PreScan与CarMaker联合仿真教程.pdf

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Testing the PreScan-CarMaker co- simulation Project Report Salvatore Battaglia TASS International Confidential www.tassinternational.com

CONFIDENTIAL -- Testing the PreScan-CarMaker co-simulation Date Author(s) Customer Number of pages Version August 28, 2015 Salvatore Battaglia OEM 10 1 State All rights reserved. No part of this publication may be reproduced and/or published by print, photoprint, microfilm or any other means without the previous written consent of TASS International. In case this report was drafted on instructions, the rights and obligations of contracting of contracting parties are either the Standard Conditions for Research Instructions given to TASS International, or the relevant agreement concluded between the contracting parties. Submitting the report for inspection to parties who have a direct interest is permitted. © 2015 TASS International TASS International Einsteinlaan 6 PO Box 1121 2280 CC Rijswijk The Netherlands www.tassinternational.com T +31 888 277 001 F +31 888 277 003

Contents Contents ..................................................................................................................... 3 Agenda ............................................................................................................... 4 1 2 Introduction ....................................................................................................... 5 Preparing the laptops and running the co-simulation test ................................ 6 3 4 Summary ............................................................................................................ 9 Appendix A - How to configure a PreScan scenario for a co-simulation with CarMaker 10 Confidential | Project Report | -- | August 28, 2015 | 1 3 /10

1 Agenda 28-08-2015 12:30 / 15:00 Date: Time-slot: Venue: Participants: Objective of the meeting: verify the CarMaker Matlab interface in the PreScan environment for a Salvatore Battaglia – Tass International IPG Automotive GmbH, Karlsruhe Josef Henning – IPG potential co-simulation As agreed between Martijn Tideman (Tass International) and Josef Henning, the following Agenda was followed: 1. Test the coupling on both Salvatore Battaglia’s and Josef Henning’s laptopts with a 2D PreScan scenario 2. Adopt PreScan version 7.1 and Matlab/Simulink version 2013a 3. A CarMaker license on a dongle will be provided by IPG A one-day local PreScan license will be provided by Tass International 4. As soon as the connection is established and running, both parties should work on a short documentation 5. Test the coupling with a 3D PreScan scenario if time is still available Confidential | Project Report | -- | August 28, 2015 | 1 4 /10

2 Introduction CarMaker can be interfaced with Matlab on the level of which inputs to the vehicle (driver inputs) and the vehicle outputs (vehicle dynamics data) can be made available. This interface can be used for a co-simulation with PreScan exploiting the potential of a dedicated vehicle dynamics tool when simulating ADA systems. An S-function is provided by IPG and is responsible for establishing the communication between CarMaker and Matlab. IPG claimed that this S-function can be used to transfer the vehicle motion data to PreScan and was therefore the main point of interest during the testing activities (IPG had been provided with the compilation sheet of the Demo_PreScanCarSim2D, to which the S-function had been adapted). Both parties (TASS International and IPG) met with the objective to test the CarMaker Matlab S- function with PreScan. The adopted tools are: - PreScan 7.1.1 32bit - Matlab 2013 32 bit - Car Maker 5.0 32 bit The co-simulation was tested in a Windows environment. Tass International provided the PreScan 7.1 installers (32bit and 64 bit), a local license for Mr. Henning laptop and two PreScan scenarios (2D and 3D) IPG provided the CarMaker 32bit installer, a license in the form of a dongle, a vehicle model and the S-function. Confidential | Project Report | -- | August 28, 2015 | 1 5 /10

3 Preparing the laptops and running the co-simulation test A 32-bit environment had to be adopted due to the restrictions of the CarMaker dongle (only compatible with 32-it CarMaker): 1. PreScan 7.1.1 32 bit was installed on Mr. Henning’s laptop. The local license could be successfully activated. 2. CarMaker was installed on Salvatore Battaglia’s laptop. The restrictions of the dongle were not known before the meeting, therefore Tass International had not been informed to set-up the laptop accordingly. On Salvatore Battaglia’s laptop Matlab 2009 was the only 32-bit version available but, since it is not supported by PreScan 7.1 and is not compatible with CarMaker 5.0, no test could be performed on the Tass International machine. A 2D PreScan scenario was adopted for the test. It consisted of an urban scenario with one Host Vehicle (vehicle under test, to be linked to CarMaker) and a few other vehicles. No PreScan sensor models and no ADA algorithms were added to the model. Figure 1: PreScan scenario adopted for the test The Compilation Sheet was set up according the CarMaker requirements. The S-function was copied and pasted into the Compilation Sheet, under the Host Vehicle block, scaled and connected to the state port. Confidential | Project Report | -- | August 28, 2015 | 1 6 /10

Figure 2: PreScan Compilation Sheet with the CarMaker S-function A few updates on the level of the Compilation Sheet were required. Since IPG built the S-function based on the Demo_PreScanCarSim2D example, the Scaling functions built for such demo was to be adopted. The following was observed: 1. The COG 3 linear positions computed by CarMaker need no scaling 2. The 3 COG linear velocities and angular positions computed by CarMaker seem to need no scaling (further investigations would be needed) 3. The wheels positions are not correctly processed. The Scaling Functions, as well as the signal selections in the IPG S-functions would need to be investigated Figure 3: Data-flow from CarMaker to PreSCan With the updated Scaling Functions block the simulation could be run successfully, i.e. the motion of PreScan vehicle could be successfully prescribed by CarMaker based on the driver’s inputs (throttle, braking and steering). The motion of the wheels could not be correctly prescribed. The prescribed vehicle motion could be verified in the PreScan Viewer. Confidential | Project Report | -- | August 28, 2015 | 1 7 /10

Figure 4 shows an overview of the CarMaker and PreScan tools, including the CarMaker Matlab interface window used to start and stop the co-simulation. Due to time restrictions, it was not possible to investigate the co-simulation in a PreScan 3D environment. Figure 4: Overview of the CarMaker and PreScan tools . Confidential | Project Report | -- | August 28, 2015 | 1 8 /10

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