Towards virtual validation of distributed functions

Continuous development of software functions using software-in-the-loop (SiL) simulations up to their virtual validation or virtual release are key enablers for new technologies of autonomous and connected mobility. Due to the complexity of autonomous and predictive driving functions, the unit-under-test is often not encapsulated in one Electronic Control Unit (ECU), but distributed over multiple ECUs. Thus, a cross-domain vehicle simulation framework capable of simulating numerous connected virtual ECUs (vECUs) together with the corresponding physical models (e.g. vehicle dynamics) is required. In this contribution, this is realized by extending an existing MiL co-simulation environment consisting of a middleware-based coupling of proprietary tools with a toolchain for the generation of vECUs as Functional Mock-up Units (FMU) and a modular virtual bus implementation. This framework is tested by showing a smooth transition from model-in-the-loop to SiL simulation of a function distributed over two vECUs communicating via a virtual Controller Area Network bus.