eFMI (FMI for Embedded Systems) in AUTOSAR for Next Generation Automotive Software Development

Siva Sankar Armugham; Oliver Lenord; Kai Werther; Christian Bertsch; Karthikeyan Ramachandran

doi:10.4271/2021-26-0048

Nowadays automobiles are getting smart and there is a growing need for the physical behavior to become part of its software. This behavior can be described in a compact form by differential equations obtained from modeling and simulation tools.

In the offline simulation domain the Functional Mockup Interface (FMI) [3], a popular standard today supported by many tools, allows to integrate a model with solver (Co-Simulation FMU) into another simulation environment. These models cannot be directly integrated into embedded automotive software due to special restrictions with respect to hard real-time constraints and MISRA compliance. Another architectural restriction is organizing software components according to the AUTOSAR standard which is typically not supported by the physical modeling tools. On the other hand AUTOSAR generating tools do not have the required advanced symbolic and numerical features to process differential equations.

In order to bridge the gap to the embedded world the publicly funded ITEA3 project EMPHYSIS (Embedded Systems with Physical Models in Production Code Software) [9] has developed the new eFMI (FMI for embedded systems) standard [12]. This standard enables the exchange of physics-based models between modeling and simulation environments on the one hand and software development environments for electronic control unit (ECU), micro controllers or other embedded systems on the other hand.

In this paper, we summarize the basic concepts of the new eFMI standard and describe how it can be used in an AUTOSAR tool chain to realize advanced functions incorporating numerically challenging problems in a reproducible, MISRA compliant, time and cost effective fashion. A physics based model, representing a simple automotive example, is used to demonstrate the eFMI workflow right from model creation through simulation, code generation, integration to AUTOSAR framework all the way down to the execution inside a Bosch ECU (Engine Control Unit). Measures are provided that indicate performance, resource demand and development effort of the proposed new eFMI workflow compared to a manually coded state of the art solution.

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eFMI (FMI for Embedded Systems) in AUTOSAR for Next Generation Automotive Software Development 2021-26-0048

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