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Thesis Title Defined Source/Pdf.Meta Multi-Scale Multi-Domain Co-Simulation for Rapid Prototyping of Advanced Driver Assistance Systems Von der Fakultät für Elektrotechnik und Informationstechnik der Rheinisch–Westfälischen Technischen Hochschule Aachen zur Erlangung des akademischen Grades eines Doktors der Ingenieurwissenschaften genehmigte Dissertation vorgelegt von MSc. Róbert Lajos Bücs aus Nagykanizsa, Ungarn Berichter: Universitätsprofessor Dr. rer. nat. Rainer Leupers Universitätsprofessor Antonello Monti, PhD Tag der mündlichen Prüfung: 10.07.2019 Diese Dissertation ist auf den Internetseiten der Hochschulbibliothek online verfügbar. Abstract In the last decades, vehicles have evolved from mechanical machines to sophisticated hardware and software (HW/SW) dominated systems. This digital paradigm shift can be explained with the rise of Advanced Driver Assistance Systems (ADAS), as well as applications of highly automated driving. However, such features require a nearly exponential amount of additional SW functionalities. To support the performance demands of such applications, powerful multi and many-processor HW platforms have been employed, exhibiting a trend toward more integrated architectures. Yet, as a consequence, the design and validation, as well as safety assessment of the digital in-vehicle infrastructure of modern cars has become immensely complex. Several techniques arose to bridge this gap, e.g., system engineering strategies, and model-based design and validation methods. In this thesis, it is proposed to augment such traditional approaches with purely simulation-driven techniques to improve and accelerate overall system design. Firstly, the utilization of driving simu- lators is suggested to conduct virtual road tests in an early application design stage. Furthermore, virtual prototyping is proposed to perform system exploration and ex- tend the simulation scope of ADAS to the embedded HW/SW implementation. However, the main research contributions of the thesis are two techniques that enable efficient full-vehicle modeling. Firstly, multi-scale simulation, an approach to integrate submodels of a top-level simulation system on different design abstractions. Its main benefit is providing a tunable resolution for models, thus enabling a trade-off between the execution performance and the required simulation accuracy. Secondly, multi-domain co-simulation is proposed, a standardized method to interconnect and jointly utilize multiple vehicular simulation ecosystems. This approach addresses the multi-disciplinary nature of vehicles, requiring specialized simulators that are best suited to implement a formalism representing an individual domain. Putting all aforementioned concepts in practice, a comprehensive fully virtual ADAS prototyping ecosystem is presented in this thesis. The proposed framework assembly covers various phases of the ADAS development flow, such as model-based design, virtual system integration, virtual system testing and verification, as well as application refinement. To highlight its potentials, a multitude of ADAS applications are rapidly prototyped via the proposed system. Lastly, insights into application and system-level analyses are presented, while simulation performance evaluation is provided to highlight the acceleration potential of the virtual ecosystems. Acknowledgements This dissertation is the final manifestation of my work as a research assistant at the Chair for Software for Systems on Silicon, part of the Institute for Communication Technologies and Embedded Systems at RWTH Aachen University. During these years I was accompanied and supported by many exceptional people, whom I would like to hereby express my gratitude. First and foremost, a great "Thank you!" goes out to my thesis adviser Prof. Rainer Leupers for providing me with an exciting research topic and guiding my way to success. I have learned a multitude of skills from him and acquired a very pragmatic and practical point of view for tackling problems. Most importantly, I want to thank him for unconditionally supporting me with every decision I made during these years. I have never received such trust from a supervisor in my career so far. I am also extremely grateful to my former colleagues Luis Gabriel Murillo, Jan We- instock, Juan Eusse and Stefan Schürmans who helped me immeasurably in the early challenging years. Moreover, I am very thankful to my colleagues and good friends Dominik Šišejkovi´c, Diego Pala, Andreas Bytyn, Lukas Jünger, Maria Rodriguez, Gereon Führ and Milan Copic for creating and sharing a familial work environment, and for investing the effort to proofread parts of this thesis. An enormous grati- tude goes also out to my highly experienced postdoc colleagues and friends Miguel Aguilar, Thomas Grass and Farhad Merchant for sharing their knowledge and exper- tise with me, as well as for proofreading the complete dissertation. Last but not least, I would like to thank my amazingly talented students Marcel Heistermann, Pramod Lakshman, Juan Sebastián Reyes Aristizábal, Gaurav Dugge, Maximilian Fricke and Ekaterina Korotcenko for their contributed works to this dissertation. Above all, I want to express my gratitude to my loving wife Alexandra, who trusted and supported me without a doubt from day one in every step of the way. Alex, you and our lovely baby daughter Eliana have always kept my spirit up. Thank you for sharing the good times with me, and even more so for standing beside me in some of the most desperate times of my life. Finally, I am also extremely thankful to my parents Angéla and Lajos, my parents- in-law Nathalie and Michel and my wife’s grandfather André. Your love and devotion have thought me that family stands above everything. Without your unconditional support, me and my wife could have never succeeded so far in life. Thank you all! Róbert Lajos Bücs, July 2019 Contents 1 Introduction 1 1.1 ChallengesinADASDesign. 2 1.1.1 HardwareandSoftwareComplexity . 2 1.1.2 FunctionalSafetyAspects . 4 1.2 BridgingtheADASComplexityGap . 6 1.2.1 SystemEngineeringviatheV-Model. 6 1.2.2 Model-BasedDesign .......................... 7 1.2.3 TraditionalValidationTechniques . ... 8 1.2.4 UtilizationofDrivingSimulators . ... 8 1.2.5 System Exploration via Virtual Prototyping . ..... 9 1.2.6 Multi-ScaleSimulation . 9 1.2.7 Multi-DomainCo-Simulation . 10 1.3 OverviewoftheProposedDesignFlow . .. 10 1.4 ThesisContributions . .. .. .. .. .. .. .. 11 1.5 SynopsisandThesisOutline. .. 12 2 Background 15 2.1 Model-BasedDesignTools. 15 2.1.1 ComparisonofTools . .. .. .. .. .. .. .. 15 2.1.2 MATLAB/Simulink.. .. .. .. .. .. .. .. 16 2.2 DrivingSimulators ............................... 18 2.2.1 FrameworkComparison . 18 2.2.2 VirtualADASTestingviaSpeedDreams . 19 2.3 Virtual Prototyping Frameworks . ... 20 i ii CONTENTS 2.3.1 FrameworkComparison . 20 2.3.2 Electronic System Level Design via SystemC . ... 21 2.3.3 Simulation Acceleration via Timed Functional Tasks . ...... 23 2.3.4 SynopsysToolSuites . .. .. .. .. .. .. .. 24 2.3.5 TheGreenSoCsSimulationApproach . 25 2.4 AutomotiveReal-TimeOperatingSystems. ..... 26 2.4.1 ComparisonofStandardsandRTOSPackages . 26 2.4.2 TheERIKAEnterpriseRTOS . 27 2.5 Multi-DomainCo-SimulationStandards . ..... 29 2.5.1 ComparisonofStandards . 29 2.5.2 IntroductiontoFMI.. .. .. .. .. .. .. .. 30 2.6 Synopsis ..................................... 32 3 Related Work 35 3.1 Fundamental Simulation-Based Research Activities . ......... 35 3.2 Integrating Virtual Platforms into FMI-Based Co-Simulation Systems . 37 3.3 Automotive Multi-Domain Co-Simulation Ecosystems . ....... 39 3.4 Multi-Scale Model-Based Vehicle Dynamics Design . ....... 41 3.5 Multi-ScaleADASCodeGeneration . .. 43 3.5.1 Model-BasedFMUGeneration . 44 3.5.2 Model-BasedTFTGeneration . 44 3.5.3 Model-BasedRTOSTaskGeneration . 45 3.5.4 CombinedSolutions . .. .. .. .. .. .. .. 46 3.6 Synopsis ..................................... 47 4 Virtual Hardware-in-the-Loop Testing of ADAS via FMI 49 4.1 Preliminaries................................... 50 4.1.1 GeneralSimulationPrinciples. .. 50 4.1.2 InstantiationandInitialization . .... 51 4.1.3 SimulationExecutionControl . 52 4.1.4 Inter-ModuleCommunicationAspects . 52 4.1.5 Termination ............................... 52 CONTENTS iii 4.2 CouplingMethodology. 53 4.2.1 Tool-Coupling FMU Design Flow for Virtual Platforms . ..... 53 4.2.2 Standalone FMU Design Flow for Virtual Platforms . .... 55 4.3 AParallelCo-SimulationMaster . ... 57 4.3.1 Model Import, Interconnection and Control . .... 57 4.3.2 System-LevelFaultInjection. .. 58 4.4 ExperimentalResults . .. .. .. .. .. .. .. 59 4.4.1 Co-Simulation Performance Measurements . ... 59 4.4.2 Tool-CouplingApproach. 60 4.4.3 StandaloneApproach . 62 4.5 SynopsisandDiscussion . 67 5 A Combined Multi-Domain Co-Simulation Ecosystem 69 5.1 Description of the Proposed Framework System . ..... 70 5.1.1 GenericTool-CouplingMethodBasedonFMI . 71 5.1.2 AdaptationoftheDrivingSimulator . .. 73 5.1.3 Automotive-Flavor Virtual Platform Development . ...... 74 5.1.4 Adaptation of the Virtual Platform Software Layer . ..... 76 5.1.5 TheCompleteDesignAutomationFlow . 78 5.2 ExperimentalResults . .. .. .. .. .. .. .. 79 5.2.1 ADASPrototyping ........................... 79 5.2.2 Virtual HW/SW System Configuration Stages . 81 5.2.3 AlgorithmicandTemporalAnalysis . 82 5.2.4 Whole-System Co-simulation Performance Measurements.... 86 5.3 SynopsisandDiscussion . 87 6 Multi-Scale Vehicle Dynamics Design and Model Generation 89 6.1 VCMXFrameworkDescription . 91 6.1.1 InitialArchitectureDefinition
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