In this paper the modeling and simulation of an autonomous vehicle is presented. The goal is to create a real-time capable model of the complete mechatronic system: this model is being used to analyze the functional safety of the vehicle's onboard embedded systems by means of co-simulation and hardware-in-the-loop tests. The paper reflects some modeling thoughts that had to be met in order to guarantee a good simulation performance using the Modelica language and Dymola environment.
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