Distributed Co-Simulation Platform and Application for Automotive System Design

prostep ivip Symposium 2020

Taro Shimada, President & CEO - Toshiba Digital Solutions Corporation Dai Araki - Toshiba Digital Solutions Corporation

Toshiba Digital Solutions Corporation Sep. 2, 2020

Social Infrastructure Business Domain Toshiba Infrastructure Systems & Solutions Corp. Toshiba Tec Corp. Toshiba Elevator and Building Systems Corp. Toshiba Carrier Corp. Toshiba Lighting & Technology Corp.

Electronic Devices Business Domain Toshiba Electronic Devices & Storage Corp. Speakers Digital Solutions Business Domain Representative Executive Officer President and CEO Toshiba Digital Solutions Corp. Nobuaki Kurumatani  IoT solutions  AI/analytics  Security solutions  ICT infrastructure  Embedded solutions Corporate Senior Vice President Expert Toshiba Digital & Consulting Corporation Toshiba Corp. Embedded Systems Dept. 2 President and CEO ICT Solutions Division Toshiba Digital Solutions Corp. Toshiba Digital Solutions Corp Taro Shimada Dai Araki, Ph.D.

Taro Shimada, President & CEO - Toshiba Digital Solutions Corporation

© 2020 Toshiba Digital Solutions Corporation 2 Seeking new development style to survive the CASE era and COVID-19 CASE: connected cars, autonomous driving, sharing and electrification To reduce enormous development costs, productivity innovation through digitization technology is important

Manpower centered development Collaborative system development using test vehicle using digitization technology

Design Testing Design Testing Cost overrun due to increased number of prototypes OEM Vehicle design Significant Calibration using test vehicle reworks Agile works

System design OEM Model exchanging between partners Shortened period

Collaborative MBD Component design Software development

Supplier Supplier

Cyber prototyping environment across separate design teams, suppliers and OEM companies

Distributed co-simulation over the internet or cloud computing

Vehicle dynamics Driving scenario

Powertrain SimCenter Amesim Sensor fusion

CarMaker Chassis Dymola Signal processing

PreScan * planning

MATLAB®/Simulink®

ADAS

Veos Autonomous Driving Twin Builder (Simplorer) * planning Power Train Control

Xpedition AMS Chassis control * planning Electrical components Computing On-premises Cloud

All brand and product names appearing in this document are registered trademarks or trademarks of their respective holders. © 2020 Toshiba Digital Solutions Corporation 5 Industry activities for MBD and model exchanging

Cited : “METI MBD Project”, Systems Engineering Day Japan, Oct. 2019. Cited : “Smart Systems Engineering”, prostep ivip Webinar 2020, Feb. 2020.

Collaboration

11:00 – 11:30 Kick-Off | 2 September 2020 09:00 - 10:00 e-Seminar | 17 Sep 2020 Realizing Traceability for Safety and Certainty Model Exchange Guideline proposed by METI model WG Hans-Martin Heinkel, Robert BOSCH GmbH (Japanese Ministry of Economy, Trade and Industry) Dr. Steven Vettermann, PROSTEP AG Kazuo Takeuchi, Toyota Motor Corporation Tomohiko Adachi, MAZDA Motor Corporation © 2020 Toshiba Digital Solutions Corporation 6 Technology background of Distributed Co-Simulation Platform

Systems engineering Hardware-Software co-simulator developed with JAXA (Japan Aerospace Exploration Agency) in 2006 Time accurate SILS (Software In the Loop Simulation) commercialized in 2007 Worst case execution time analysis commercialized in 2013

OEM Supplier new

Distributed Co-Simulation Platform Vehicle components

Virtual Vehicle

ECU & software

In-vehicle network

CAN network simulator developed and commercialized with DENSO in 2003

Dai Araki - Toshiba Digital Solutions Corporation

#1 Simulation Model Portability #2 Confidentiality #3 Achieving high performance computation

Vehicle level simulation needs to connect Models often have confidential There is a risk of power shortage in a large number of models and signal lines information including intellectual simulations of all models connected to a without any mistakes. property of the company. single simulator.

Bus connector Distributed simulation Distributed simulation on the cloud

Collecting models and wiring signals requires significant time and effort

Vehicle experiment team Chassis team

Vehicle system team

Powertrain team Engine controller team

Electrical equipment team Transmission controller team

METI guidelines-compliant model of JC08 mode fuel economy measurement Cited : “FMI Utilization guide ver. 1.0” (in Japanese) by JSAE, https://www.jsae.or.jp/katsudou/detail1035.html © 2020 Toshiba Digital Solutions Corporation 10 Industrial standards for model exchanging

METI and prostep ivip are defining Standard format is available. guideline and standard styles. Ex. CANdb, AUTOSAR, Modelica SSP …

Interface (I/F) definition sheet Interface (I/F) definition sheet Input signals Input signals Data Info.

PWT_PNT

ENG_CNT

TM_CNT

Output signals Output signals Data Label Data Type Array Size

open_brake_per SS_DOUBLE R open_accel_per SS_DOUBLE R open_throttle_per SS_DOUBLE T R R flag_fuelcut SS_BOOLEAN T R flag_IdelStop SS_BOOLEAN T R Controller model Plant model timing_ignition SS_DOUBLE T R n_eng_rpm_sig SS_DOUBLE T flag_ON_StarterSignal communicationSS_DOUBLE matrixT ratio_CVT SS_DOUBLE T R flag_Lockup SS_DOUBLE R T R omg_Slip_rpm SS_DOUBLE T R n_TM_PNT_rpm SS_DOUBLE R T n_eng_rpm SS_DOUBLE R T

Vehicle components design Automotive system design Model exchanging

Controller model Plant model I/F sheet Input signals

Output signals

Automatic Rx Rx Bus connector Bus connector generation Tx Tx Input signals Automatic Output signals generation

Data Info.

PWT_PNT

ENG_CNT I/F sheet Co-simulation controller TM_CNT Data Label Data Type Array Size

open_brake_per SS_DOUBLE R open_accel_per SS_DOUBLE R Time synchronization service open_throttle_per SS_DOUBLE T R R flag_fuelcut SS_BOOLEAN T R flag_IdelStop SS_BOOLEAN T R timing_ignition SS_DOUBLE T R n_eng_rpm_sig SS_DOUBLE T Signal transaction service Signalflag_ON_Starter communicationSS_DOUBLE T matrix ratio_CVT SS_DOUBLE T R flag_Lockup SS_DOUBLE R T R omg_Slip_rpm SS_DOUBLE T R n_TM_PNT_rpm SS_DOUBLE R T CAN/CAN FD network protocol simulation (optional) n_eng_rpm SS_DOUBLE R T

Co-simulation using “Bus Connector” achieves high level model portability

Vehicle system design team

Vehicle experiment team Chassis design team

Bus connector for signal monitoring

Powertrain design team Engine controller design team

Transmission controller design team Electrical equipment design team

Model exchanging (hand over case) Company B Co-simulation

Controller model Controller model

Plant model

Concealment Company A Concealment of model is critical issue when passing models between companies

Distributed Co-simulation using “Bus Connector”

Controller model Without model disclosure Plant model Company B Company A No need to worry about concealment Bus Bus connector connector

Typical FMI usage for co-simulation Team B Tool A Tool B Team A Controller model Controller model Plant model Export Import Need wiring Plant model

Need to care about cross-tool compatibility Distributed co-simulation using “FMI Bus Connector” Ex. Difference in calculation results

Team A Tool A Tool B Team B

Controller model No need to worry about Plant model cross-tool compatibility

Bus connectors are implemented as FMU Also supporting Simulink S-function style Co-simulation controller Communication via TCP / UDP / shared mem. © 2020 Toshiba Digital Solutions Corporation 15 Verified tool-couplings using bus connector

SimCenter Amesim Dymola

CarMaker

PreScan * planning

MATLAB®/Simulink®

Twin Builder (Simplorer) Veos * planning

Xpedition AMS * planning

Potentially all FMI2.0 compliant tools can be connected

© 2020 Toshiba Digital Solutions Corporation 16 All brand and product names appearing in this document are registered trademarks or trademarks of their respective holders. Demonstrations Using METI guidelines-compliant model of JC08 mode fuel economy measurement

Demonstration #1 Stand-alone co-simulation MATLAB®/Simulink®

Demonstration #2 Distributed co-simulation MATLAB®/Simulink®

MATLAB®/Simulink®

Demonstration #3 Coupling between different tools MATLAB®/Simulink® VEOS

MATLAB®/Simulink®

© 2020 Toshiba Digital Solutions Corporation 17 All brand and product names appearing in this document are registered trademarks or trademarks of their respective holders. Demonstration #1 Stand-alone co-simulation

PC #1 Co-simulation controller MATLAB®/Simulink®

PC #1 PC #2 Co-simulation controller MATLAB®/Simulink® MATLAB®/Simulink®

dSPACE VEOS

Choose the right tools and computing platform

On premise distributed simulation Cloud computing distributed simulation CPU：Intel Core i7 2.9GHz, OS : Windows 10 Cloud service：Azure CPU：Intel Xeon 2.3GHz, OS：Windows Server 2016 PC #1 VM #1 Simulink #1 Simulink #2 Required time Simulink #1 Simulink #2 Required time

342s Co-simulation controller 499s Co-simulation controller

PC #1 PC #2 VM #1 VM #2

Simulink #1 Simulink #2 Simulink #1 Simulink #2 Intranet 1166s wired LAN Virtual network Co-simulation controller 642s Co-simulation controller

Distributed to two virtual machines in the same subscription and region PC #1 PC #2 Simulink #1 Simulink #2 Intranet wireless LAN 1465s Co-simulation controller JC08 mode fuel economy measurement needs 1200s driving

PC #2 PC #2 Public Simulink #1 wireless LAN Simulink #2 Shared memory TCP/IP + VPN 34041s Co-simulation controller © 2020 Toshiba Digital Solutions Corporation 21 Ideal computing environment for high performance co-simulation

Co-MBD : Co-simulation of different users on cloud

Design team #1 Design team #2

Upload model Upload model Monitoring simulation Monitoring simulation VM #1 VM #2 VM #N Upload model … Design team #N

Virtual network VM Co-simulation controller Cloud server

Monitoring signals Co-simulation organizer Co-MBD is proposed by Japan Virtual Microcontroller Initiative (JVMI) vECU-MBD Working Group and conducted a demonstration experiment. Reports are published at http://www.vecu-mbd.org/en/ © 2020 Toshiba Digital Solutions Corporation 22 Concluding remarks New development style to survive the CASE era and COVID-19 Virtual design and prototyping across separate design teams, suppliers and OEM companies

Suppliers OEM

Brake design team Steering design team Engine design team Chassis design team

Virtual Vehicle Motor design team

Distributed Co-Simulation Platform Battery design team Vehicle experiment team

Powertrain design team ECU controller design team Suspension design team

Contact :

ICT Solutions Division Toshiba Digital Solutions Corporation [email protected]