Enabling Testing of Lateral Active Safety Functions in a Multi-Rate Hardware in the Loop Environment
As the development of vehicles moves towards shorter development time,
new ways of verifying the vehicle performance is needed in order to
begin the verification process at an earlier stage. A great extent of
this development regards active safety, which is a collection name for
systems that help both avoid accidents and minimize the effects of a
collision, e.g brake assist and steering control systems. Development
of these active safety functions requires extensive testing and
verification in order to guarantee the performance of the functions in
different situations. One way of testing these functions is to include
them in a Hardware in the Loop simulation, where the involved hardware
from the real vehicle are included in the simulation loop.
This master thesis investigates the possibility to test lateral active
safety functions in a hardware in the loop simulation environment
consisting of multiple subsystems working on different
frequencies. The subsystems are all dependent of the output from other
subsystems, forming an algebraic loop between them. Simula- tion using
multiple hardware and subsystems working on different frequencies
introduces latency in the simulation. The effect of the latency is
investigated and proposed solutions are presented. In order to enable
testing of lateral active safety functions, a steering model which
enables the servo motor to steer the vehicle is integrated in the
simulation environment and validated.
Fredrik Björklund and Elin Karlström
2017
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Last updated: 2021-11-10
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