development of cross domain control unit …...development of cross domain control unit functions...

Development of Cross Domain Control Unit FunctionsAmir Sardari, Dr. Christian Fuchs, Marcus Boumans, Thomas HuberRobert Bosch GmbHApply & Innovate 201620./21. September 2016, Karlsruhe

Development of Cross Domain Control Unit Functions

Diesel Gasoline Systems | DGS-EC/ESY | 20/09/2016

© Robert Bosch GmbH 2016. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.2

Agenda

Motivation & Scope

Future E/E Architecture

Master Variance and Complexity of Cross Domain Functions

Important Aspects of Model based Development

Structure of Co-Simulation Environment

Sample Studies and Potential Analyses

A Sample Use Case

Summary & Conclusion




Future E/E Architecture

Centralization

Domain Fusion

Central Domain ECUs

Central Cross Domain ECUs(Cross) Domain

centralized E/E

architecture

TO

MO

RR

OW

Modular

Integration

Each function has his ECU

Functional IntegrationDistributed E/E

architecture

TO

DA

Y

Vehicle Computer &

Zone ECUs

Vehicle Cloud Computing

Zone Oriented Architecture

and Vehicle Computer

Vehicle functions

in the cloudVehicle centralized E/E

architecture

FU

TU

RE

increasing No of SW




Master Variance & Complexity of Cross Domain Functions

Increase of cross-domain functions which influence the Vehicle Motion (lateral and longitudinal

control) are caused by comfort, safety, autonomous and eco driving functions

SteeringTrans-

missionIC Engine E-Drive

Friction

Brake

Surround

Cameras

Front

CameraRadar

SensorsUltrasonic

Sensors

Cruise

Control

Parking

Assist

Valet

Parking

Autom.

DrivingADAS

Hybrid

Driving

Driver

BehaviorRecup.

Eco.

Driving

Fu

nc

tio

ns

Ac

tua

tors

Accelerate

(+x)

Steer

(+/- y)

Decelerate

(-x)

BRS

Se

ns

ors

Driving

PedalIoT

Cloud

Vehicle Motion Control

Sensor Data Fusion

Navi

El.Horizon

Complexity will be mastered by functional coordination of Vehicle Motion Control (Coordination

of Vehicle Motion Aggregates like braking, ICE, E-Machine & steering)




Future Cross Domain Functions - ExamplesA

ctu

ato

rs

SteeringTransmission IC Engine E-Drive BrakeBoost

Recuperation

Decelerate Steer Accelerate

Fu

ncti

on

s

Required specific driving situations are reproducible only in the simulation

Vehicle Motion Control

Example 1: Assisted

Evasive Steering SupportExample 2: Automated

Map based ecoACC

Example 3: Connected

Predictive Motion Control

based on road condition map




Important Aspects of Simulation based Development

Early potential analysis of cross domain functions

Creation of specific complex driving situations

Integration of real ECU software from different domains

Derive requirements regarding actuator configuration for driving functions

Use case specific model depth possible

Simulation based development is cost-effective, fast and safe




Model Based Cross-Domain Feature Development

Availability

Cost Time to Market

Real Prototypes are substituted by Virtual Prototypes




Structure of Co-Simulation Environment

Driver/DrvFcn

Actuator Management

System Functional Chain

Vehicle Model

Radar

Lidar

Camera

Inertial & wheelspeed sensors

GPS, map data

Da

ta f

us

ion

Scope: Simulation architecture for Motion Control

SensorsEnvironment

3D Road Network

& InfrastructureFreeway, rural &

Urban roads, Buildings

Traffic signs, traffic lights

Street markings

TrafficVehicles, Pedestrians

Objects

Environmental

ConditionsWeather, Lighting

Friction coefficient

Test Scenarios

Brake Steering Power Train

Actuators

Fu

nc

tio

ns

Motion Control




Bosch Solution for Co-Simulation Environment

Flexibility

Modularity

Reliability

Usability

Standard Co-Simulation Solution

…

S-Fct

Simulink




Example Studies and Potential Analyses

Torque distribution ICE warmup

0

1

2

3

4

5

6

0 20 40 60 80 100 120 140 160 180 200 220 240

Verb

rauc

h [L

/100

km]

LPA [Nm]

Abgas Verlust

Wärme Verlust

Elek. Verlust

Reib Verlust

Antrieb

6.1

6.2

6.3

6.4

6.5

6.6

6.7

0 20 40 60 80 100 120 140 160

Verb

rauc

h [L

/100

km]

LPA [Nm]

Verbrauch Warmstart

Verbrauch Kaltstart

LPA(Tmot)

Influence Battery aging on PHEV strategy

Potential Predictive Operation Strategy

Calibration Operation Strategy LHS in oil circuit of a HEV

Assessment equation based ECMS SHEV influence on Tcatalyst

Potential Predictive Cruise Control

…

Potential Predictive Start/Stop

Co-Simulation environment successful used for various use cases




Example: Map based EcoACC

PCC (Pred. Cruise Control)

FOC(Follow Control)

co

nn

ec

ted

Simulation scenario:

• Varying traffic

• Different road types

• CO2 saving: 2% - 5%

(depends on traffic)

Simulation scenario:

• No traffic ahead

• Vary driver & optimizer

• CO2 saving: ~10%

(depends on route)

Op

tim

ize

d

ha

nd

ov

er

HMI

Map and surround Data

Speed

Limit

Turn Preceding

vehicle

Road

Gradient

Curvature

Round

-about




Example: Operation Strategy in case of Interrupted Follow Control

Simulation with real traffic flow data based on measurements (ca. 2000 km) on three different road

types and different vehicle speeds and comparison between two different operation strategies S1, S2

Potential analysis of X-Domain functions in the simulation is more cost-effective, faster and safer than in the vehicle




Summary & Conclusion

Automotive Trends lead to more Cross-Domain Functions

Increased Complexity, High Variance

Complexity, High Variance & Fast Innovation Cycles

require enhanced E/E-Architecture Approaches

Complexity, Fast Innovation Cycles & Costs require

the usage of Virtual Prototypes in Cross-Domain

Function Development

Model Based Approach is key Enabler for E/E-Architecture & Cross Domain Function Development

THANKYOU

development of cross domain control unit …...development of cross domain control unit functions...

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