A co-simulation framework for design of time-triggered automotive cyber physical systems

Abstract

Designing cyber-physical systems (CPS) is challenging due to the tight interactions between software, network/platform, and physical components. A co-simulation method is valuable to enable early system evaluation. In this paper, a cosimulation framework that considers interacting CPS components for design of time-triggered (TT) CPS is proposed. Virtual prototyping of CPS is the core of the proposed framework. A network/platform model in SystemC forms the backbone of the virtual prototyping, which bridges control software and physical environment. The network/platform model consists of processing elements abstracted by realtime operating systems, communication systems, sensors, and actuators. The framework is also integrated with a model-based design tool to enable rapid prototyping. The framework is validated by comparing simulation results with the results from a hardware-in-the-loop automotive simulator.

Performance evaluation of an authentication mechanism in time-triggered networked control systems

“…Figure 3 presents the minimum, maximum and average execution time for each hash function (SHA1, SHA2 and SHA3). The results show the computational overhead to the execution of the controller code described in [11] is small. The extra message tag overhead in bytes introduced by enabling secure communications is dependent on the message tag generated by the cryptographic hash-function used in HMAC.…”

“…The example is based on an automotive communication system described in [11]. The bus communication system used is TTEthernet 1 .…”

“…The ECUs are self-contained units that include a processor with memory, a real time operating system based on RTLinux and Ubuntu (Linux kernel 2.6.24-24-rt) and the respective networking devices drivers to enable time trigger communications [11]. The network is a star topology ( Figure 1).…”

“…In conjunction with the TTA system scheduler, for every cycle, the created tasks repeat the same schedule enabling the nodes to communicate in a deterministic way. Representative parameters used for the network, such as the cycle or base period, channels bandwidth, clock synchronization cycle, and synchronization precision, can be found in [11]. …”

Distributed Control of Multiple Plants over Embedded Network

“…Many approaches have been adopted for the co-design problem of the control and the network part of NCS. Some researchers used the combination of Matlab for the control part with network simulators to dynamically capture the network dynamics [6][7][8][9]. In the second approach, both the network and the control part are designed using Matlab/Simulink to provide more design flexibility [8,[10][11][12][13][14].…”