Evaluation of hardware-in-the-loop framework for intelligent safety systems verification

Abstract

Traditional Active Safety Function Verification methods involve comprehensive physical testing which is both time consuming and expensive. The current trend in the automotive industry is moving towards validation and verification of these Active Safety Functions in the Computer Aided Environment (CAE). Based on the components under test, the CAE Environments can be classified as Model-in-theloop (MIL), Software-in-the-loop (SIL)Hardware-in-the-loop (HIL) and Vehicle-inthe- loop (VIL). The thesis aims at evaluation of the hardware-in-loop framework which constitutes a setup of virtual vehicle, scenario generation methods, simulation on real time platform and data logging tools for the development and verification of intelligent safety systems. The HIL framework and tool-chain in focus here consists of Intelligent Safety Manager, constituting the active safety function logic, Camera and Radar (sensor fusion) units as hardware components under test along with a virtual vehicle modelled in different off-the-shelf CAE Environments. The evaluation of these CAE environments includes setting up the HIL framework with Virtual Test Drive (VTD) for Scenario Generation and chassis model from Vedyna, replacing the chassis model with a Functional Mock-up unit from Dymola and ultimately modifying the complete framework to replace with IPG CarMaker. The evaluation of above mentioned framework(s) includes determination of important components and performance parameters of tool chains. Evaluation were carried out with ISO vehicle dynamic attribute tests and open-loop driver assistance use cases. The result illustrated that the IPG CarMaker HIL framework gave reasonably good for collision avoidance function verification because of the accurate dynamics response for steering and braking, while the VTD & VeDyna HIL framework had the big advantage in the verification of camera based active safety function because of its high 3D rendering quality.