JP2022056500A - Simulation method and simulation program - Google Patents

Abstract

To make simulation efficient.SOLUTION: A simulation device can access software, a map file, measurement information including a measurement variable name, calibration information including a calibration variable name, a starting time, and a writing value, acquires a first address and a first data type class corresponding to the calibration variable name and a second address and a second data type class corresponding to the measurement variable name from the map file before the start of simulation, converts the writing value on the basis of the first data type class when the starting time passes after the start of simulation, sets the converted writing value to the first address where the calibration variable name exists within the software, and acquires and outputs a measurement value from the second address where the measurement variable name exists within the software, on the basis of the second data type class as a result of simulating the software with the converted writing value.SELECTED DRAWING: Figure 2

Description

The present invention relates to a simulation method and a simulation program for executing a simulation of a simulation target.

Patent Document 1 discloses a system for calibrating a source file necessary for operating a control unit. The system that performs this calibration directly describes the specification information such as the number of bytes, bit rate, unit, and setting range of the data in the data file of the source file, and uses the specification information of the data to create the source file. Convert to a calibration file (ASAP file). In addition, the calibration result based on the calibration file is converted back into a new data file and a link file.

Further, Patent Document 2 discloses an ECU evaluation device that uses test data used in simulation for testing an actual machine. This ECU evaluation device has an acquisition means (host PC) for acquiring verification data including predetermined verification input data for verifying an ECU specification model that defines the function of the evaluation target ECU, and verification input data acquired by the acquisition means. Whether or not the input data generation means (input signal control unit) that generates input data to the ECU based on the above, the expected value data of the output of the ECU specification model, and the output data output by the ECU based on the input data match. It is provided with a determination means (determination unit) for determining whether or not, and evaluates the operation of the ECU based on the determination result of the determination means.

Japanese Patent Application Laid-Open No. 2002-91508 Japanese Unexamined Patent Publication No. 2015-5189

Generally, a measurement tool or a calibration tool generates a database file to be used in a measurement device or a calibration device based on a map file such as PDB (Program Data Bank). Therefore, if the map file is changed by updating the target software, it is necessary to update the database file manually or by an external tool each time, and it is necessary to rework the data measurement due to omission of update of the database file. Occurs. Moreover, since the test scenario, the setting file, the database file, etc. are independent, it is troublesome to manage a plurality of files in the test execution.

In addition, when performing calibration, it is necessary to create a script that sets the value to the variable to be calibrated based on some event. Therefore, it is necessary to manage the script file separately from the test scenario even for tests that perform calibration.

An object of the present invention is to improve the efficiency of simulation.

A simulation method that is one aspect of the invention disclosed in the present application is a simulation method executed by a simulation device that simulates software that controls a controlled object model, wherein the simulation device is a map file relating to the software and the software. And the measurement information including the measurement variable name related to the software, and the calibration information including the calibration variable name, the start time, and the write value related to the software, and the simulation apparatus starts the simulation. First, first acquisition of the first address and the first data type type corresponding to the calibration variable name and the second address and the second data type type corresponding to the measurement variable name from the map file. When the start time elapses after the start of the process and the simulation, the write value is converted based on the first data type type acquired by the first acquisition process, and the calibration variable is converted in the software. As a result of executing the simulation of the software with the setting process for setting the write value after conversion to the first address where the name exists and the write value after conversion set by the setting process, the first acquisition Based on the second data type type acquired by the process, the second acquisition process of acquiring the measured value from the second address in which the measurement variable name exists in the software, and the second acquisition process acquired by the second acquisition process. It is characterized by executing output processing that outputs measured values.

According to a typical embodiment of the present invention, the efficiency of simulation can be improved. Issues, configurations and effects other than those described above will be clarified by the description of the following examples.

FIG. 1 is a block diagram showing a hardware configuration example of a simulation device. FIG. 2 is an explanatory diagram showing an example of a SILS environmental process. FIG. 3 is an explanatory diagram showing an example of a map file. FIG. 4 is an explanatory diagram showing an example of a measurement / calibration information file. FIG. 5 is an explanatory diagram showing an example of a test scenario file. FIG. 6 is an explanatory diagram showing an example of a measurement time series data file. FIG. 7 is a flowchart showing an example of a simulation processing procedure by a simulation device.

<Hardware configuration of simulation device>
FIG. 1 is a block diagram showing a hardware configuration example of a simulation device. The simulation device 100 includes a processor 101, a memory 102, an input device 103, an output device 104, and a communication interface (communication IF) 105. The processor 101, the memory 102, the input device 103, the output device 104, and the communication IF 105 are connected by the bus 106. The processor 101 controls the simulation device. The memory 102 serves as a work area for the processor 101. Further, the memory 102 is a non-temporary or temporary recording medium for storing various programs and data. Examples of the memory 102 include a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), and a flash memory. The input device 103 inputs data. The input device 103 includes, for example, a keyboard, a mouse, a touch panel, a numeric keypad, and a scanner. The output device 104 outputs data. The output device 104 includes, for example, a display and a printer. The communication IF 105 connects to the network and transmits / receives data.

<Example of SILS (Software In the Loop Simulation) environment process>
FIG. 2 is an explanatory diagram showing an example of a SILS environmental process. The SILS environment process 200 is a process in which the simulation is executed in the SILS environment. The SILS environment is a simulation environment in which an object code is generated from a source code such as C language automatically generated from a model and operated. The SILS environment process 200 is stored in the memory 102 and is started by the processor 101 to be built in the memory 102.

The SILS environment process 200 includes a BSW (Basic Software) 201 for simulation, a vehicle model 202, and a GUI (Graphical User Interface) 203.

The simulation BSW201 is a virtual hardware configuration for simulating an ECU (Electronic Control Unit) application 220 to be simulated. Also called infrastructure software.

The simulation BSW 201 has a processor model 211, a memory model 212, an IF model 213, and a bus model 214. The processor model 211 executes the ECU application 220 to control the vehicle model 202. The memory model 212 serves as a work area for the processor model 211. Further, the memory model 212 stores the ECU application 220, the map file analysis module 221, the calibration execution module 222, and the measurement data output module 223.

The ECU application 220 is an example of an executable file of software to be simulated. The ECU application 220 is, for example, an application that recognizes an object based on moving image data from a camera. The application to be simulated is not limited to the ECU application 220, and is determined according to the model to be controlled.

The map file analysis module 221 is a software module that causes the processor model 211 to perform analysis of the map file 231. The calibration execution module 222 is a program module that causes the processor model 211 to execute calibration. The measurement data output module 223 is a software module that causes the processor model 211 to output measurement data.

The IF model 213 is connected to the vehicle model 202 and transmits / receives data between the processor model 211 and the vehicle model 202. The bus model 214 communicably connects the processor model 211, the memory model 212, and the IF model 213.

The vehicle model 202 is data modeling an electrically controllable mechanism in the vehicle such as an accelerator, a brake, an engine, an ignition switch, an air conditioner, a light, and a wiper. A vehicle is a moving body that can travel on the ground, such as a passenger car, a car such as a bus or a truck, a motorcycle, an electric bicycle, an electric wheelchair, or a machine tool. The vehicle model 202 is an example of a controlled object, and may be a model other than the vehicle, such as home appliances such as a refrigerator, a rice cooker, and a microwave oven.

The GUI 203 accepts the input of the test scenario file 233 and displays the output result from the vehicle model 202 on the output device 104.

Further, the processor 101 of the simulation device 100 builds an ECU application 220 as an executable file using the ECU application source code 230 stored in the memory 102 outside the SILS environment process 200. The ECU application source code 230 is the source code of the ECU application 220. In the build of the ECU application source code 230, the ECU application 220 as an executable file is generated and stored in the memory model 212. Further, the map file 231 is generated by building the ECU application source code 230. The map file 231 is stored in the designated folder. The latest state of the map file 231 may be maintained by overwriting, and the processor model 211 may read the map file 231 having the latest time stamp. In any case, the processor model 211 will access the latest map file 231. The build may be performed by an ECU (not shown) instead of the simulation device 100.

<Map file>
FIG. 3 is an explanatory diagram showing an example of a map file. The map file 231 is a file that identifies the calibration target of the program, and is read by the map file analysis module. The map file 231 includes, for example, object information 301, function information 302, and variable information 303. The object information 301 includes a storage position 311 of the object file to be calibrated and a line number 312 in which the object file is described in the ECU application source code 230. For example, if the storage position 311 is "C: \ Application \ Obj \ main.obj", the line number 312 is "0001".

The function information 302 includes a function name 321 to be calibrated or measured, and its address 322. For example, if the function name 321 is "calculateVehicleSpeed", the address 322 is "[0x00100010]".

The variable information 303 includes a variable name 331 to be calibrated or measured, an address 332 thereof, and a data type type 333 (may be bit field information). For example, if the variable name 331 is "power_speed", the address 332 is "[0x00200000]" and the data type type 333 is "unsigned short". If the data type type 333 is known, the size of the data of the variable name 331 is uniquely specified.

<Measurement / calibration information file>
FIG. 4 is an explanatory diagram showing an example of the measurement / calibration information file 232. The measurement / calibration information file 232 is a file prepared in advance and is read by the map file analysis module 221. The measurement / calibration information file 232 includes measurement information 401 and calibration information 402. The measurement information 401 defines, for example, a measurement variable name 410 sandwiched between variable tags as measurement target data (capturedata). In FIG. 4, the measurement variable name 410 is defined as "vehicle_speed" (vehicle speed) and "engine_revolution" (engine rotation speed).

The calibration information 402 includes calibration variable name 421 sandwiched between variable tags, a start time 422 sandwiched between time tags, and a write value 423 sandwiched between value tags as calibration target data (calibdata). The combination of (dataset) is specified. In FIG. 4, for example, a combination in which the calibration variable name 421 is “test_mode”, the start time 422 is “10.00”, and the write value 423 is “0”, the calibration variable name 421 is “file_trigger”, and the start time is started. 422 defines a combination of "12.05" and a write value of 423 of "1".

<Test scenario file>
FIG. 5 is an explanatory diagram showing an example of the test scenario file 233. The test scenario file 233 is a file that describes a scenario for testing the vehicle model 202. The test scenario file 233 is a set of continuous sequences, for example, having a sequence number 501, a delay time 502, an operation instrument ID 503, and a value 504 as fields. The combination of the values of each field 501 to 504 is an entry indicating one sequence of simulation.

Sequence number 501 defines the sequence order. The delay time 502 defines the time from the previous sequence to the execution of that sequence. For the sequence whose sequence number is "1", the time from the start of simulation (0 seconds) is specified.

The operation instrument ID 503 is identification information that uniquely identifies the instrument to be operated in the vehicle model. For example, "IGN_BUTTON" indicates an ignition button, "ACCEL_SLIDER" indicates an accelerator slider, and "BRAKE_SLIDER" indicates a brake slider.

The value 504 is data obtained by operating the operation instrument ID 503. For example, when the operation instrument ID 503 is "IGN_BUTTON", if the value 504 is "1", it means that the ignition button is ON, and if the value 504 is "0", the ignition button is OFF. Means. When the operation instrument ID 503 is "ACCEL_SLIDER" or "BRAKE_SLIDER", the value 504 indicates the slide amount of the accelerator slider or the brake slider.

In the test scenario file 233 of FIG. 5, the ignition button is turned on 0.55 seconds after the start (sequence number 501 is "1"), and the ignition button is turned off 0.05 seconds after that (sequence number 501 is "1"). 2 ”), 1 second later, the slide amount of the accelerator slider becomes“ 40 ”(sequence number 501 is“ 3 ”), and 5 seconds later, the slide amount of the accelerator slider becomes“ 0 ”(sequence number 501 becomes“ 0 ”). 4 "), 3 seconds later, the slide amount of the brake slider became" 2.5 "(sequence number 501 is" 5 "), and 10 seconds later, the slide amount of the brake slider became" 0 "(sequence number). 501 indicates "6").

<Measurement time series data file>
FIG. 6 is an explanatory diagram showing an example of a measurement time series data file. The measurement time series data file 234 is a file in which the measured values of the measured variables are made into a time series of simulation. The measurement time series data file 234 has a simulation time 600, a first measurement variable 601 and a second measurement variable 602 as fields. In this example, the first measurement variable 601 is set to "Vehicle_speed" (vehicle speed), and the second measurement variable 602 is set to "engine_revolution" (engine speed).

<Simulation processing>
FIG. 7 is a flowchart showing an example of a simulation processing procedure by the simulation device 100. This simulation process is executed by the simulation BSW201 in the SILS environment process 200.

First, the simulation device 100 analyzes the measurement / calibration information file 232 (step S701). Specifically, for example, the simulation apparatus 100 acquires the measurement variable name 410, the calibration variable name 421, the start time 422, and the write value 423 from the measurement / calibration information file 232.

Specifically, for example, the simulation device 100 acquires "Vehicle_speed" (vehicle speed) and "engine_revolution" (engine rotation speed) as the measurement variable name 410.

Further, the simulation apparatus 100 acquires a combination in which the calibration variable name 421 is "test_mode", the start time 422 is "10.00", and the write value 423 is "0". Further, the simulation apparatus 100 acquires a combination in which the calibration variable name 421 is "file_trigger", the start time 422 is "12.05", and the write value 423 is "1".

Next, the simulation device 100 analyzes the map file 231 based on the analysis result of step S701 (step S702). Specifically, for example, the simulation apparatus 100 acquires the address 332 of the variable name 331 and the data type type 333 that match the measurement variable name 410 from the variable information 303. For example, when the measurement variable name 410 is "power_speed" (vehicle speed), "[0x00200000]" is acquired as the address 332 of the matching variable name 331, and the data type type 333 of the matching variable name 331 is "unsigned short". Is acquired.

Further, as for the calibration variable name 421, the simulation device 100 acquires the address 332 of the variable name 331 and the data type type 333 that match the calibration variable name 421 from the variable information 303, similarly to the measurement variable name 410. Specifically, for example, when the calibration variable name 421 is "test_mode", the address 332 of the matching variable name 331 is acquired, and the data type type 333 of the matching variable name 331 is acquired.

Next, the simulation device 100 starts the simulation of the vehicle model 202 in which the test scenario file 233 is read, and determines whether or not the simulation has stopped (step S703). When the simulation is not stopped (step S703: No), the simulation apparatus 100 determines whether or not the current simulation time is the start time 422 or more (step S704). The current simulation time is added by the execution time of one step of the ECU application 220 in step S706. At the start of the simulation, the current simulation time is 0 seconds, and in this case, step S704: No, and the process proceeds to step S706. When the current simulation time becomes the start time 422 or more (step S704: Yes), the process proceeds to step S705.

In step S705, the simulation device 100 converts the write value 423 based on the data type type 333 corresponding to the calibration variable name 421, sets the value at the address 332 of the target variable (step S705), and proceeds to step S706. do. The target variable is a calibration variable corresponding to the calibration variable name 421 in the ECU application 220.

Specifically, for example, the simulation apparatus 100 converts the write value 423 so as to match the data type type 333 of the variable name 331 that matches the calibration variable name 421 when the current simulation time becomes the start time 422 or more. do.

For example, it is assumed that the current simulation time is "10.00" or more, which is the start time 422. The calibration variable name 421 corresponding to the start time 422 "10.00" is "test_mode". The simulation device 100 converts the write value 423 so as to match the data type type 333 of the variable name 331 that matches the calibration variable name 421 "test_mode". Then, the simulation device 100 sets the converted write value 423 at the address 332 in which the calibration variable in the ECU application 220, which is the target variable, exists.

In step S706, the simulation device 100 executes the ECU application 220 for one simulation step. The execution time for one step (for example, 10 msec) is preset. As a result, the execution time of one executed step is added to the current simulation time. Further, in step S706, if the converted write value 423 is set in the ECU application 220 in step S705, the ECU application 220 executes the process for one step at the converted write value 423, and step S705 is performed. If not executed, the ECU application 220 executes the process for one step with the write value 423 not converted in step S705.

Then, the simulation apparatus 100 acquires the size from the data type type 333 corresponding to the measurement variable and acquires the value from the address of the target variable (step S707). The target variable is a measurement variable corresponding to the measurement variable name 410 in the ECU application 220.

Specifically, for example, the simulation apparatus 100 specifies the size from the data type type 333 of the variable name 331 that matches the measurement variable name 410. The value that is the execution result of step S706 is stored in the address 332 in which the variable name 331 exists in the ECU application 220. In particular, when step S705 is executed, step S706 is executed based on the converted write value 423, and the execution result is stored in the address 332 having the variable name 331 in the ECU application 220. Then, the simulation device 100 acquires a value corresponding to the specified size as a measured value from the address 332 in which the variable name 331 in the ECU application 220 that matches the measured variable name 410 exists.

Next, the simulation device 100 outputs the measured value acquired from the ECU application 220 in step S707 to the measurement time series data file 234 (step S708), and returns to step S703. Specifically, for example, the simulation device 100 sets the first measurement variable 601 if the variable name 331 of the measured value acquired in step S707 is "behicle_speed", and the second if the variable name is "engine_revolution" (engine rotation speed). The measurement variable 602 is written, and the current simulation time is written in the simulation time 600.

In step S703, the simulation device 100 stops the simulation when a certain period of time has elapsed from the start of the simulation, the execution of the ECU application 220 ends, or the execution of the final sequence of the test scenario file 233 ends. (Step S703: Yes). When it is determined that the simulation has stopped (step S703: Yes), a series of processes is terminated.

As described above, according to the present embodiment, the simulation apparatus 100 embeds the map file analysis module 221 and the calibration execution module 222 in the simulation BSW201. Specifically, the simulation device 100 analyzes and acquires the map file 231 generated by the build of the ECU application 220 at the initial stage of the simulation execution, and obtains the measurement / calibration information file 232 which is an input file. The address 332 and the data type type 333 are acquired by using the measurement variable name 410 and the calibration variable name 421. As a result, the measurement variables at the time of simulation execution are acquired from within the ECU application 220.

As described above, the files required for the test requiring measurement and calibration are only the measurement / calibration information file 232 and the test scenario file 233, so that the management target is reduced. Specifically, since the latest map file 231 is held in a state in which the latest map file 231 can be specified by the build of the ECU application 220, it is not necessary to manage whether or not the map file 231 is the latest.

That is, when the map file 231 is changed due to the update of the ECU application 220, it is not necessary to manually update the database file or by an external tool each time as in the conventional case, and data measurement due to omission of update of the database file or the like. It is possible to suppress the occurrence of rework work.

Further, the simulation device 100 acquires the start time 422 and the write value 423 from the measurement / calibration information file 232, and in the calibration execution process by the calibration execution module 222, after the time of the ECU application 220 elapses, the inside of the ECU application 220. The write value 423 converted by the data type type 333 is written to the address 332 of the corresponding calibration variable of. As a result, calibration is executed. Therefore, there is no need to create or manage a script file that sets the value of the target calibration variable based on some event.

Further, the measurement / calibration information file 232 is composed only of the variable names 410, 421, the time 422, and the write value 423, and can be easily added or deleted. Therefore, it is necessary to update the ECU application 220 when the ECU application 220 is changed. not.

In this way, by realizing a self-contained cyclic process such as importing the map file 231 automatically generated at the time of building the ECU application 220 as it is at the time of executing the simulation, the user can update the map file 231 and specify the map file 231. There is no need to be aware of it. Therefore, the efficiency of the simulation can be improved.

It should be noted that the present invention is not limited to the above-mentioned examples, but includes various modifications and equivalent configurations within the scope of the attached claims. For example, the above-mentioned examples have been described in detail in order to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to those having all the described configurations. Further, a part of the configuration of one embodiment may be replaced with the configuration of another embodiment. Further, the configuration of another embodiment may be added to the configuration of one embodiment. In addition, other configurations may be added, deleted, or replaced with respect to a part of the configurations of each embodiment.

Further, each configuration, function, processing unit, processing means, etc. described above may be realized by hardware by designing a part or all of them by, for example, an integrated circuit, and the processor realizes each function. It may be realized by software by interpreting and executing the program to be executed.

Information such as programs, tables, and files that realize each function is recorded in a memory, a hard disk, a storage device such as an SSD (Solid State Drive), or an IC (Integrated Circuit) card, an SD card, or a DVD (Digital Versail Disc). It can be stored in a medium.

Further, the control lines and information lines show what is considered necessary for explanation, and do not necessarily show all the control lines and information lines necessary for mounting. In practice, it can be considered that almost all configurations are interconnected.

100 Simulation device 101 Processor 202 Vehicle model 211 Processor model 212 Memory model 213 IF model 214 Bus model 220 ECU application 221 Map file analysis module 222 Calibration execution module 223 Measurement data output module 230 App source code 231 Map file 232 Measurement / calibration Information file 233 Test scenario file 234 Measurement time series data file

Claims (6)

It is a simulation method executed by a simulation device that simulates software that controls a controlled model.
The simulation device includes the software, a map file related to the software, measurement information including a measurement variable name related to the software, and calibration information including a calibration variable name, a start time, and a write value related to the software. It is accessible and
The simulation device is
Prior to the start of the simulation, the first address and the first data type type corresponding to the calibration variable name and the second address and the second data type type corresponding to the measurement variable name are acquired from the map file. The first acquisition process to be performed and
When the start time elapses after the start of the simulation, the write value is converted based on the first data type type acquired by the first acquisition process, and the calibration variable name exists in the software. Setting process to set the write value after conversion to the first address to be performed,
As a result of executing the simulation of the software with the converted write value set by the setting process, the measurement variable name in the software is based on the second data type type acquired by the first acquisition process. The second acquisition process of acquiring the measured value from the second address where
An output process that outputs the measured value acquired by the second acquisition process, and an output process.
A simulation method characterized by running. The simulation method according to claim 1.
In the second acquisition process, the simulation device is a second data type acquired by the first acquisition process as a result of executing the simulation of the software with the write value when the start time has not elapsed. Based on the type, the measured value is acquired from the second address in which the measured variable name exists in the software.
A simulation method characterized by that. The simulation method according to claim 1.
The simulation device executes a generation process for generating the software and the map file by building the source code of the software.
In the first acquisition process, the simulation apparatus performs the first address, the first data type type, the second address, and the second data before the start of the simulation of the software generated by the generation process. Obtained from the type type and the map file generated by the generation process.
A simulation method characterized by that. A simulation program that causes a processor to execute a simulation of software that controls a controlled model.
The processor accesses the software, a map file for the software, measurement information including measurement variable names for the software, and calibration information including calibration variable names, start times, and write values for the software. It is possible and
To the processor
Prior to the start of the simulation, the first address and the first data type type corresponding to the calibration variable name and the second address and the second data type type corresponding to the measurement variable name are acquired from the map file. The first acquisition process to be performed and
When the start time elapses after the start of the simulation, the write value is converted based on the first data type type acquired by the first acquisition process, and the calibration variable name exists in the software. Setting process to set the write value after conversion to the first address to be performed,
As a result of executing the simulation of the software with the converted write value set by the setting process, the measurement variable name in the software is based on the second data type type acquired by the first acquisition process. The second acquisition process of acquiring the measured value from the second address where
An output process that outputs the measured value acquired by the second acquisition process, and an output process.
A simulation program characterized by executing. The simulation program according to claim 4.
In the second acquisition process, when the start time has not elapsed in the processor, the software simulation is executed with the write value, and as a result, the second data type acquired by the first acquisition process. Based on, the measured value is acquired from the second address in which the measured variable name exists in the software.
A simulation program featuring that. The simulation program according to claim 4.
To the processor
By building the source code of the software, the generation process for generating the software and the map file is executed.
In the first acquisition process, the processor has the first address and the first data type type, and the second address and the second data type before the start of the simulation of the software generated by the generation process. Obtained from the type and the map file generated by the generation process.
A simulation program featuring that.

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