Basic application 2. Steering Characteristics 3. Longitudinal maneuvers 4. Lateral maneuvers 1. Controller parameter 2. Maneuver duplication 3. Application SW test 4. Comparison with vehicle measurements 1. Remote HiL access 2. Parameter adaption from SiL 3. Real-time simulation 4. Comparison with vehicle measurements & SiL Combined HIL Hardware/ECUs EFS VPN Network

13 Mode of Operation in the Collaboration Sensitivity Analysis Aim & Steps : To use the validated simulation model & check the sensitivity of the model against different tires for ABS Results : For same tire pressure in tests & simulation Similar co-relation between Sim & tests as to in validated model Vehicle measurements Detailes of used tool: Software in the Loop (SiL) Environment Application Software Same controller parameter files as used in vehicle tests Real Vehicle Driver Inputs Steering Brake Velocity Measurement based simulation Correlation Yes Master Car Model GoodYear Vehicle measurements Driver Inputs Steering Brake Velocity Pirelli Tests: ABS Braking Partial braking Partial braking during cornering Pos µ-jump Virtual Vehicle Simulationmodel Measurement based simulation Correlation

14 Results of Collaboration Summary of Workshop Activities Longitudinal dynamics Summary encompassing the real vehicle testing & SiL/HiL simulation activities during the workshop Basic application Parameter update in controller model Longitudinal maneuvers ABS: High-µ, Low-µ, µ-split, Pos µ Jump, Neg µ Jump Longitudinal & Lateral combined maneuver EBD cornering & braking Evaluation of vehicle measurements, simulation results and respective comparison Model parameter update ABS- Braking High - µ ABS- Braking Low - µ

15 Steering wheel angle [Deg] Wheel Pressure [Bar] Lateral Acceleration [m/s²] Results of Collaboration Summary of Workshop Activities Lateral dynamics Summary encompassing the real vehicle testing & SiL/HiL simulation activities during the workshop Vehicle & controller model with updated parameters Lateral dynamics VDC: Quasi static cornering, ISO lane change, Step steer Evaluation of VDC maneuvers, simulation & comparative analysis Constructive co-operative team work Knowledge exchange between application & simulation Quasi static cornering Lane change Step steer FL FR RL RR Lateral Acceleration [m/s²] Time [s] Time [s]

16 Mode of Operation in the Collaboration Project summary Project time history : Work distribution & further steps during the project duration Work steps : Work packets derived through workshop in PG-Boxberg & over the period of project SiL Model Project end Combined HIL Hardware/ECUs Workshop in PG Boxberg Sensitivity, VTC for ASW & CSW Vehicle Test Catalogue ABS VDC VAF Tire Sensitivity SiL & HiL Environment SiL for ASW HiL for CSW Project start Evaluation & comparison

17 Results of Collaboration Outlook from Bosch Maneuver distribution : Estimation of maneuver distribution between real vehicle & simulation Future prospects : Prototype reduction Based on project activities & corresponding simulation results, following maneuver distribution between real vehicle prototype & virtual prototype is realizable. Part of vehicle test catalogue (VTC) through simulation Rest through real prototype tests Only vehicle 30% Only simulation 40% Vehicle + simulation 30% Future scope for following projects Prototype reduction in early phase of project Virtual application for early prototypes Basic application, basic controllers Detection of critical vehicle variants with respect to vehicle dynamics functions Cross check of low-µ application vs. high-µ banked curves

18 Results of Collaboration ASW Cross-Check Low-µ vs. Banked curve High-µ Failed: Retuning Banked curve detection No shutdown, no VDC-misinterventions on banked curve Passed: Application Robust Low-µ Application in Vehicle (Sweden) Parameter Set : DCM To analyze the effects of Low-µ Application on vehicle behavior on High-µ banked curves Simulation is used during winter application Different banked tracks (PBx/PGN), driver (defensive, normal, aggressive) Banked curve High-µ (PBx, PGN)

19 Outlook for Collaboration Virtual endurance run Raw data AUDI A7 (C8) Data preparation Relevant FlexRay data Mapping µ Simulation Create CarMaker maneuver AUDI A6 (C7) µ, GPS coordinates

20 Outlook for Collaboration Benefit of Swarm Data in virtual Development Data filtering Stat. evaluation Feature assessment Model validation Modeling Application Logfiles Vehicle: 4 Number of Logfiles: 10 Distance: 1000 km

21 Thank you for your attention!