400 Commonwealth Drive, Warrendale, PA 15096-0001 U.S.A. Tel: (724) 776-4841 Fax: (724) 776-5760 Web: www.sae.org 2005-01-1660 Hardware-in-the-Loop Testing of Vehicle Dynamics Controllers – A Technical Survey Herbert Schuette and Peter Waeltermann dSPACE GmbH Reprinted From: Cont roller System Software Testing and Validation (SP-1928) 2005 SAE World Congress Detroit, Michigan April 11-14, 2005 SAE TECHNICAL PAPER SERIESDownloaded from SAE International by Univ of Nottingham - Kings Meadow Campus, Friday, August 10, 2018The Engineering Meetings Board has approved this paper for publication. It has successfully completed SAE’s peer review process under the supervision of the session organizer. This process requires a minimum of three (3) reviews by industry experts. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise,without the prior written permission of SAE. For permission and licensing requests contact: SAE Permissions 400 Commonwealth DriveWarrendale, PA 15096-0001-USAEmail: [email protected]: 724-772-4028Fax: 724-772-4891 For multiple print copies contact: SAE Customer ServiceTel: 877-606-7323 (inside USA and Canada)Tel: 724-776-4970 (outside USA)Fax: 724-776-1615Email: Customer [email protected] ISSN 0148-7191Copyright © 2005 SAE International Positions and opinions advanced in this paper are those of the author(s) and not necessarily those of SAE. The author is solely responsible for the content of the paper. A process is available by which discussions will be printed with the pap er if it is publishe d in SAE Transactions. Persons wishing to submit papers to be considered for presentation or publication by SAE should send themanuscript or a 300 word abstract to Secretary, Engineering Meetings Board, SAE. Printed in USADownloaded from SAE International by Univ of Nottingham - Kings Meadow Campus, Friday, August 10, 20182005-01-1660 Hardware-in-the-Loop Testing of Vehicle Dynamics Controllers – A Technical Survey Herbert Schuette and Peter Waeltermann dSPACE GmbH Copyright © 2005 SAE International ABSTRACT Hardware-in-the-loop (HIL) test benches are indispensa- ble for the development of modern vehicle dynamics controllers (VDCs). They can be regarded as a standard methodology today, because of the extremely safety- critical nature of the multi-sensor and multi-actuator sys- tems used in vehicle dynamics control. The required high quality standards can only be ensured by systematic test- ing within a virtual HIL environment before going into a real car. This paper aims to provide a condensed technical over- view of state-of-the-art HIL test systems for VDCs, which are currently widely used in passenger cars, in the form of ABS and TCS, as well as ESP, or integrated chassis control, which is just coming onto the market. First, a short introduction to the basic functionality of these types of ECUs is given, and the reasons why HIL testing is necessary and especially useful for VDCs are discussed . Since most of the dominant suppliers of VDC systems like Bosch, TRW, and Continental Teves, have the same principle system architecture, the closed loop HIL system (including I/O interfaces, signal conditioning, real-time models, user Interface, and test automation) can be generalized. However, there is still a possibility depend- ing on the module being tested that one must include module specific resources to the setup. A more detailed description of the currently used sensor signals for steering wheel position, lateral/longitudinal acceleration, yaw rate, wheel-speeds (active/passive/ in- telligent) and the hydraulic pressure sensors (inter- nal/external) is presented. For the synthetic simulation of these signals within a simulator setup, it is also neces- sary to take into account the diagnostic functions of the ECU, for example to properly