Design of a Real-time Simulator Capable of Hardware-in-the- loop Simulation for an Automated Collision Prevention (ACoP) System for an Autonomous Electrical Vehicle

A real-time simulator is an essential means for swiftly designing and verifying embedded time-sensitive and/or real-time applications especially in automotive and transportation. A cost-effective real-time simulator platform for research in automotive electronics has been developed and performed both hardware-/software-inthe-loop (HIL/SIL) simulations of an automated collision prevention (ACoP) system. The multi-core real-time simulator platform was developed for intuitively and swiftly managing different complexity levels and design scales while satisfying real-time constrains with sufficient accuracy of the parallel HIL simulation of models and/or hardware components. The real-time simulator platform was evaluated with the ACoP system integrated to the C/VHDL models of the electric vehicle. We evaluated the HIL simulation with 50 μs real-time clock resolutions. The HIL simulation achieved 2.5x faster acceleration and deceleration of engine (i.e., motor) than the SIL simulation while maintaining 0.3% of the HIL simulation difference of the speed overshoot and undershoot compared with an ideal Simulink simulation.