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FULL VIRTUALIZATION OF
RENAULT'S ENGINE MANAGEMENT SOFTWARE
APPLICATION TO SYSTEM DEVELOPMENT
D. von Wissel, Y. Jordan,, RENAULT
A. Dolha, J. Mauss QTronic
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QTronic User conference 2018
2009-01-1082
2
Introduction
V. ConclusionsIV. ApplicationsIII. Related WorkII. VirtualizationI.Motivation
QTronic Renault SAS
Renault has an established engine control SW development framework
▪ Field of application: Passenger Veh. & Light Duty Veh. with Diesel & Gasoline engines
▪ Framework is heavily based on Matlab / Simulink and the idea of MBD
Renault EMS architecture SW is composed out of
▪ 20 functions (ex. Air System, Combustion, …)
▪ A function consists of modules which are the smallest testable SW unit
▪ A module contains runnuables triggered by the Operating System (OS)
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QTronic User conference 2018QTronic Renault SAS 3
6.Validation
and test of all
modules on
system level
using the real
ECU
build for standard EMS library
EMS C code library
HIL testing
function validation and test
feedback fordevelopers
platform integration
function validation and test
software integration
test
Project C code
.hex
configurationfor target CPU
feedback for software project team
Software Project Team weeks
flash
modul MiL
.mdl.m
modulvalidation and test
modulvalidation and test
modul SiL
Unit testing
C code
Function Developers
code generation
1.Specification of
about 200 generic
configurable modules
per ECU using
MATLAB / Simulink.
2.Generation of C code (EMS
application software) from all
module specifications
3.MiL test and
validation
4.Configuration of modules
to fit to the specific needs
of a software project,.
5.Integration of
generated
configured
C code on
supplied target
hardware,
V. ConclusionsIV. ApplicationsIII. Related WorkII. VirtualizationI.Motivation
SW development framework at Renault
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QTronic User conference 2018QTronic Renault SAS 4
build for standard EMS library
EMS C code library
HIL testing
function validation and test
feedback fordevelopers
platform integration
function validation and test
software integration
test
Project C code
.hex
configurationfor target CPU
feedback for software project team
Software Project Team weeks
flash
modul MiL
.mdl.m
modulvalidation and test
modulvalidation and test
modul SiL
Unit testing
C code
Function Developers
code generation
Critical assessment of the development framework► There is considerable delay between delivery of a set of specs to SW project team and
system-level tests based on an ECU that runs entire SW.
V. ConclusionsIV. ApplicationsIII. Related WorkII. VirtualizationI.Motivation
1. 2.
3.
Assessment of SW development framework
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QTronic User conference 2018QTronic Renault SAS 5
build for standard EMS library
EMS C code library
HIL testing
function validation and test
feedback fordevelopers
platform integration
function validation and test
software integration
test
Project C code
.hex
configurationfor target CPU
feedback for software project team
Software Project Team weeks
flash
modul MiL
.mdl.m
modulvalidation and test
modulvalidation and test
modul SiL
Unit testing
C code
Function Developers
code generation
build vECUfor MiL
► System-level test and validation should be performed interleaved with steps 1, 2 and 3
replacing the actual MiL, SiL validation process by a full ECU validation
V. ConclusionsIV. ApplicationsIII. Related WorkI. VirtualizationMotivation
1. 2.
3.
Place of vECU in SW development framework
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QTronic User conference 2018
2009-01-1082
6
vECU Build Process
V. ConclusionsIV. ApplicationsIII. Related WorkI.Motivation
QTronic Renault SAS
II. Virtualization
.mdl
.m
modulewrapper
generator
Moduleinterface
data types
Calibrationdata
.mdlSimulink
Codergrt.tlc
C codebuildscript
vECU
Os specification
vECU configoptions
read at run-time
Matlab / Simulinkspecification
for all modules
wrappedmodules
Inputs▪ Consistent set of modules
▪ Dictionary with data types
of all variables
▪ Os specification.
Configuration files.
Incremental, fully automated build process.
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QTronic User conference 2018
2009-01-1082
7
Discussion
V. ConclusionsIV. ApplicationsIII. Related WorkI.Motivation
QTronic Renault SAS
Differences between real and virtual ECU
A vECU remains a model : not all tests that are relevant can be moved to the PC
▪ Zero-time execution: vECU behaves like a device with unlimited computing speed
▪ Missing basic software: basic software of the ECU platform is not part of the vECU
▪ Different production code: C code is close to but not fully equivalent to production code
► Many of these differences can be avoided switching to a virtual processor type vECU
Runtime performance
▪ A virtual ECU for a typical Renault EMS loads & initializes in less than 5 sec. on a Windows PC
▪ Execution speed depends on the number of outputs to be recorded during simulation
o Recording170 variables / ms, execution of the vECU is 4 times faster than real time.
o Recoding 20.000 variables / ms, execution speed is 3 times slower than real time
II. Virtualization
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QTronic User conference 20188
3 options to create a vECU
V. ConclusionsIV. Applications
QTronic Renault SAS
II. VirtualizationI.Motivation III. Related Work
Project C code
.hex
configurationfor target CPU
Software Project Team
flash
.mdl.m
Build vECUfor MiL
C codeFunction
Developerscode generation
vECU
ECU
Build vECUfor SiL
Build for target MCU
Build vECUfor PiL
vECU is created
from models that
generate the C code
vECU is created
from C code
compiled for PC
vECU is created
from the hex file
resulting from
compiling C code
for the target
processor
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QTronic User conference 20189
Chip Simulaton
V. ConclusionsIV. Applications
QTronic Renault SAS
II. VirtualizationI.Motivation III. Related Work
Project C code
.hex
configurationfor target CPU
Software Project Team
flash
.mdl.m
C codeFunction
Developerscode generation
vECU
ECU
Build for target MCU
Build vECUfor PiL
vECU is created
from the hex file
resulting from
compiling C code
for the target
processor
► Suppliers of ECU hardware and MCUs: to validate their ECU and chip designs
(need of cycle accurate platform simulator)
► OEMs that need to integrate and calibrate supplied EMS software: to run EMS SW on
PC when there is access to the hex files, but no access to the C code
However, Hex files for the target
MCU become only available weeks
after a module edit ….
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QTronic User conference 201810
SiL type vECU
V. ConclusionsIV. Applications
QTronic Renault SAS
II. VirtualizationI.Motivation III. Related Work
Project C code
.hex
configurationfor target CPU
Software Project Team
flash
.mdl.m
C codeFunction
Developerscode generation
vECU
ECU
Build vECUfor SiL
Build for target MCU
vECU is created
from C code
compiled for PC
► Compared to chip simulation, vECU for SiL runs typically faster and provides better
support for C level debugging, if compiled with debug option
However, production C code
generator is a shared and
limited resource here, not
easily available …
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MiL type vECU
V. ConclusionsIV. Applications
QTronic Renault SAS
II. VirtualizationI.Motivation III. Related Work
Project C code
.hex
configurationfor target CPU
Software Project Team
flash
.mdl.m
Build vECUfor MiL
C codeFunction
Developerscode generation
vECU
ECU
Build for target MCU
vECU is created
from models that
generate the C code
► In the automotive world today dominates MBD on PC with MATLAB/Simulink
► But this does not mean that developers are typically able to simulate their ECU on PC
✓ The choice is hear to build the vECU from the module
source (Simulink .mdl files)
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vECU Applications
V. Conclusions
QTronic Renault SAS
III. Related Work
► Definition of system requirements
Completion of environmental model by EMS
► Module development in system context
Bypassing / replacing implementation of module in vECU
► Pre calibration of the EMS ; frontload calibration related activities
► Virtual integration of modules before production C code is generated
► Move selected tests from HiL to MiL
► Vehicle-level simulation
Completion of Digital Electronic Integration PlatForm
Validate networked ECUs in vehicle context
II. VirtualizationI.Motivation IV. Applications
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QTronic User conference 201813
Move selected tests from HiL to MiL
V. Conclusions
QTronic Renault SAS
III. Related WorkII. VirtualizationI.Motivation IV. Applications
Advantages
✓ Frontloading of automatic tests of applicative functions
✓ 1st Software tests can be done 6 weeks early► Faster feedback to function designers
► More time to correct errors
✓ Cost of a vECU is significantly lower compared to cost of a HIL
Same plant model▪ Engine
▪ Vehicle
▪ Gearbox
▪ Driver Model
Same tests
What can be moved? ▪ Applicative SoftWare validation tests
What has to stay on HIL? • Task scheduling tests of function that
combine ASW and BSW runnables
• Task distribution between cores
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QTronic User conference 201814
Vehicle-level simulation : Digital Electronic Integration PlatForm
V. Conclusions
QTronic Renault SAS
III. Related WorkII. VirtualizationI.Motivation IV. Applications
DEIPFclient
DEIPFclient
DEIPFclient
DEIPFclient
(vECU+env.)
RT-Lab Orchestra API
DEIPF
✓ Check of flow coherency between all vehicles ECUs right after model design
✓ Intersystem Functional Validation including all vehicle ECUs
✓ Issues detection before physical Vehicle Integration Platform tests
► Increased time on error corrections
► Lower Cost
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QTronic User conference 201815
vECU Applications
V. Conclusions
QTronic Renault SAS
III. Related Work
► Definition of system requirements ; completion of environmental model by EMS
► Module dev. in system context ; bypassing / replacing implementation of
module in vECU
► Pre calibration of the EMS ; frontload calibration related activities
► Virtual integration of modules before production C code is generated
► Move selected tests from HiL to MiL
► Vehicle-level simulation ; completion of a Digital Electronic Integration PlatForm
(D-EIPF) to validate networked ECUs in vehicle context
II. VirtualizationI.Motivation IV. Applications
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• In 2016, Renault created the 1st fully functional virtual EMS
• Process has been repeated for about 6 releases (updates and different
platforms) of the EMS software since then
• Renault started to use virtual ECUs to frontload test and calibration
related activities
• First results of these activities have been encouraging so far
• Existing MiL-based virtual ECUs will be complemented by SiL-based virtual ECUs
IV. Conclusions
IV. ConclusionsIII. ExampleII. Interface & ToolI. IntroductionGeneral Purpose
QTronic Renault SAS
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