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BEG-PT/ESY1 - Appel | Oct/20/2014 | © Bosch Engineering GmbH 2014. All rights reserved, also regarding any disposal, exploitation,
reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
Comprehensive and Cross-domain Vehicle
Simulation for Electrification
GT Conference 2014 2014 – 10 - 20
Bosch Engineering GmbH
Powertrain Systems - Christian Appel, Ralf Kleemann
Vehicle Systems - Benjamin Leidel
Chassis & Driver Assistance - Stefan Zahariev
1
BEG-PT/ESY1 - Appel | Oct/20/2014 | © Bosch Engineering GmbH 2014. All rights reserved, also regarding any disposal, exploitation,
reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
GT Conference - Cross-domain Vehicle Simulation
Bosch Engineering GmbH
Motivation
Aston Martin hybrid concept car
Simulation validation
Conclusion & outlook
1
2
3
5
Agenda
4
Simulation working modes & tooling
2
BEG-PT/ESY1 - Appel | Oct/20/2014 | © Bosch Engineering GmbH 2014. All rights reserved, also regarding any disposal, exploitation,
reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
GT Conference - Cross-domain Vehicle Simulation
Bosch Engineering GmbH
Motivation for cross-domain simulation
Use of simulation in the development process:
Enable holistic evaluation of multiple vehicle
topologies and functional concepts
Cover the increasing number of OEM models, model
variants and powertrain layouts
Cover the increasing complexity and interconnectivity
of systems
Balance performance and fuel economy/ legislation
requirements
Identification of optimal solution for given constraints
Enable software development and virtual calibration
with a common simulation platform
11
6
5
1 12
7
13
10
9 8
2
3
4
Criteria categories T 1 T 2 T 3
LAP TIME PERFORMANCE 1,3 2,1 ...
STRAIGHT LINE PERFORMANCE 2,4 3,1 ...
POWER DENSITY 1,5 4,3 ...
PACKAGING FLEXIBILITY 2,9 2,7 ...
TORQUE VECTORING 1,2 3,4 ...
FUEL ECONOMY 4,0 4,7 ...
COST 3,3 1,2 ...
THERMAL INTEGRATION 4,7 3,1 ...
VEHICLE FUNCTIONAL SAFETY 2,3 2,3 ...
NVH 1,5 4,6 ...
CONTROLS COMPLEXITY 2,8 3,1 ...
HIGH VOLTAGE INTEGRATION 5,2 1,8 ...
T 1 T 5 T 7 T 10
Proposed concepts
Score
Req.
Final concepts
YES
NO
Common simulation platform during all development phases
3
BEG-PT/ESY1 - Appel | Oct/20/2014 | © Bosch Engineering GmbH 2014. All rights reserved, also regarding any disposal, exploitation,
reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
GT Conference - Cross-domain Vehicle Simulation
Bosch Engineering GmbH
Working modes in simulation
For single domain usage Cross-domain usage
Vehicle Dynamics/
Driver Assistance
Powertrain
Energy Management
Cross-Domain Vehicle Simulation
DB (A)
DB (B)
DB (C)
Cross-
Domain-
DB
Assu
mpti
ons
Assu
mpti
ons
Assu
mpti
ons
Assu
mpti
ons
Defined
interfaces
Division
individual
simulation
Weak
inter-
connection
Separate
databases
Assumptions
for other
domains
Cross-
domain
simulation
Strong
inter-
connection
Common
database
Common
assumptions
Considering
V-Model
Levels
4
BEG-PT/ESY1 - Appel | Oct/20/2014 | © Bosch Engineering GmbH 2014. All rights reserved, also regarding any disposal, exploitation,
reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
GT Conference - Cross-domain Vehicle Simulation
Bosch Engineering GmbH
Vehicle simulation tooling
Modular vehicle simulation platform:
Utilization of validated component libraries e.g.
GT-SUITE model libraries
Simulink model libraries
ASCET/C ECU software code
Integration platform: IPG CarMaker / Simulink
Utilized tools in Co-Simulation:
Powertrain, thermal system: GT-SUITE
Vehicle dynamics: IPG CarMaker
Controls: ASCET/C code (FMU / Simulink)
Low-voltage powernet: Simulink / Simscape
Individual adaptation of simulation tool based on use cases and requirements
5
BEG-PT/ESY1 - Appel | Oct/20/2014 | © Bosch Engineering GmbH 2014. All rights reserved, also regarding any disposal, exploitation,
reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
GT Conference - Cross-domain Vehicle Simulation
Bosch Engineering GmbH
Shared simulation platform
Joint development OEM and suppliers:
OEM to provide base vehicle models
(e.g. chassis dynamics, tires, combustion engine)
Suppliers to deliver specific subsystems (e.g. third
party supplier delivers active aero models)
Cross-domain system development with multiple
suppliers and OEM utilizing joint simulation model
Increased use of more accurate simulation model in
all development phases (e.g. base calibration tasks
of hybrid operating strategy)
OEM:
Vehicle
Chassis Model
BEG:
Hybrid
Powertrain
OEM/BEG:
Combustion
Engine
BEG:
Brake System
Supplier X:
Aero Systems
BEG:
Hybrid/ Engine
Control
BEG:
Driver Assist
Systems
OEM/BEG:
Powertrain
Cooling Sys.
Use existing know-how and models from all resources and increase accuracy
6
BEG-PT/ESY1 - Appel | Oct/20/2014 | © Bosch Engineering GmbH 2014. All rights reserved, also regarding any disposal, exploitation,
reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
GT Conference - Cross-domain Vehicle Simulation
Bosch Engineering GmbH
Aston Martin hybrid concept car
Vehicle data and system topology:
Vehicle data
Aston Martin
DB9 base
vehicle
Aston Martin
DB9 hybrid
concept vehicle
Empty-weight 1689 kg 1983 kg
ICE V12 front engine, rear-wheel drive
Transmission 6-speed manual transmission
Maximum
power (ICE) 410 kW / 557 PS
Maximum
torque (ICE) 620 Nm
Electric motors
(EM)
- 2x SMG180/120
(2x 85 kW)
- 1x SMG138/80
(25 kW)
Power
electronics 3x INVCON 2.3
High-voltage
lithium-ion
battery
8 kWh useable
energy Source: MTZ 02/14, p.26-33, COMPREHENSIVE SIMULATION FOR POWERTRAIN ELECTRIFICATION, Appel, C.,
Freudenstein, S.; Temmen, C.
7
BEG-PT/ESY1 - Appel | Oct/20/2014 | © Bosch Engineering GmbH 2014. All rights reserved, also regarding any disposal, exploitation,
reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
GT Conference - Cross-domain Vehicle Simulation
Bosch Engineering GmbH
Aston Martin hybrid concept car
Vehicle data and system topology:
Vehicle data
Aston Martin
DB9 base
vehicle
Aston Martin
DB9 hybrid
concept vehicle
Empty-weight 1689 kg 1983 kg
ICE V12 front engine, rear-wheel drive
Transmission 6-speed manual transmission
Maximum
power (ICE) 410 kW / 557 PS
Maximum
torque (ICE) 620 Nm
Electric motors
(EM)
- 2x SMG180/120
(2x 85 kW)
- 1x SMG138/80
(25 kW)
Power
electronics 3x INVCON 2.3
High-voltage
lithium-ion
battery
8 kWh useable
energy Source: MTZ 02/14, p.26-33, COMPREHENSIVE SIMULATION FOR POWERTRAIN ELECTRIFICATION, Appel, C.,
Freudenstein, S.; Temmen, C.
8
Integration Platform: Simulink
CarMaker 4 SL Vehicle dynamics
Driver
Maneuvers
BEG-PT/ESY1 - Appel | Oct/20/2014 | © Bosch Engineering GmbH 2014. All rights reserved, also regarding any disposal, exploitation,
reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
GT Conference - Cross-domain Vehicle Simulation
Bosch Engineering GmbH
Simulink Co-simulation vehicle model Powertrain model (GT-SUITE)
ESC SW model (SL) HCU SW model (SL)
SL Co-Sim
SL Model ECU models
Powernet (12V) model (Simscape) SL Model
9
BEG-PT/ESY1 - Appel | Oct/20/2014 | © Bosch Engineering GmbH 2014. All rights reserved, also regarding any disposal, exploitation,
reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bosch Engineering GmbH
GT-SUITE powertrain model
driving direction
GT Conference - Cross-domain Vehicle Simulation
10
Integration Platform:
CarMaker (standalone) Vehicle dynamics
Driver
Maneuvers
FMU’s
BEG-PT/ESY1 - Appel | Oct/20/2014 | © Bosch Engineering GmbH 2014. All rights reserved, also regarding any disposal, exploitation,
reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
GT Conference - Cross-domain Vehicle Simulation
Bosch Engineering GmbH
FMU Co-simulation vehicle model Powertrain model (GT-SUITE)
ESC SW model (SL) HCU SW model (SL)
FMU Export
FMU Export ECU models
Powernet (12V) model (Simscape) FMU Export
11
BEG-PT/ESY1 - Appel | Oct/20/2014 | © Bosch Engineering GmbH 2014. All rights reserved, also regarding any disposal, exploitation,
reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
GT Conference - Cross-domain Vehicle Simulation
Bosch Engineering GmbH
Integration of HCU* software (SL / FMU)
Simulation and calibration of hybrid operating strategy:
Approach:
Selection of relevant hybrid
control functions
Generation of .dll file with ECCo
Integration in simulation model
Virtual base calibration
Optimized application with
ASCMO (ETAS GmbH) possible
Benefits:
Generation of realistic load profiles
Simple replacement of functions (.dll´s)
Decrease in calibration time for
prototypes and more efficient resource
management
Optimized calibration (e.g. for fuel
economy)
* Hybrid control unit
12
Validation process:
Maneuver catalogue for holistic validation (HW and
SW models)
Vehicle and component measurements for defined
maneuvers
Validation on component/ subsystem level:
Test framework for subsystems
Validation of ECU SW models
Validation of vehicle dynamics model
Validation of complete simulation model, e.g.
Vehicle lateral and longitudinal performance
Overall energy consumption
BEG-PT/ESY1 - Appel | Oct/20/2014 | © Bosch Engineering GmbH 2014. All rights reserved, also regarding any disposal, exploitation,
reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
GT Conference - Cross-domain Vehicle Simulation
Bosch Engineering
Validation process of cross-domain simulation
Maneuver catalogue
TestRun #n
TestRun #2
TestRun #1
13
BEG-PT/ESY1 - Appel | Oct/20/2014 | © Bosch Engineering GmbH 2014. All rights reserved, also regarding any disposal, exploitation,
reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
GT Conference - Cross-domain Vehicle Simulation
Bosch Engineering
Validation - vehicle measurements
Pressure sensors
XCP from ESP HW
VehicleCAN +
HybridCAN
ADMA (gyro system) via CAN
GPS antenna
HybridCAN Interface modules Cronos
Temperature
sensors
Current
sensors
Laptop 1
Laptop 2
14
BEG-PT/ESY1 - Appel | Oct/20/2014 | © Bosch Engineering GmbH 2014. All rights reserved, also regarding any disposal, exploitation,
reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
GT Conference - Cross-domain Vehicle Simulation
Bosch Engineering GmbH
Conclusion and outlook
Conclusion:
Detailed and comprehensive model platform build-up
in cooperation with OEM and other suppliers
Integration of ECU functional software (e.g. hybrid
controls, ESC)
Cross-domain vehicle optimization
Use of a common simulation platform for system
development, software development and calibration
Outlook:
Holistic validation of vehicle, component and ECU
SW models with measurements and in cooperation
with IPG
Integration of all control unit functions as FMUs to
reduce Co-Simulation effort
15
BEG-PT/ESY1 - Appel | Oct/20/2014 | © Bosch Engineering GmbH 2014. All rights reserved, also regarding any disposal, exploitation,
reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
GT Conference - Cross-domain Vehicle Simulation
Bosch Engineering GmbH
Our vision of a hybrid sports car!
Control your car
Feel your car
Be your car
Brake
torque
Thank you for your attention!
16