WO2008047555A1 - Dispositif de simulation, modèle de simulation et dispositif de formation de modèle de simulation - Google Patents
Dispositif de simulation, modèle de simulation et dispositif de formation de modèle de simulation Download PDFInfo
- Publication number
- WO2008047555A1 WO2008047555A1 PCT/JP2007/068863 JP2007068863W WO2008047555A1 WO 2008047555 A1 WO2008047555 A1 WO 2008047555A1 JP 2007068863 W JP2007068863 W JP 2007068863W WO 2008047555 A1 WO2008047555 A1 WO 2008047555A1
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- Prior art keywords
- model
- simulation
- control device
- processing
- platform
- Prior art date
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- 238000004088 simulation Methods 0.000 title claims abstract description 89
- 238000012545 processing Methods 0.000 claims abstract description 82
- 230000008569 process Effects 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims description 9
- 238000003745 diagnosis Methods 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 230000006870 function Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 238000013461 design Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 4
- 238000011156 evaluation Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012821 model calculation Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
Definitions
- the present invention relates to, for example, a simulation device used for developing an electronic control unit for a vehicle, a simulation model used for the simulation device, and a simulation model forming device.
- ECUs electronice control units
- various control plants such as engines, power steering, brakes, and torque converters are mounted on vehicles.
- HILS Hard In the Loop Simulation
- HILS was configured for each control plant such as the engine mechanism, and ECUs were evaluated for each control plant based on signals obtained from HILS.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2004-361292
- the present invention has been made in view of the above circumstances, and an object of the present invention is a simulation device for development, design, etc. of a control device, which is an actual control device to be tested. It is to provide a simulation device capable of performing a simulation reflecting the control operation of another real control device even when there is no other real control device! /.
- Another object of the present invention is to provide a simulation model forming apparatus and a simulation model that can efficiently form a model of a larger scale integrated plant used in the above simulation apparatus.
- the simulation apparatus is a control unit to be controlled by the real control device! /, A model processing unit that performs arithmetic processing of all models, and communication with the real control device! / Control device simulation means for simulating another control device for performing predetermined control, management means for managing execution of input / output processing with the actual control device, processing of the model processing means, and processing of the control device simulation means And the management means causes the execution of each process necessary for the operation of the actual control device during a predetermined period based on the operation of the actual control device.
- a model processing unit that performs arithmetic processing of all models, and communication with the real control device! /
- Control device simulation means for simulating another control device for performing predetermined control
- management means for managing execution of input / output processing with the actual control device, processing of the model processing means, and processing of the control device simulation means
- the management means causes the execution of each process necessary for the operation of the actual control device during a predetermined period based on the operation of the actual control device.
- the other control device communicating with the actual control device is replaced by the device simulation means, and the operation of the device simulation means is operated by the management means in accordance with the actual operation of the actual control device. Even when there is no actual control device, it is possible to perform the same simulation as when using the actual control device.
- the management means causes the processes necessary for the operation of the actual control apparatus to be executed during the predetermined period, and the processes necessary for the operation of the actual control apparatus are performed.
- the processing is completed, it is possible to adopt a configuration in which execution of each processing is waited until the next predetermined cycle.
- the model that is processed by the model processing means is mounted on the platform that constitutes the basic framework of the model according to the actual control device.
- the structure formed by doing can be employ
- the model processed by the model processing means is a platform configured in such a manner that one function of the modeled control target is divided into a plurality of elements.
- a configuration formed by mounting a model for each element can be adopted.
- the model that is processed by the model processing means is formed by mounting a plurality of models on the platform, and the plurality of models is mounted on the platform. Depending on the content of control performed by the actual control device.
- a configuration can be adopted in which the degree of detail of each model is selected.
- the model processed by the model processing means is a vehicle model
- the platform includes a power layer that defines a power source and a torque layer that defines a drive system.
- the model platform that is processed by the model processing unit may employ a configuration in which a plurality of layers are provided for each modeled control target.
- a simulation model according to the present invention is a simulation model obtained by modeling an object to be simulated in order to perform simulation, and the actual control of the object to be simulated is provided on a platform that constitutes the basic framework of the model. It is characterized by being formed and mounted by implementing the model required for the device!
- a simulation model forming apparatus is a simulation model forming apparatus in which a simulation target is modeled in order to perform a simulation. It is characterized in that the target model is formed by implementing the model required for the actual control device to be simulated on the platform that constitutes Dell's basic framework.
- an integrated model for simulating a larger integrated control plant can be efficiently formed.
- FIG. 1 is a functional block diagram of a simulation apparatus according to an embodiment of the present invention.
- FIG. 2 is a hardware diagram of the simulation apparatus.
- FIG. 3 is a diagram for explaining a software environment for forming an integrated plant model.
- FIG. 4 is a software configuration diagram in the simulation apparatus.
- FIG. 5 is a flowchart showing an example of processing of a real-time manager.
- FIG. 6 is a timing chart in each software process.
- FIG. 7 is an explanatory diagram of the timing chart of FIG. 6.
- FIG. 1 and 2 are diagrams showing a simulation apparatus according to an embodiment of the present invention.
- FIG. 1 is a functional block diagram of the simulation apparatus according to an embodiment of the present invention
- FIG. 2 is a hardware of the simulation apparatus.
- the simulation apparatus includes an integrated plant model processing unit 1 as a model processing unit, a simulation management unit 2 as a management unit, an input / output manager 40, virtual ECUs 50A to 50C as a control unit simulation unit, and integration. It consists of a plant model forming unit 200, an interface circuit 400, a clock circuit 460, and the like.
- the integrated plant model processing unit 1 includes an integrated plant model 10 as a simulation model.
- the simulation management unit 2 includes a system manager 20 and a real-time manager 30.
- the hardware of the simulation apparatus includes an interface circuit 400 described above, a plurality of CPUs (Central Processing Units) 410 and 420 as arithmetic devices, and a ROM ( Read Only Memory) 430, program to be executed, RAM (Random Access Memory) 440 for holding various data, for example, external storage device 450 such as a hard disk drive, clock circuit 460 for supplying a reference clock of a predetermined frequency, etc. Consists of 470 etc. that connect each other!
- CPUs Central Processing Units
- ROM Read Only Memory
- RAM Random Access Memory
- the plant model 10, the system manager 20, the real-time manager 30, the input / output manager 40, the virtual ECUs 50A to 50C, the integrated plant model forming unit 200, and the like are realized by hardware and necessary software.
- the interface circuit 400 includes a large number of connection terminals and is electrically connected to the input / output terminals of the actual ECU 300, respectively.
- the actual ECU 300 is an ECU for vehicle engine control, for example, and includes a processor, a memory, an input / output circuit (not shown), and various input / output signals with the simulator device through the interface circuit 400. Exchange (I / O signals).
- a plurality of CPUs 410 and 420 are provided in order to distribute the software processing in the simulation apparatus. For example, the processing of the plant model 10 having a relatively large processing load and the processing of the virtual ECUs 50A to 50C are performed. Are shared by CPU410 and 420 respectively. Note that the CPU is not limited to this, and can be provided for each process of the virtual ECUs 50A to 50C.
- the system manager 20 comprehensively manages the software processing in the simulation device, sets a function to aggregate each event that occurs in the simulation device, and sets a time to start each aggregated event.
- the integrated plant model 10, the virtual ECUs 50A to 50C, and the input / output manager 40 are activated in the order of the time set for each event, and a function for operating them is provided.
- the real-time manager 30 performs predetermined processing on the integrated plant model 10, virtual ECUs 50A to 50C and the input / output manager 40 managed by the system manager 20 based on the reference clock supplied from the clock circuit 460. Within time (eg lms) Monitor for completion. That is, the real-time manager 30 manages software processing in the simulation apparatus based on real time in accordance with the operation of the real ECU 300.
- the input / output manager 40 is activated by the system manager 20 and executes signal input / output processing with the real ECU 300 through the interface circuit 400.
- the virtual ECUs 50A to 50C are at least in each control plant constituting the integrated plant model 10! / Simulates control of the control plant that controls the deviation and communication control with the actual ECU.
- an ECU that controls various control plants such as vehicle brakes, power trains, and automatic transmissions is simulated.
- Each ECU realized as the virtual ECUs 50A to 50C is actually connected to the actual ECU 300 so as to be able to communicate with each other via a network such as CAN (Controller Area Network), and each control plant is exchanged while exchanging information between the ECUs. So-called cooperative control is performed to control.
- CAN Controller Area Network
- the integrated plant model processing unit 1 is built in and controlled by the real ECU 300 and the virtual ECUs 50A to 50C, and performs arithmetic processing of this model.
- This integrated plant model 10 integrates a plurality of control plants controlled by each ECU into a larger control plant.
- the integrated plant model processing unit 1 is activated by the system manager 20 and operates.
- the integrated plant model forming unit 200 is software for forming the integrated plant model 10.
- the integrated plant model 10 is formed based on a platform PF as shown in FIG. 3, for example.
- This platform PF forms the basic framework of the integrated plant model 10, and includes, for example, the power layer that defines the power system, the torque layer that defines the drive system, the diagnostic layer that defines the fault diagnosis system, CAN, etc. It is hierarchized for each function of the vehicle such as the communication layer that defines the communication system. Each level is divided into multiple basic elements to realize the functions of that level.
- Model PM is available.
- Various plant models PM are implemented in the corresponding basic elements of the platform PF.
- the plant model PM can be selected as appropriate according to the configuration of the actual ECU 300 and virtual ECUs 50A to 50C.
- a detailed model is used for the part that you want to simulate in detail, and a simplified model or transfer function is used for other parts. Can be used.
- an integrated plant model 10 is formed in which the plant models PM are organically coupled.
- the degree of detail required for each model is the necessary power in this simulation, (how much is the degree of relevance between the actual ECU 300 to be evaluated and the data calculated by each model,
- the degree of detail of each model that is a component of a large-scale model depends on whether the evaluation is performed, the degree of relevance between the evaluation contents and the data that each model calculates, etc. It is recommended to select a model with an appropriate level of detail as a model for each element so that the level of detail is appropriate.
- a large-scale model such as a vehicle model as described above is configured differently depending on the content of the simulation (the model elements If the detail of the model changes, the model must be recreated every time the content of the simulation changes.
- the efficiency of model creation will be greatly improved.
- the model creation based on the above-described idea may be automatically created by the integrated plant model forming unit 200.
- a map that stores the control contents of the actual ECU 300 and the evaluation contents to be evaluated and the degree of association between each function (layer) and each element in the model platform is prepared so that the user can control the control contents and evaluation contents of the actual ECU 300. If you input, a model with an appropriate level of detail is automatically selected and implemented for each function (layer) and each element of the model platform according to the relevance stored in the map. .
- the system manager 20 includes a system timer 21, and the system timer 21 sets a time to be activated for each event that occurs in the software operating environment. This time constitutes the reference time for the entire software operating environment of the simulation device, and the integrated plant model 10, the input / output manager 40, and the virtual ECU 50 (50A to 50C) all operate at the same timing on the same virtual time.
- the system I / O data with time set by the system manager 20 is input / output. That is, the system manager 20 manages the input / output of the integrated plant model 10, the input / output manager 40, and the virtual ECU 50 on the virtual time.
- the system manager 20 when the system manager 20 starts various interrupt processes of the virtual ECU 50, the system manager 20 gives the timed event set by the system manager 20 to the interrupt controller 53 of the virtual ECU 50. As a result, the virtual ECU 50 control software 51 An interrupt processing routine corresponding to the event is executed. The system manager 20 also manages the interrupt processing of the virtual ECU 50 on the virtual time.
- the system manager 20 gives a start signal with time, and manages the processing of the integrated plant model 10 on virtual time. Further, when starting the input / output manager 40, the system manager 20 gives a start signal with time, and manages the input / output processing of the input / output manager 40 on the virtual time.
- the real-time manager 30 starts the system manager 20 in real time in accordance with the operation of the real ECU 300, and receives a time notification from the system manager 20 when processing is completed.
- the integrated plant model 10, the input / output manager 40, and the virtual ECU 50 managed by the system manager 20 are managed so as to be executed within a predetermined cycle based on the operation of the actual ECU 300.
- FIG. 5 is a flowchart showing an example of processing of the real-time manager
- FIG. 6 is a timing chart in each software processing
- FIG. 7 is an explanatory diagram of the timing chart of FIG.
- the processing in the simulation apparatus includes, for example, as shown in FIG. 6, the processing of the integrated plant model processing unit 1, the processing of the system manager 20, the processing of the real-time manager 30, the signal input processing and the signal of the input / output manager 40 Output processing, processing of virtual ECUs 50A to 50C, not shown! /, Display processing to display various information such as control information and simulation information of actual ECU 300 on the display device, etc.
- integrated plant model The processing of the processing unit 1, the processing of the system manager 20, the processing of the real-time manager 30, the signal input processing and signal output processing of the input / output manager 40, and the processing of the virtual ECUs 50A to 50C are processes that require synchronization with the real ECU 300. .
- display processing and the like are executed asynchronously with the actual ECU 300.
- the real-time manager 30 determines the reference time force on the actual ECU 300 side based on the reference clock from the clock circuit 460 (step ST1). At the base time If there is, start system manager 20 (step ST2)
- the system manager 20 waits for a processing completion notification from the system manager 20 (step ST3), and the time at which the completion notification is received passes a predetermined period (for example, lms) defined on the actual ECU 300 side. ! /, NA! / (Step ST4), and if the processing is not completed within the specified period, a warning is output (step ST5)
- a predetermined period for example, lms
- the system manager 20 when the system manager 20 is activated by the real-time manager 30 at the reference time RT0 on the actual ECU 300 side, the system manager 20 enters at the time tl managed on the software.
- the output manager 40 is activated and the virtual ECU 50A 50C is activated at time t2.
- the input / output manager 40 acquires the input signal of the actual ECU 300 through the interface circuit 400, and inputs this signal to the integrated plant model 10 by time t3.
- the processing result based on the input signal from the manager 40 is output by the I / O manager 40 by time t4.
- the input / output manager 40 outputs a signal to the actual ECU 300 through the interface circuit 400 until time t5.
- the processing of the virtual ECU 50A 50C is executed by a CPU different from the CPU that processes the integrated plant model 10, and is processed in parallel with the processing of the integrated plant model 10 until time t6.
- Output manager 40 At the time t7, the real-time manager 30 outputs a notification of completion of processing.
- the predetermined period TO from the reference time RT 0 to the reference time RT 1 has elapsed at this time t 7, the above warning is output by the real-time manager 30.
- the force S described in the case where the model forming device is applied to the simulation device as the integrated plant model forming unit 200 is not limited to this, and the simulation device other than the above embodiment is also applicable to the simulation device. Applicable.
- the force used as a vehicle simulation device is not limited to this.
- the simulation device of the present invention can also be applied to the design and development of ECUs of other electronic devices.
- the management means is the system manager 20 and the real-time manager.
- the present invention is not limited to this, and other software configurations can be adopted as long as the management means functions can be realized.
- the present invention can also be applied to a plurality of real ECUs having different powers as described for the case where there is a single real ECU.
Description
Claims
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JP2008539716A JP5059017B2 (ja) | 2006-09-27 | 2007-09-27 | シミュレーション装置 |
US12/311,212 US8036761B2 (en) | 2006-09-27 | 2007-09-27 | Simulation hardware apparatus comprising vehicle model |
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JP2006263420 | 2006-09-27 | ||
JP2006-263420 | 2006-09-27 |
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PCT/JP2007/068863 WO2008047555A1 (fr) | 2006-09-27 | 2007-09-27 | Dispositif de simulation, modèle de simulation et dispositif de formation de modèle de simulation |
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JP (1) | JP5059017B2 (ja) |
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JP2011164104A (ja) * | 2010-02-04 | 2011-08-25 | Avl List Gmbh | 車両またはその部分システムをテストするための装置 |
US8549903B2 (en) | 2010-02-04 | 2013-10-08 | Avl List Gmbh | Method for testing a vehicle or a sub-system thereof |
JP2015028725A (ja) * | 2013-07-30 | 2015-02-12 | トヨタ自動車株式会社 | 車両走行シミュレーションシステム |
JP2015057697A (ja) * | 2013-09-16 | 2015-03-26 | ゼネラル・エレクトリック・カンパニイ | 制御システムシミュレーションシステムおよび方法 |
CN108508760A (zh) * | 2018-03-05 | 2018-09-07 | 北京汽车研究总院有限公司 | 一种多轮独立驱动滑差转向车辆的联合仿真方法及系统 |
CN108508760B (zh) * | 2018-03-05 | 2021-05-28 | 北京汽车集团越野车有限公司 | 一种多轮独立驱动滑差转向车辆的联合仿真方法及系统 |
CN110057594A (zh) * | 2019-04-26 | 2019-07-26 | 深圳市元征科技股份有限公司 | 汽车诊断设备检测方法、系统、诊断客户端及计算机介质 |
WO2022259341A1 (ja) * | 2021-06-07 | 2022-12-15 | 株式会社Subaru | 車両開発支援システム |
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US20090312850A1 (en) | 2009-12-17 |
US8036761B2 (en) | 2011-10-11 |
JP5059017B2 (ja) | 2012-10-24 |
JPWO2008047555A1 (ja) | 2010-02-25 |
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