1. Introduction These days, hil (Hardware In the Loop) simulators

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1. Introduction

These days, HIL (Hardware In the Loop) simulators

are widely used as tools for developing automotive con-

trol systems effectively and for securing product quality.

HIL simulators have been mainly used in the fields of

powertrain and drive-train, such as engine control and

transmission control. "CRAMAS (ComputeR Aided Multi-

Analysis System)" which is the HIL simulator developed

by FUJITSU TEN Limited, is used for ECU (Electronic

Control Unit) development inside and outside the compa-

ny. These days, it is also used in wide fields such as ITS

(Intelligent Transport System) which uses millimeter-

wave radars.

Therefore, the new functions are demanded for that

simulator. By this report, we introduce the application

examples of CRAMAS and new approach to the security

/ safety field.

2. What is CRAMAS

CRAMAS is a unique simulator developed by FUJIT-

SU TEN, shown in Fig. 1. The most significant feature of

CRAMAS is that it can simulate a target control system

in real time. CRAMAS was originally developed as a sim-

ulator for testing ABS (Anti lock Brake System) in 1996.

A simulator mainly substitutes for a target real vehi-

cle. And it is an effective tool for testing in various cases;

a situation that a real vehicle cannot be prepared, a phe-

nomenon that is hardly occurred with a real vehicle, and

dangerous testing with a real vehicle. In accordance with

the recent environment change and the demands for fuel

efficiency, control systems are more complicated and

expanded. Besides, development period is shortened due

to shortening of product cycles, and we have to perform

enormous tests in shorter period. Under these circum-

stances, the automatic test tools attract attention.

2.1 Application example

These days, motor-powered vehicles such as electric

cars and hybrid cars are in use. We have developed sim-

ulators to support the control system developments for

these vehicles.

A conventional motor simulation has calculated

electrical and mechanical models designed in MAT-

LAB/Simulink by software processing. However, in some

cases, it is difficult to ensure the accuracy required for

testing a control unit because the software processing

cannot cover all the electrical behaviors.

To solve this problem, we have developed an exclu-

sive function board (motor board) that is capable of calcu-

lation in 1 microsecond cycle by hardware macro using

FPGA (Field Programmable Gate Array) to implement

the electrical behaviors with less-frequent changes. Fig.

2 shows a configuration of HIL simulator with the motor

board.

On the other hand, we are developing simulators for

testing communication network such as CAN (Controller

Area Network). The plural networks using various proto-

cols are in a vehicle. The networked ECUs collaborate

in controlling to connect and communicate between that

networks, an ECU functioning as a gateway (hereinafter

Fig.1 CRAMAS

Ｉ / Ｆ board

CPU board (Mechanical model)

Motor board (Electrical model)

ＥＣＵ

Control

software

Engine

（Written in Simlink model)

Transmission

(Hardware macro)

Phase current

Gate-drive signal

Resolver signal

Inverter

Motor

（Electrical part）

Motor

（Electrical part）

DC current

Element current

Phase

current

Phase

current

Motor

(Mechanical part)

Motor

(Mechanical part)

Motor

constant

Motor

constant

Id、Iq

Load

Torque

Torque calculation

Voltage

applied at INV

Voltage

applied at INV

Fig.2 Motor Simulation

Akira MARUYAMA

Seigo TANAKA

Takeshi YAMASAKI

NOTE

HIL Simulator "CRAMAS" for ITS Application

Introduction

1

What is CRAMAS

2

34

FUJITSU TEN TECH. J. NO.36(2011)

FUJITSU TEN TECHNICAL JOURNAL

referred to as G/W) is required. Along with the enlarged

network, multi channel types of G/W-ECUs are increas-

ing. (Fig. 3)

A G/W-ECU is tested in the following points; commu-

nication load and condition (sleep/wake-up) of each net-

work, and behavior influenced by bus disconnection/

short-circuit. As for a multi channel type of G/W-ECU,

the number of combinations of these tests is larger. To

carry out these tests effectively, we have developed the

following functions.

①Adjustment function of bus load

②Time synchronization between communication

behavior and I/O

③Communication-log viewer

④Function for automatic generation of test patterns

and their sequential implementations

3. Application to Security / Safety System

3.1 Requirements for Equipment to Test Radar

We have developed control system development units

and data collection analyzer mainly for vehicles. For

example, simulations of power train are carried out for

measuring analog signal outputs from respective sensors

and RAM-value of ECUs to be tested, and for simulating

communication data connected to the unit to be tested.

Its sampling is carried out at a maximum speed of

approx. 100 μs. However, for the development and the

tests of an ITS, it is important to store large volumes of

same-time event data at high speed, which relate to an

own vehicle, a target vehicle, and monitoring situation

around the vehicle.

Specially, regarding to the security / safety system,

the millimeter-wave radars require the sampling speed of

1 MHz (1 μs) or more for measuring beat signals

(1)

, and

at the same time, require the functions to carry out high-

speed sampling and to store large volumes of data with-

out any data gap, to measure GPS signals for testing posi-

tions of an own vehicle and a target vehicle accurately,

and multi-channel camera signals for storing the situation

around the vehicle. (Fig. 5)

3.2 CORMO

We have developed a data measurement unit,

"CORMO," to deal with these tasks. (Fig. 6)

CORMO carries out various measurements;

analog/digital beat signals of radars at a maximum sam-

pling speed of 5 MHz, camera image data, CAN communi-

cation data and RS232C communication data (GPS posi-

tion). It transmits large volumes of data at high speed via

PCIe (Peripheral Component Interconnect express) to PC,

and stores them in a hard disk sequentially. After 1

microsecond-accuracy timestamps are added to these

stored data, the whole measured data are playable by

time synchronization.

Power train

network

Chassis

network

Body

network

Low-speed

body network

Fig.3 G/W-ECU

ECU

Bus

No．

Bus

No．

Bus

No．

1

G/W−ECU

CRAMAS

Set bus load arbitrarily.

Bus No. Condition Event

１

２

３

５

２

・

Automatic generation of evaluation pattern

Automatic generation of a large number of

combinations and their sequential implementations

Communication-log viewer

Communication log and I/O

log of each bus indicated by

time synchronization

Report generation

Data

Transmission

omission confirmed

Fig.4 CRAMAS for G/W ECU

Camera image

Radar beat

Radar CAN

GPS position

Fig.5 Measurement Data for Millimeter-Wave Radar

Application to Security / Safety System

3

＊（1）In FM-CW (Frequency Modulation Continuous Wave)

method of millimeter-wave radars, the distance and the

speed of a target are measured concurrently from beat

signals. First, transmitted waves from radar reflect at a

target and become received waves. Then, the beat sig-

nals are made by mixing of the transmitted waves and

received waves at a receiver.

Fig.6 CORMO

35

FUJITSU TEN TECH. J. NO.36(2011)

HIL Simulator "CRAMAS" for ITS Application

3.3 Application for Measurement

This section introduces an application for measure-

ment and reproduction that we have developed along

with CORMO. The application (Fig. 7) runs on Windows

of a host PC via PCIe communication between the PC

and CORMO for setting measurement conditions, operate

measurement, storage and reproduction. The application

has functions to show a birds-eye view of target states

(distance, angle and relative velocity) recognized by radar,

a tracking display connected with camera images, and

graphs as well as unprocessed analog/digital signals and

CAN data on monitoring screen. This application enables

back-in-time data storage triggered by long-period dri-

ving measurement or changes in CAN signals.

It also has functions to show a FFT graph of beat sig-

nals, radar recognition values, a birds-eye view, target

tracking on camera images, variable number behaviors

and targets during algorithm calculation described below.

3.4 Test Equipment for algorithm development

A millimeter-wave radar algorithm is the function to

extract targets (vehicles/motorcycles ahead and oncom-

ing vehicles/motorcycles) from all the detected targets

included in beat signal components and to calculate their

distances, horizontal angles and relative velocities to own

vehicle. The algorithm has to be able to deal with the

cases of lost targets and nonexistent targets (ghosts)

caused by the influences of surroundings.

As an algorithm development method, in order to

improve recognition, beat signals are measured at a test

course or a field test site using prototype radar installed

on a vehicle, and the measured beat signals are repeated-

ly reproduced and input into the algorithm designed in C

language or MATLAB/Simulink on PC. However, it is

impossible to execute a program conforming to interrupt

sequence on PC. Besides, actuator drive and data com-

munication to other ECUs according to PC calculation

result lack real-time performances. Thus, this method is

used only in the case of developing a radar.

So, we have developed "CORMO + Rtype" using

Rapid Prototype ECU "Rtype" that we had developed for

powertrain control development in 2002. Rtype is capable

of similar processing as an actual ECU without making an

ECU hardware prototype.

The cooperation of this Rtype and the previously-

described CORMO enables an efficient development/test

of ITS. Specifically, the data of the beat signals measured

by CORMO are transmitted to Rtype via LVDS (Low

Voltage Differential Signaling) communication, and a CPU

(Pentium) installed on Rtype implements fast filter calcu-

lation (FFT), calculates the target recognition software

capable of simulating an algorithm to be installed in

radar, and outputs the target recognition results to CAN

communication data or a host PC.

Besides, the cooperation enables the judgment easily

whether the algorithm result is positive or not by trans-

ferring camera image data to Rtype and tracking the

data with the recognition results calculated by Rtype.

The cooperation also enables development/test of the

whole system control not only the algorithm of radar.

The whole system control can be conducted by installing

control applications in Rtype, such as ACC (Adaptive

Cruise Control) to control automatically vehicle velocities

and distances from detected driving vehicles, and PCS

(Pre-Crash Safety) system to reduce damages caused by

collision with a leading vehicle, an obstacle, a pedestrian,

etc.

Analog

measurement

Digital I/O

Camera image

CAN

RS232C

LVDS

LAN

PCIe

Beat signal

measurement

Measurement timing

signal

Perimeter monitoring

Radar calculation,

velocity, etc.

Position measurement

by GPS

Communication with

external device

Communication with PC

Communication with PC,

data storage

Application

Max

5MHz

Max

5MHz

30fps

─

Sampling

Measurement

Table 1 CORMO Specifications

Fig.7 Monitoring Screen

Fig.8 Application CORMO with Rtype

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FUJITSU TEN TECH. J. NO.36(2011)

FUJITSU TEN TECHNICAL JOURNAL

We plan to approach to build an environment for

automatic test of radar sensor and ITS. The developed

radar sensors and algorithms are tested by the method of

comparing the target vehicles in the camera images

taken during driving and the target vehicles recognized

by radar, which takes thousands of man-hours.

To solve this problem, by the use of a high-precision

GPS and the combination of CORMO and Rtype, the

installed logic to judge radar acquisition in Rtype enables

automatic tests. (Fig. 10)

3.5 Conclusion

The tools for ITS development require variety of

information of driving states and surrounding environ-

ment as well as radars, cameras and GPS. The informa-

tion include various data concerning a vehicle cabin, vehi-

cle surroundings, communication between vehicles, road

conditions, satellite signals, communication with service

center, etc.

This paper introduced CORMO with Rtype using mil-

limeter-wave radar. We plan to pursue advanced tool-

chain CORMO as a comprehensive development tool,

which is capable of prompt algorithm development

including systems and measurements of mass data at

high speed. Work restructuring and efficiency for devel-

opment are required in growing fields of environmentally

conscious technology, security

safety technology,

communication technology, etc. We are focusing on uti-

lizing and improving development environment repre-

sented by HIL simulators, etc. as well as our other ECU

products.

Reference

1) "Development of CRAMAS Motor Board" by Takeshi

YAMASAKI, et al.

Fujitsu Ten Technical Journal (Japanese ver. No.46

English ver. No.26)

2) "Approaches to the Development of the In-Vehicle LAN

System" by Kaoru NOUMI, et al.

Fujitsu Ten Technical Journal (Japanese ver. No.49

English ver. No.29)

System

Actuator

CORMO

Rtype

PCI board

Data storage

CPU board

Fast filter calculation

Radar algorithm

calculation

CAN board calculation

Sensor

Measurement

Result output

Vehicle behavior

Change in

surrounding

Fig.9 CORMO and Rtype Configuration Diagram

Rtype

GPS

(Vehicle with

radar set)

GPS

(Target Vehicle)

Calculate

positions

of vehicle

Target

recognition

Image

processing

Camera

(Vehicle with

radar set)

Compare

radar

recognition

and target

position

Fig.10 Automatic Test Outline

Profiles of Writers

Akira MARUYAMA

Entered the company in 1989. Since

then, has engaged in manufacture of

controllers for vehicle and in develop-

ment of simulators for control system

development (CRAMAS). Currently

in the CRAMAS Department of

Common Technology Division, ITS

Engineering Group.

Seigo TANAKA

Entered the company in 1981. Since

then, has engaged in development of

controller for vehicle and in develop-

ment of tools for control develop-

ment. Currently in the CRAMAS

Department of Common Technology

Division, ITS Engineering Group.

Takeshi YAMASAKI

Entered the company in 1983. Since

then, has engaged in development of

engine control ECU and body control

ECU. Currently the General Manager

of the CRAMAS Department of

Common Technology Division, ITS

Engineering Group after engaging in

the CRAMAS sales & engineering.

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