Title of Invention	METHOD FOR TESTING AN ELECTRONIC CONTROL UNIT
Abstract	A method is presented and described for testing of at least one electronic control system (1), in which the control system (1) is connected via a data channel (2) to a test device (3), at least one environment model (4) is calculated on a test device (3) and the environment model (4) interacts with the control system (1) by output of environment model data via test device (3) to control system (1) and by receiving control system data from control system (1) via data channel (2). The method according to the invention prevents the drawbacks known in the prior art by executing on test device (3) at least one test model (5) to influence the environment model (4) and/or to calculate the environment model (4) and/or the electronic control system (1), in which the test model (5) or the test models (5a, 5b) is or are executed functionally independently of the environment model (4) and, during test operation, synchronously with the environment model (4).

Title of Invention

METHOD FOR TESTING AN ELECTRONIC CONTROL UNIT

Abstract

A method is presented and described for testing of at least one electronic control system (1), in which the control system (1) is connected via a data channel (2) to a test device (3), at least one environment model (4) is calculated on a test device (3) and the environment model (4) interacts with the control system (1) by output of environment model data via test device (3) to control system (1) and by receiving control system data from control system (1) via data channel (2). The method according to the invention prevents the drawbacks known in the prior art by executing on test device (3) at least one test model (5) to influence the environment model (4) and/or to calculate the environment model (4) and/or the electronic control system (1), in which the test model (5) or the test models (5a, 5b) is or are executed functionally independently of the environment model (4) and, during test operation, synchronously with the environment model (4).

Full Text	Method for Testing an Electronic Control Unit The invention concerns a method for testing at least one electronic control system, in which the control system is connected via a data channel to a test device, at least one environment model is calculated on the test device, and the environment model interacts with the control system by output of environment model data via the test device to the control system and by receiving control system data from the control system via the data channel. Moreover, the invention concerns a scheduling method for execution of at least one test model on a simulation computer, in which a first scheduler is activated based on an external activation signal. Finally, the invention also concerns a test device for testing of at least one electronic control system, in which the test device can be connected via a data channel to the control system, at least one environment model is calculated with the test device and the environment model can interact with the control system by output of environment model data to the control system and by receiving control system data from the control system via the data channel. Methods and devices for testing electronic control systems are known in different forms from practice and are mostly used in applied research and industrial development in the broad field of development and use of electronic control systems, namely, anywhere process control tasks in the broadest sense must be solved. The term "control system" is used below as an encompassing designation for a technical device that is essentially used for the tasks of measurement, control, regulation, calibration. In the broadest sense, an electronic, program-controllable system is involved, which is usually called a control device in automotive applications. The term "control system" is not restricted to that which is narrowly defined in systems theory as control, in which controls are ordinarily implemented on control systems. The development of a control system that is ultimately usable in series production is generally accomplished in the following steps: during function development, by means of mathematical modeling tools, an abstract controller prototype is initially made from the later target hardware --2-- and environment, during which the controller so developed is only tested in a simulation with the process image, which also only exists as a mathematical model. In the next step, in the so-called rapid control prototyping (RCP), the abstract controller prototype is converted by means of code generators to an executable program, which is operated on a usually very high-performance, real-time-capable control system, not comparable to the series control system ultimately to be used. This RCP control system then interacts via corresponding I/O interfaces with the real process being influenced. If these results are satisfactory, executable code for the series control system is again generated via correspondingly equipped code generators from the mathematical model of the controller, so that the control system actually to be used in series application can be equipped with the functionality, with which it must also be equipped in series application. However, before the series control system is tested in conjunction with the real process, it is subjected to thorough tests, so-called hardware-in-the-loop-tests (HIL tests). During HIL tests, the (series) control system is connected to a test device, in which the functional environment of the control system being tested is simulated by means of an environment model; the control system therefore interacts with a virtual environment, in which the environment model is connected to the test device by output of environment data via the test device to the control system and by receiving control system data from the control system via a data channel. The present invention is explained on the example of such an HIL test, but is not restricted conceptually to such a test situation, but instead is applicable to testing of any control system that is connected to a test device and is tested by means of an environment model that is operated on the test device. The control system, for example, can be an engine device in the area of automotive applications, in which the environment model of this engine control device is then an engine model, operated in real time on the test device. However, it can also be a running and engine dynamic model of an entire vehicle moved in a virtual environment. The environment model, in principle, need not cover all the interfaces of the control system being tested, but instead any parts of the --3-- environment can also be implemented by real components. In the preceding example, this could mean that the control system being tested is actually connected to a real internal combustion engine in which the environment of the engine (for example, transmission, drive train, chassis and road) is simulated by means of an environment model operated on the test device. The environment model therefore need not be a complete environment model, and it can be directly and/or indirectly connected to the control system being tested. The actual test of the control system consists of deliberately influencing the environment model of the control system, namely, by a test model to influence the environment model. Such deliberate influencing, for example, during testing of a control system for brake systems, can lie in the fact that the parameters that describe the ground are varied over broad limits and the brake control system is brought to complete braking. To evaluate the control system, the behavior of the environment mode] is generally used, which, in the preceding example, could lie in determination of the delay of the entire system (i.e., the vehicle). It is also quite possible to also read out direct variables of state from the control system and use them to evaluate the control system. Different methods and devices are known from the prior art that permit testing of control systems in the aforementioned sense. For example, it is known, for influencing the test device on which the environment model is operated, to provide an additional experimentation device next to the test device, which is connected to the test device. A test model is run on the experimentation device (generally a standard PC), which influences the environment model on the test device in the desired manner via a data connection between the experimentation device and the test device. The experimentation device then permits the test model to be designed with a graphic modeling environment, in which, depending on time and depending on the model quantities of the environment model, a specific test functionality can be stipulated (dSPACE GmbH: "Automation Desk: Test and Experiment Software"; Product description, February 2006). The drawback in this procedure is that strict synchronization between the environment model on the test device and the test model on the experimentation device cannot be guaranteed, since coupling between the two devices is connected with the dead times related to communication. In addition, during use of a standard operating system without real-time capability on the experimentation device, --4-- under some circumstances, strict real-time capability is not guaranteed. This means that an influence on the environment model planned in a certain calculation interval of the environment model cannot always occur in this calculation interval, which could load to incorrect performance and incorrect interpretation of the test. Real-time capability, in the sense of the present invention, means that processes, whose execution is prescribed and stipulated at a specified time, must be executed and accomplished strictly at this time. The question of real-time capability is therefore not connected to an absolute speed dimension for a calculation, but is only bound to fulfillment of the condition that actions planned within a time interval can also be executed within this time interval; real-time capability is consequently not necessarily the fastest possible execution of required actions, but reliable execution of these actions within the time prescribed for them. In time-discrete systems that are operated with a certain (generally fixed) calculation and scanning frequency, the shortest time unit corresponds to the length of the (fixed) scanning interval with the control system. If a control system, for example, is scanned and calculated with a millisecond, the environment model is ordinarily also operated at least with this scanning rate. This means that the model quantities of the environment model (i.e., the quantities of state of the environment model in terms of systems theory) are calculated with a frequency of 1 kHz, and the output quantities of the environment model are also calculated with a frequency of 1 kHz and are output to influence the control system. All actions that are executed within a scanning or calculation interval (in the present example, within a millisecond) take place simultaneously for the time-discrete scanning system; these actions cannot be distinguished from each other in time. Starting from this definition of real-time capability and simultaneity, it is therefore possible to carry out several actions simultaneously, even if an electronic control system or test device that can process instructions only strictly sequentially is used, if they are executed in the same scanning or calculation interval. The advantage of the test method just described consists of the fact that, for execution of the tests, the environment model need not be stopped or changed, in which real-time conditions, however, --5-- cannot be reliably maintained at small scanning rates, since the usual experimentation devices, based on an operating system without real-time capability, cannot guarantee predictable executions in terms of time. In another method for testing an electronic control system known from the prior art the environment model is instrumented by call-up of test functions. The environment model is consequently no longer independent of the test being performed and must therefore always be adapted when the test is changed. A shortcoming in this method is that the test model and the environment model are functionally dependent on each other, since the environment model must be instrumented with special function call-ups concerning the test model (OPAL-RT TECHNOLOGIES INC.: "RT-LAB, Product Description, Feature Details, Typical Applications"; 2005). This creates a significant overhead within the environment model and therefore leads to significant running time drawbacks under some circumstances, even if the functionality of the test model is a "null functionality." The underlying task of the invention is therefore to provide a method and device for testing of an electronic control system, in which the aforementioned drawbacks are at least partially avoided. The aforementioned task is solved according to the invention according to a first teaching of the invention in a method for testing at least one electronic control system with a test device and an environment model calculated on the test device, in which the control system is connected via a data channel to the test device and the environment model interacts with the control system by output of environment model data via the test device to the control system and by receiving control system data from the control system via the data channel, in that at least one test model to influence the environment model and/or calculate the environment model and/or electronic control system is executed on the test device, in which the test model or the test models is or are executed functionally independently of the environment model and synchronously with the environment model during test operation. The method according to the invention is advantageous in a number of respects relative to the methods known from the prior art. Owing to the fact that the test model is executed functionally --6-- independently of the environment model, the environment model no longer need be instrumented with deliberately positioned function call-ups, with reference to the test model. On the one hand, this has the advantage that the environment model is universally applicable, independently of the test being performed, and, on the other hand, this procedure entails the advantage that unutilized function call-ups in the test model no longer burden the running time of the environment model. In addition, dead times and asynchronism between execution of the environment model and the test model are avoided in the method according to the invention relative to those methods, in which the environment model of the test device is influenced by a configuration device separate from it in terms of hardware, or by a test model operated on the configuration devices. In the first advantageous embodiment of the invention, the test model influences the environment model, in which, with knowledge of the memory locations of the environment quantities of the environment model, it describes and/or reads out these memory locations. By direct access of the test model to the model quantities of the environment model, a software interface between the two models can be dispensed with, which entails significant running time advantages. According to a preferred embodiment of the method according to the invention, a configuration device is connected to the test device via an additional data channel and the test model and/or environment model are then transferred via the additional data channel from the configuration device to the test device. By this embodiment of the method, it is also possible, with particular advantage, to create, modify or merely record the test model and/or environment model via the configuration device, which consists of a commercial PC with corresponding modeling software, in order to then transfer it deliberately to the test device. The configuration device in this embodiment of the invention is used as a user interface, via which the user has access to the target hardware, i.e., the test device. In another embodiment, the method according to the invention is characterized by the fact that the simultaneous execution of at least one of the performed test models is stopped in the running time of the environment model, so that an overall test, consisting of several test models, can be varied over a wide range. It is also prescribed in the method according to the invention that at least one test model (as a substitute or in addition) is also loaded during test operation on the test --7-- device and executed there. Naturally, a test model already situated on the test device can likewise be executed at any time on the test device, regardless of whether the test model was loaded immediately beforehand on the test device, or whether the test model being started had already been present for a longer time on the test device. In a particularly preferred embodiment of the method, the test model, if necessary, is executed in an operating mode asynchronous with the environment model, in order to then be executed synchronously with the environment model. This is particularly advantageous when the test model is started and extensive initializations must be conducted in the context of starting. Such initialization procedures can be so extensive, that they cannot be conducted within a scanning interval, so that a violation of the real-time requirements or the requirement for synchronism between the test model and environment model would be produced. In such a case, the method according to the invention proposes that the real-time and synchronism requirements be temporarily reset, until the calculation overhang is dealt with, to the extent that the test model can again be executed with the environment model synchronously and therefore guarantee the real-time requirements. Such a situation will occur, above all, when a test model is newly loaded onto the test device and is to be integrated in an already running test of the electronic control system. In another preferred practical example, the method according to the invention is configured, so that the test model is converted to an execution format that is executed on the test device by an interpreter. In a particularly preferred embodiment, this execution format exists in byte code, which is executed on the test device by a real-time interpreter. Execution of the machine- independent byte code by the interpreter is connected, in principle, with a time drawback, since the interpreter, which is often referred to as a virtual machine, cannot directly execute the byte code, but must translate it beforehand. For this reason, the real-time interpreter is preferably used in conjunction with an adjusted time compiler, which, at the beginning of the running time of the test model, translates the byte code once into a machine-dependent machine code. In particular, it is useful in this case to run the test model during the translation phase in an asynchronous mode relative to the environment model, as was already described on the example of initialization of a test model. --8-- In another advantageous embodiment of the invention, for synchronization of the test model with the environment model, an activation signal to activate the test model is generated by the environment model. Generation of the activation signal by the environment model is consisted with the requirement of functional independence between the environment model and the test model, since no junction call-up directly concerning the test model occurs from the environment model, as is known from the prior art. The activation signal serves merely as a timer for execution of the test model, which, however, can be executed fully independently of the environment model. It is particularly prescribed that the activation signal is to be generated in each or each whole- number multiple of the calculation interval of the environment modal, so that the test model can also be calculated as a time-discrete scanning system. The activation signal is then generated by the environment model in a preferred embodiment, if it is ensured that the characteristic phases of the model calculation or handling are concluded. Such phases include, for example, recording of all input quantities of the environment model, calculation of the quantities of state of the environment model from the actual input quantities and from previous quantities of state of the environment model, or also output of output quantities from the environment model. By this handling of the method according to the invention, it is guaranteed that the environment model is situated in a time-consistent state and the test model, as a result of this, can access a consistent set of model quantities of the environment model. According to another advantageous embodiment of the method according to the invention, a scheduling method is activated by the activation signal, which coordinates execution of the test model. It is also apparent from this property that by activation, a functional decoupling between the environment model and the test model is guaranteed, since the test model is subsequently coordinated independently of the environment model by a higher-order coordination unit - the so-called scheduling method. A second teaching of the invention is geared toward the embodiment of the scheduling method, in which, based on an external activation signal, a scheduler is activated. The scheduling method --9-- solves the aforementioned task according to the invention in that the first scheduler brings the test model to execution or part of the test model to execution, which corresponds to a stipulated calculation interval, and the first schedule after completion of execution of the test model or the stipulated part of the test model indicates termination of the calculation by a termination signal. In order for the first schedule to enter into action, an activation signal is required, which is formed, for example, by an interrupt. The first scheduler activated In this way can make execution of the test model or a stipulated part of the test model independent of other parameters. Thus, values can be transferred to the first scheduler by transfer parameters on call-up, or the scheduler on activation can read out corresponding parameters from the memory cells prescribed for this, which inform the first scheduler about which test model or parts of test models are to be calculated, and for which calculation interval these test models or parts of the test models are to be executed. Owing to the fact that the first scheduler, after complete execution of the test model or the stipulated part of the test model, indicates termination of calculation by termination signal, it is possible to react close in time with higher order or coordinated systems, like the environment model, in order to continue their course, for example. According to a preferred embodiment of the scheduling method according to the invention, the first scheduler, in a situation in which the test model has several test strings to be processed simultaneously, calls up a second scheduler, indicating the test strings to be simultaneously processed, whereupon the second scheduler causes successive execution of the test strings to be processed simultaneously and, after completion of all test strings to be processed simultaneously, indicates termination of execution to the first scheduler, whereupon the first scheduler indicates termination of calculation by a termination signal. The term simultaneity is to be interpreted precisely here as explained previously in conjunction with real-time simulations. All those processes that are processed within the stipulated smallest time resolution of the test device are considered simultaneous in the sense of the second teaching; consequently, the calculations, actually conducted one after the other in physical time, can also be interpreted as simultaneous according to the stated definition. There is no contradiction, to the extent that the second scheduler, responsible for processing the test strings --10-- of a test model being processed simultaneously, causes the test strings being processed simultaneously to be executed in succession. The test strings being processed simultaneously within a test model can be simply the generation of two different test signals, with which a control system is to be acted upon. The scheduling method according to the invention experiences a particularly advantageous embodiment, in that the first scheduler, in a case, in which several test models or parts of several test models are to be calculated simultaneously, calls up a second scheduler assigned to each test model, so that only a second scheduler is always active, the corresponding active second scheduler indicates to the first scheduler termination of execution of the test model assigned to it, whereupon the first scheduler activates another (previously unactivated) second scheduler, until all test models or parts of test models have been calculated, whereupon the first scheduler indicates termination of calculation by a termination signal. The described method according to the invention is particularly clear and very simple to implement and permits checking of complete processing of several test models in particularly simple fashion. The different embodiments of the scheduling method according to the invention, with reference to treatment of several test strings to be processed simultaneously within a test model and with respect to simultaneous processing of several test models, can naturally be easily combined with each other. According to a last teaching of the invention, the task just mentioned, according to the invention, is solved in a test device for testing of at least one electronic control system, in that at least one test model is executed on the test device to influence the environment model and/or to calculate the environment model and/or the electronic control system, in which the test model can be executed functionally independently from the environment model and (during test operation) synchronously with the environment model. The test device according to the invention, in another preferred practical example, is configured, so that process steps can be executed with it that have been described within the context of this invention with respect to the test of at least one electronic control system. In particular, there are now a variety of possibilities of equipping and modifying the method according to the invention for testing of an electronic control system, the scheduling method according to the invention and the test device according to the invention. For this purpose, the claims subordinate to Claims 1, 9 and 12 are referred to, and also the description of the practical examples shown in the drawing of the test model according to the invention and the scheduling method according to the invention. In the drawing Fig. 1 shows a schematic view of a practical example of an arrangement or an electronic control system, test device and configuration device, Fig. 2 shows a schematic view of a practical example of the test model according to the invention, the scheduling method according to the invention and the test device according to the invention, Fig. 3 shows a schematic view of another practical example of the temperature according to the invention, the scheduling method according to the invention and the test device according to the invention, Fig. 4 shows a schematic view of another practical example of the test model according to the invention, the scheduling method according to the invention and the test device according to the invention, Fig. 5 shows a sine curve, which was generated with a practical example of the test model according to the invention, the scheduling method according to the invention and the test device according to the invention, and Fig. 6 shows interaction according to the invention of the components of the test model according to the invention, the scheduling method according to the invention and the test device according to the invention during generation of the sine curve according to Fig. 5. --12-- Fig, 1 to 6 show, by means of different practical examples, specific aspects of the test model according to the invention, the scheduling method according to the invention and the test device according to the invention. Fig. 1 shows the typical design of a test environment for testing of electron control system 1, which is suitable for execution of the method according to the invention. The electronic control system 1 to be tested is connected here via a data channel 2 to a test device 3. An environment model 4 is calculated on test device 3, in which the environment model 4 interacts with the control system 1 by output of environment model data via the test device 3 to the control system 1 and by receiving control system data from the control system 1 via data channel 2. In principle, testing of the control system 1 via the test device 3 occurs by influencing the environment model 4, which is executed on test device 3. For this purpose, a test model 5 to influence the environment model 4 and/or to calculate the environment model 4 and/or the electronic control system 1 is executed on the test device 3, in which the test model 5 or the test models 5, 5a, 5b are executed functionally independently of the environment model 4 and, during test operation, synchronously with the environment model 4. The environment model 4 itself and calculation of the environment model 4 can be influenced, for example, by changing the parameters of the environment model 4. However, it is equally possible, with the method implemented on test device 3, to influence the control system 1 being tested directly via the data channel 2 via test model 5, i.e., by applying test signals. It is advantageous in the practical example depicted in Fig. 1 of the tent device 3, or the test method executed on test device 3, that the test model 5 is executed functionally independently from the environment model 4, so that the environment model 4 is not changed or need not be adapted even during changes of test model 5. In the test device 3 according to Fig. 1 to 4, the functional independence of environment model 4 from the test model 5 is achieved by describing and/or reading-out memory locations by test model 5 with knowledge of the memory locations of the model quantities of the environment model 4. Test model 5 can be arbitrarily altered (even during the running time of the --13-- environment model 4), without having to adapt the environment model 4 in any way. Because of the direct access of the test model 5 to the model quantities of the environment model 4 achieved in this way, an interface can be dispensed with, with which the model quantities of the environment model 4 must be made accessible, for which reason the depicted method entails significant running time advantages. Fig. 1 also shows that a device 3 was connected to a configuration device 6 via another data channel 7, so that the test model 5 and the environment model 4 can subsequently be transferred via the additional data channel 7 from configuration device 6 to test device 3. The configuration device in the practical example depicted in Fig. 1 serves as a user interface, which enables the user to influence the test device 3 as desired. Because of the functional independence between the environment model 4 and the test model 5, it is readily possible, during the running time of environment model 4, to atop execution of test model 5 or one of the executed test models 5a, 5b (Fig. 4) on test device 3, just as it is also possible to load a test model 5 on test device 3 and execute it. Activation of a test model 5, 5a, 5b in the depicted practical examples, independently of the loading process of a test model 5, 5a, 5b, is encountered, for example, when all test models 5, 5a, 5b, already at the beginning of the test of control system 1, were present on test device 3, but are to be executed not simultaneously, but with a time offset. In the practical examples depicted in Fig. 1 to 6, each test model 5, 5a, 5b, at the beginning of its running time, is executed in an asynchronous operating mode relative to environment model 4, until all the initialization processes of the test models 5, 5a, 5b are concluded, which would prevent execution of test operation in real time. Because of this configuration of the test method, the real-time and synchronism requirements can be reset temporarily, so that there is no hazard that the test process is interrupted, because of violation of these requirements, although the already initialized test models 5,5a, 5b can be executed easily with fulfillment of these requirements on the test device 3. --14-- The test device or the depicted test model, as shown in Fig. 1 to 6, is configured, so that each test model 5, 5a, 5b is present on the test device 3 in an execution format or is converted to an execution format that is executed by an interpreter implemented on the test device 3, In the practical examples, a real-time interpreter is involved, which translates the test models 5, 5a, 5b, present in the form of byte code, and executes them. In the depicted practical examples for synchronization of the test models 5, 5a, 5b with the environment model 4, an activation signal 8 is generated by the environment model 4 to activate test models 5, 5a, 5b. Activation signal 8 fills the function of a timer for execution of test models 5, 5a, 5b, In which the required functional independence between the environment model 4 and the test models 5, 5a, 5b is also ensured. Generation of the activation gignal 8 is shown, in particular, in Fig, 2 to 4 and 6. In the practical examples, the activation signal 8 is generated in each calculation interval 9 of the environment model 4, so that the test models 5, 5a, 5b can be executed with precise time synchronization with environment model 4. In the practical examples, the activation signal 8 is issued after all input quantities of the environment model 4 have been entered and all model quantities of the environment model 4 (optionally using these input quantities) have been calculated. This ensures that influencing of the environment model 4 by test models 5, 5a, 5b occurs when the environment model has a consistent dataset. As shown in Fig. 2 to 4 and 6, a scheduling method is activated by the activation signal 8, which coordinates executions of the test model 5, so that the functional independence between environment model 4 and test model 5 also remains ensured. The scheduling method is configured in the practical examples according to Fig. 1 to 6 in a specific manner, in order to be able to meet the real-time and synchronism requirements in particularly advantageous fashion. For this purpose, based on the activation signal 8, a first scheduler 10 is initially activated, in which the first scheduler 10 executes test model 5 (Fig. 2). Execution can be directed in the practical examples only to part of the test models 5, 5a, 5b, which corresponds to a stipulated calculation interval 9. After completed execution of test --15-- models 5, 5a, 5b or the stipulated part of test models 5, 5a, 5b, the first, scheduler 10 indicates termination of the calculation by a termination signal (not shown). It follows from this that the first scheduler 10 can make execution of test models 5, 5a, 5b independent of other parameters, for example, the system time or actual calculation interval 9. These parameters are transferred to the first scheduler 10 as call-up parameters in the depicted practical examples. In other practical examples (not shown here), the first scheduler 10 receives these and other parameters by read-out of a parameter memory area prescribed for this. These parameters can generally also contain information as to which of the test models 5, 5a, 5b are to be executed or stopped. A test model 5, 5a, 5b can include several test strings 11a, 11b and 11c, 11d, in which the test strings 11a, 11b, 11c, 11d are to be understood to mean those parts of a test model 5, 5a, 5b that are to be executed simultaneously, i.e., within a calculation interval 9. In a case, in which the test model 5, 5a, 5b has several test strings 11a, 11b, 11c, 11d to be processed simultaneously, the first scheduler 10 calls up a second scheduler 12, 12a, 12b, optionally with indication of the test strings to be processed simultaneously, whereupon the second scheduler 12,12a, 12b causes execution of the test strings 11a, 11b, 11 c, 11d to be processed simultaneously in succession and, after completion of all test strings 11a, 11b, 11c, 11d to be processed simultaneously, indicates termination of execution to the first scheduler 10. The first scheduler-10 indicates termination of calculation by a termination signal. Fig. 3 shows that a single test model 5 includes several test strings 11a, 11b that are processed systematically by means of the indicated method. In a case in which several test models 5, 5a, 5b or parts of several test models 5, 5a, 5b are to be calculated simultaneously, it is prescribed in the practical example according to Fig. 4 that the first scheduler 10 assigns to each test model 5, 5a, 5b a second scheduler 12a, 12b and calls up the second scheduler 12a, 12b assigned to each test model 5, 5a, 5b, so that only one second scheduler 12a, 12b is always active, the corresponding active second scheduler 12a, 12b indicates to the first scheduler 10 termination of execution of the test model 5, 5a, 5b assigned to it, whereupon the first scheduler 10 activates an additionally (previously unactivated) second scheduler 12a, 12b, until all test models 5, 5a, 5b or parts of test models 5, 5a, 5b have been --16-- calculated, whereupon the first scheduler 10 indicates termination of calculation by a termination signal. This method is particularly clear and simple to implement and permits checking complete processing of several test models 5, 5a, 5b in simple fashion. The practical example according to Fig. 4 also shows that the described properties of the scheduling method can also be used combined, i.e., in a case in which several of the test models 5, 5a, 5b have parallel test strings 11a, 11b, 11c, 11d. The practical example depicted in Fig. 5 and 6 explains the method of function of the test method, scheduling method and the test device by means of a practical example, in which a sinusoidal signal is to be output as test signal by the test device 3. Fig. 5 shows a continuous sinusoidal signal 14, as well as a time-discrete signal 15 to be generated by the test device 3 or the test mode) 5, with consideration of the calculation interval 9 of the environment model 4, which corresponds to the time-discretized continuous signal 14. Successful calculation of the discrete signal value 15a at the beginning of the calculation interval designated with time unit "3" is the starting point of the consideration in Fig. 6; for simplification, it is assumed that the test models are always executed at the beginning of each calculation interval 9. Calculation occurred by execution of the test model 5 close to time "3." After completed calculation of the signal value 15a, the first scheduler 10 refers back to the environment model 4 by output of a termination signal (dashed line, vertically downward arrows in Fig. 6). On reaching the next calculation interval 9 at a time of "4" time units, the environment model 4 generates the first scheduler 10 by the activation signal 8, which then calculates the test model 5 for the now current calculation interval 9, which ends in calculation of the signal value 15b (dashed line, vertically downward-pointing arrows in Fig. 6). The described process is continued for the next calculation intervals 9. --17-- Claims 1. Method for testing of at least one electronic control system (1), in which the control system (1) is connected via a data channel (2) to a test device (3), at least one environment model (4) is calculated on test device (3) and the environment model (4) interacts with the control system (1) via data channel (2) by output of environment model data via test device (3) to the control system (1) and by receiving control system data from control system (1), characterized by the fact that at least one test model (5) is executed on test device (3) to influence the environment model (4) and/or to calculate the environment model (4) and/or the electronic control system (1), in which the test model (5) or the test models (5a, 5b) is or are executed functionally independently of environment model (4) and (in test operation) synchronously with environment model (4). 2. Method according to Claim 1, characterized by the fact that test model (5) influences the environment model (4) by describing and/or reading-out memory locations with knowledge of the memory locations of the model quantities of environment model (4). 3. Method according to Claim 1 or 2, characterized by the fact that a configuration device (6) is connected to the test device (3) via an additional data channel (7) and the test model (5) and/or the environment model (4) are then transferred via the additional data channel (7) from the configuration device (6) to the test device (3). 4. Method according to one of the Claims 1 to 3, characterized by the fact that during the running time of environment model (4), simultaneously execution of at least one of the executed test models (5a, 5b) is stopped and/or at least one test model (5a, 5b) in loaded as a replacement or in addition on test device (3) and executed there. --18-- 5. Method according to one of the Claims 1 to 4, characterized by the fact that the test model (5), especially when it is newly loaded on test device (3), is executed in an operating mode asynchronous with the environment model (4), if necessary, especially at the beginning of its running time for initialization. 6. Method according to one of the Claims 1 to 5, characterized by the fact that the test model (5) is converted to an execution format that is executed by an interpreter on test device (3), especially the test model (5) is converted to byte code, which is executed on the test device by a real-time interpreter. 7. Method according to one of the Claims 1 to 6, characterized by the fact that the environment model (4), for synchronization of the test model (5), generates an activation signal (8) for direct or indirect activation of test model (5), in which the activation signal (8) is generated, especially in each or each whole-number multiple of the calculation interval (9) of environment model (4). 8. Method according to one of the Claim 7, characterized by the fact that the activation signal (8) activates a scheduling method, which coordinates execution of the test model (5), in which the scheduling method is carried out, especially according to Claims 9 to 11. 9. Scheduling method for execution of at least one test model (5) on a test device (3), in which a first scheduler (10) is activated based on an external activation signal (8), characterized by the fact that the first scheduler (10) executes the test model (5) or executes part of test model (5), which corresponds to a stipulated calculation interval (9) and the first scheduler (10), after completed execution of test model (5) or the stipulated part of test model (5), indicates termination of the calculation by a termination signal. --19-- 10. Scheduling method according to Claim 9, characterized by the fact that the first scheduler (10), in the case in which the test model (5) has several test strings (11a, 11b, 11c, 11d) being processed simultaneously, calls up a second scheduler (12), indicating the test strings (lla, 1 lb, 11c, 11d) to be processed simultaneously, whereupon the second scheduler (12) causes execution of the test strings (11a, 11b, 11c, 11d) to be processed simultaneously in succession and, after termination of all test strings (11a, 11b, 11c, 11d) to be processed simultaneously, indicates termination of execution to the first scheduler (10), whereupon the first scheduler (10) indicates termination of the calculation by a termination signal. 11. Scheduling method according to Claim 9 or 10, characterized by the fact that that the first scheduler (10), in a case in which several test models (5a, 5b) or parts of several test models (5a. 5b) are to be calculated simultaneously, calls up a second scheduler (12a, 12b) assigned to each test model (5a, 5b), so that only one second scheduler (12a, 12b) is always active, the corresponding active second scheduler (12a, 12b) indicates to the first scheduler (10) termination of execution of the test model (5a, 5b) assigned to it, whereupon the first scheduler (10) activates an additional (still unactivated) second scheduler (12a, 12b), until all test models (5a, 5b) or parts of test models (5a, 5b) have been calculated, whereupon the first scheduler (10) indicates termination of calculation by a termination signal. 12. Test device (3) for testing of least one electronic control system (1), in which the test device (3) can be connected via a data channel (2) to the control system (1), at least one environment model (4) is calculated with the test device (3) and the environment model (4) can interact with the control system (1) by output of environment model data to control system (1) and by receiving control system data from control system (1) via data channel (2), characterized by the fact that at least one test model (5) is executed on test device (3) to influence the environment model (4) and/or to calculate the environment model (4) and/or the electronic control system (1), in -- 20-- which the test model (5) can be executed functionally independently of environment model (4) and, during test operation, synchronously with environment model (4). 13. Test device according to Claim 12, characterized by the fact that the process steps according to one of the Claims 1 to 8 can be executed with it. A method is presented and described for testing of at least one electronic control system (1), in which the control system (1) is connected via a data channel (2) to a test device (3), at least one environment model (4) is calculated on a test device (3) and the environment model (4) interacts with the control system (1) by output of environment model data via test device (3) to control system (1) and by receiving control system data from control system (1) via data channel (2). The method according to the invention prevents the drawbacks known in the prior art by executing on test device (3) at least one test model (5) to influence the environment model (4) and/or to calculate the environment model (4) and/or the electronic control system (1), in which the test model (5) or the test models (5a, 5b) is or are executed functionally independently of the environment model (4) and, during test operation, synchronously with the environment model (4).

Full Text

Method for Testing an Electronic Control Unit
The invention concerns a method for testing at least one electronic control system, in which the
control system is connected via a data channel to a test device, at least one environment model is
calculated on the test device, and the environment model interacts with the control system by
output of environment model data via the test device to the control system and by receiving
control system data from the control system via the data channel. Moreover, the invention
concerns a scheduling method for execution of at least one test model on a simulation computer,
in which a first scheduler is activated based on an external activation signal. Finally, the
invention also concerns a test device for testing of at least one electronic control system, in
which the test device can be connected via a data channel to the control system, at least one
environment model is calculated with the test device and the environment model can interact
with the control system by output of environment model data to the control system and by
receiving control system data from the control system via the data channel.
Methods and devices for testing electronic control systems are known in different forms from
practice and are mostly used in applied research and industrial development in the broad field of
development and use of electronic control systems, namely, anywhere process control tasks in
the broadest sense must be solved. The term "control system" is used below as an encompassing
designation for a technical device that is essentially used for the tasks of measurement, control,
regulation, calibration. In the broadest sense, an electronic, program-controllable system is
involved, which is usually called a control device in automotive applications. The term "control
system" is not restricted to that which is narrowly defined in systems theory as control, in which
controls are ordinarily implemented on control systems.
The development of a control system that is ultimately usable in series production is generally
accomplished in the following steps: during function development, by means of mathematical
modeling tools, an abstract controller prototype is initially made from the later target hardware

--2--
and environment, during which the controller so developed is only tested in a simulation with the
process image, which also only exists as a mathematical model.
In the next step, in the so-called rapid control prototyping (RCP), the abstract controller
prototype is converted by means of code generators to an executable program, which is operated
on a usually very high-performance, real-time-capable control system, not comparable to the
series control system ultimately to be used. This RCP control system then interacts via
corresponding I/O interfaces with the real process being influenced. If these results are
satisfactory, executable code for the series control system is again generated via correspondingly
equipped code generators from the mathematical model of the controller, so that the control
system actually to be used in series application can be equipped with the functionality, with
which it must also be equipped in series application.
However, before the series control system is tested in conjunction with the real process, it is
subjected to thorough tests, so-called hardware-in-the-loop-tests (HIL tests). During HIL tests,
the (series) control system is connected to a test device, in which the functional environment of
the control system being tested is simulated by means of an environment model; the control
system therefore interacts with a virtual environment, in which the environment model is
connected to the test device by output of environment data via the test device to the control
system and by receiving control system data from the control system via a data channel.
The present invention is explained on the example of such an HIL test, but is not restricted
conceptually to such a test situation, but instead is applicable to testing of any control system that
is connected to a test device and is tested by means of an environment model that is operated on
the test device.
The control system, for example, can be an engine device in the area of automotive applications,
in which the environment model of this engine control device is then an engine model, operated
in real time on the test device. However, it can also be a running and engine dynamic model of
an entire vehicle moved in a virtual environment. The environment model, in principle, need not
cover all the interfaces of the control system being tested, but instead any parts of the

--3--
environment can also be implemented by real components. In the preceding example, this could
mean that the control system being tested is actually connected to a real internal combustion
engine in which the environment of the engine (for example, transmission, drive train, chassis
and road) is simulated by means of an environment model operated on the test device. The
environment model therefore need not be a complete environment model, and it can be directly
and/or indirectly connected to the control system being tested.
The actual test of the control system consists of deliberately influencing the environment model
of the control system, namely, by a test model to influence the environment model. Such
deliberate influencing, for example, during testing of a control system for brake systems, can lie
in the fact that the parameters that describe the ground are varied over broad limits and the brake
control system is brought to complete braking. To evaluate the control system, the behavior of
the environment mode] is generally used, which, in the preceding example, could lie in
determination of the delay of the entire system (i.e., the vehicle). It is also quite possible to also
read out direct variables of state from the control system and use them to evaluate the control
system.
Different methods and devices are known from the prior art that permit testing of control systems
in the aforementioned sense. For example, it is known, for influencing the test device on which
the environment model is operated, to provide an additional experimentation device next to the
test device, which is connected to the test device. A test model is run on the experimentation
device (generally a standard PC), which influences the environment model on the test device in
the desired manner via a data connection between the experimentation device and the test device.
The experimentation device then permits the test model to be designed with a graphic modeling
environment, in which, depending on time and depending on the model quantities of the
environment model, a specific test functionality can be stipulated (dSPACE GmbH: "Automation
Desk: Test and Experiment Software"; Product description, February 2006). The drawback in
this procedure is that strict synchronization between the environment model on the test device
and the test model on the experimentation device cannot be guaranteed, since coupling between
the two devices is connected with the dead times related to communication. In addition, during
use of a standard operating system without real-time capability on the experimentation device,

--4--
under some circumstances, strict real-time capability is not guaranteed. This means that an
influence on the environment model planned in a certain calculation interval of the environment
model cannot always occur in this calculation interval, which could load to incorrect
performance and incorrect interpretation of the test.
Real-time capability, in the sense of the present invention, means that processes, whose
execution is prescribed and stipulated at a specified time, must be executed and accomplished
strictly at this time. The question of real-time capability is therefore not connected to an absolute
speed dimension for a calculation, but is only bound to fulfillment of the condition that actions
planned within a time interval can also be executed within this time interval; real-time capability
is consequently not necessarily the fastest possible execution of required actions, but reliable
execution of these actions within the time prescribed for them.
In time-discrete systems that are operated with a certain (generally fixed) calculation and
scanning frequency, the shortest time unit corresponds to the length of the (fixed) scanning
interval with the control system. If a control system, for example, is scanned and calculated with
a millisecond, the environment model is ordinarily also operated at least with this scanning rate.
This means that the model quantities of the environment model (i.e., the quantities of state of the
environment model in terms of systems theory) are calculated with a frequency of 1 kHz, and the
output quantities of the environment model are also calculated with a frequency of 1 kHz and are
output to influence the control system.
All actions that are executed within a scanning or calculation interval (in the present example,
within a millisecond) take place simultaneously for the time-discrete scanning system; these
actions cannot be distinguished from each other in time. Starting from this definition of real-time
capability and simultaneity, it is therefore possible to carry out several actions simultaneously,
even if an electronic control system or test device that can process instructions only strictly
sequentially is used, if they are executed in the same scanning or calculation interval.
The advantage of the test method just described consists of the fact that, for execution of the tests,
the environment model need not be stopped or changed, in which real-time conditions, however,

--5--
cannot be reliably maintained at small scanning rates, since the usual experimentation devices,
based on an operating system without real-time capability, cannot guarantee predictable
executions in terms of time.
In another method for testing an electronic control system known from the prior art the
environment model is instrumented by call-up of test functions. The environment model is
consequently no longer independent of the test being performed and must therefore always be
adapted when the test is changed. A shortcoming in this method is that the test model and the
environment model are functionally dependent on each other, since the environment model must
be instrumented with special function call-ups concerning the test model (OPAL-RT
TECHNOLOGIES INC.: "RT-LAB, Product Description, Feature Details, Typical
Applications"; 2005). This creates a significant overhead within the environment model and
therefore leads to significant running time drawbacks under some circumstances, even if the
functionality of the test model is a "null functionality."
The underlying task of the invention is therefore to provide a method and device for testing of an
electronic control system, in which the aforementioned drawbacks are at least partially avoided.
The aforementioned task is solved according to the invention according to a first teaching of the
invention in a method for testing at least one electronic control system with a test device and an
environment model calculated on the test device, in which the control system is connected via a
data channel to the test device and the environment model interacts with the control system by
output of environment model data via the test device to the control system and by receiving
control system data from the control system via the data channel, in that at least one test model to
influence the environment model and/or calculate the environment model and/or electronic
control system is executed on the test device, in which the test model or the test models is or are
executed functionally independently of the environment model and synchronously with the
environment model during test operation.
The method according to the invention is advantageous in a number of respects relative to the
methods known from the prior art. Owing to the fact that the test model is executed functionally

--6--
independently of the environment model, the environment model no longer need be instrumented
with deliberately positioned function call-ups, with reference to the test model. On the one hand,
this has the advantage that the environment model is universally applicable, independently of the
test being performed, and, on the other hand, this procedure entails the advantage that unutilized
function call-ups in the test model no longer burden the running time of the environment model.
In addition, dead times and asynchronism between execution of the environment model and the
test model are avoided in the method according to the invention relative to those methods, in
which the environment model of the test device is influenced by a configuration device separate
from it in terms of hardware, or by a test model operated on the configuration devices.
In the first advantageous embodiment of the invention, the test model influences the environment
model, in which, with knowledge of the memory locations of the environment quantities of the
environment model, it describes and/or reads out these memory locations. By direct access of the
test model to the model quantities of the environment model, a software interface between the
two models can be dispensed with, which entails significant running time advantages.
According to a preferred embodiment of the method according to the invention, a configuration
device is connected to the test device via an additional data channel and the test model and/or
environment model are then transferred via the additional data channel from the configuration
device to the test device. By this embodiment of the method, it is also possible, with particular
advantage, to create, modify or merely record the test model and/or environment model via the
configuration device, which consists of a commercial PC with corresponding modeling software,
in order to then transfer it deliberately to the test device. The configuration device in this
embodiment of the invention is used as a user interface, via which the user has access to the
target hardware, i.e., the test device.
In another embodiment, the method according to the invention is characterized by the fact that
the simultaneous execution of at least one of the performed test models is stopped in the running
time of the environment model, so that an overall test, consisting of several test models, can be
varied over a wide range. It is also prescribed in the method according to the invention that at
least one test model (as a substitute or in addition) is also loaded during test operation on the test

--7--
device and executed there. Naturally, a test model already situated on the test device can likewise
be executed at any time on the test device, regardless of whether the test model was loaded
immediately beforehand on the test device, or whether the test model being started had already
been present for a longer time on the test device.
In a particularly preferred embodiment of the method, the test model, if necessary, is executed in
an operating mode asynchronous with the environment model, in order to then be executed
synchronously with the environment model. This is particularly advantageous when the test
model is started and extensive initializations must be conducted in the context of starting. Such
initialization procedures can be so extensive, that they cannot be conducted within a scanning
interval, so that a violation of the real-time requirements or the requirement for synchronism
between the test model and environment model would be produced. In such a case, the method
according to the invention proposes that the real-time and synchronism requirements be
temporarily reset, until the calculation overhang is dealt with, to the extent that the test model
can again be executed with the environment model synchronously and therefore guarantee the
real-time requirements. Such a situation will occur, above all, when a test model is newly loaded
onto the test device and is to be integrated in an already running test of the electronic control
system.
In another preferred practical example, the method according to the invention is configured, so
that the test model is converted to an execution format that is executed on the test device by an
interpreter. In a particularly preferred embodiment, this execution format exists in byte code,
which is executed on the test device by a real-time interpreter. Execution of the machine-
independent byte code by the interpreter is connected, in principle, with a time drawback, since
the interpreter, which is often referred to as a virtual machine, cannot directly execute the byte
code, but must translate it beforehand. For this reason, the real-time interpreter is preferably used
in conjunction with an adjusted time compiler, which, at the beginning of the running time of the
test model, translates the byte code once into a machine-dependent machine code. In particular, it
is useful in this case to run the test model during the translation phase in an asynchronous mode
relative to the environment model, as was already described on the example of initialization of a
test model.

--8--
In another advantageous embodiment of the invention, for synchronization of the test model with
the environment model, an activation signal to activate the test model is generated by the
environment model. Generation of the activation signal by the environment model is consisted
with the requirement of functional independence between the environment model and the test
model, since no junction call-up directly concerning the test model occurs from the environment
model, as is known from the prior art. The activation signal serves merely as a timer for
execution of the test model, which, however, can be executed fully independently of the
environment model.
It is particularly prescribed that the activation signal is to be generated in each or each whole-
number multiple of the calculation interval of the environment modal, so that the test model can
also be calculated as a time-discrete scanning system. The activation signal is then generated by
the environment model in a preferred embodiment, if it is ensured that the characteristic phases
of the model calculation or handling are concluded. Such phases include, for example, recording
of all input quantities of the environment model, calculation of the quantities of state of the
environment model from the actual input quantities and from previous quantities of state of the
environment model, or also output of output quantities from the environment model. By this
handling of the method according to the invention, it is guaranteed that the environment model is
situated in a time-consistent state and the test model, as a result of this, can access a consistent
set of model quantities of the environment model.
According to another advantageous embodiment of the method according to the invention, a
scheduling method is activated by the activation signal, which coordinates execution of the test
model. It is also apparent from this property that by activation, a functional decoupling between
the environment model and the test model is guaranteed, since the test model is subsequently
coordinated independently of the environment model by a higher-order coordination unit - the
so-called scheduling method.
A second teaching of the invention is geared toward the embodiment of the scheduling method,
in which, based on an external activation signal, a scheduler is activated. The scheduling method

--9--
solves the aforementioned task according to the invention in that the first scheduler brings the
test model to execution or part of the test model to execution, which corresponds to a stipulated
calculation interval, and the first schedule after completion of execution of the test model or the
stipulated part of the test model indicates termination of the calculation by a termination signal.
In order for the first schedule to enter into action, an activation signal is required, which is
formed, for example, by an interrupt. The first scheduler activated In this way can make
execution of the test model or a stipulated part of the test model independent of other parameters.
Thus, values can be transferred to the first scheduler by transfer parameters on call-up, or the
scheduler on activation can read out corresponding parameters from the memory cells prescribed
for this, which inform the first scheduler about which test model or parts of test models are to be
calculated, and for which calculation interval these test models or parts of the test models are to
be executed. Owing to the fact that the first scheduler, after complete execution of the test model
or the stipulated part of the test model, indicates termination of calculation by termination signal,
it is possible to react close in time with higher order or coordinated systems, like the
environment model, in order to continue their course, for example.
According to a preferred embodiment of the scheduling method according to the invention, the
first scheduler, in a situation in which the test model has several test strings to be processed
simultaneously, calls up a second scheduler, indicating the test strings to be simultaneously
processed, whereupon the second scheduler causes successive execution of the test strings to be
processed simultaneously and, after completion of all test strings to be processed simultaneously,
indicates termination of execution to the first scheduler, whereupon the first scheduler indicates
termination of calculation by a termination signal.
The term simultaneity is to be interpreted precisely here as explained previously in conjunction
with real-time simulations. All those processes that are processed within the stipulated smallest
time resolution of the test device are considered simultaneous in the sense of the second
teaching; consequently, the calculations, actually conducted one after the other in physical time,
can also be interpreted as simultaneous according to the stated definition. There is no
contradiction, to the extent that the second scheduler, responsible for processing the test strings

--10--
of a test model being processed simultaneously, causes the test strings being processed
simultaneously to be executed in succession. The test strings being processed simultaneously
within a test model can be simply the generation of two different test signals, with which a
control system is to be acted upon.
The scheduling method according to the invention experiences a particularly advantageous
embodiment, in that the first scheduler, in a case, in which several test models or parts of several
test models are to be calculated simultaneously, calls up a second scheduler assigned to each test
model, so that only a second scheduler is always active, the corresponding active second
scheduler indicates to the first scheduler termination of execution of the test model assigned to it,
whereupon the first scheduler activates another (previously unactivated) second scheduler, until
all test models or parts of test models have been calculated, whereupon the first scheduler
indicates termination of calculation by a termination signal. The described method according to
the invention is particularly clear and very simple to implement and permits checking of
complete processing of several test models in particularly simple fashion. The different
embodiments of the scheduling method according to the invention, with reference to treatment of
several test strings to be processed simultaneously within a test model and with respect to
simultaneous processing of several test models, can naturally be easily combined with each other.
According to a last teaching of the invention, the task just mentioned, according to the invention,
is solved in a test device for testing of at least one electronic control system, in that at least one
test model is executed on the test device to influence the environment model and/or to calculate
the environment model and/or the electronic control system, in which the test model can be
executed functionally independently from the environment model and (during test operation)
synchronously with the environment model.
The test device according to the invention, in another preferred practical example, is configured,
so that process steps can be executed with it that have been described within the context of this
invention with respect to the test of at least one electronic control system.

In particular, there are now a variety of possibilities of equipping and modifying the method
according to the invention for testing of an electronic control system, the scheduling method
according to the invention and the test device according to the invention. For this purpose, the
claims subordinate to Claims 1, 9 and 12 are referred to, and also the description of the practical
examples shown in the drawing of the test model according to the invention and the scheduling
method according to the invention. In the drawing
Fig. 1 shows a schematic view of a practical example of an arrangement or an electronic
control system, test device and configuration device,
Fig. 2 shows a schematic view of a practical example of the test model according to the
invention, the scheduling method according to the invention and the test device
according to the invention,
Fig. 3 shows a schematic view of another practical example of the temperature
according to the invention, the scheduling method according to the invention and
the test device according to the invention,
Fig. 4 shows a schematic view of another practical example of the test model according
to the invention, the scheduling method according to the invention and the test
device according to the invention,
Fig. 5 shows a sine curve, which was generated with a practical example of the test
model according to the invention, the scheduling method according to the
invention and the test device according to the invention, and
Fig. 6 shows interaction according to the invention of the components of the test model
according to the invention, the scheduling method according to the invention and
the test device according to the invention during generation of the sine curve
according to Fig. 5.

--12--
Fig, 1 to 6 show, by means of different practical examples, specific aspects of the test model
according to the invention, the scheduling method according to the invention and the test device
according to the invention.
Fig. 1 shows the typical design of a test environment for testing of electron control system 1,
which is suitable for execution of the method according to the invention. The electronic control
system 1 to be tested is connected here via a data channel 2 to a test device 3. An environment
model 4 is calculated on test device 3, in which the environment model 4 interacts with the
control system 1 by output of environment model data via the test device 3 to the control system
1 and by receiving control system data from the control system 1 via data channel 2.
In principle, testing of the control system 1 via the test device 3 occurs by influencing the
environment model 4, which is executed on test device 3. For this purpose, a test model 5 to
influence the environment model 4 and/or to calculate the environment model 4 and/or the
electronic control system 1 is executed on the test device 3, in which the test model 5 or the test
models 5, 5a, 5b are executed functionally independently of the environment model 4 and,
during test operation, synchronously with the environment model 4. The environment model 4
itself and calculation of the environment model 4 can be influenced, for example, by changing
the parameters of the environment model 4. However, it is equally possible, with the method
implemented on test device 3, to influence the control system 1 being tested directly via the data
channel 2 via test model 5, i.e., by applying test signals.
It is advantageous in the practical example depicted in Fig. 1 of the tent device 3, or the test
method executed on test device 3, that the test model 5 is executed functionally independently
from the environment model 4, so that the environment model 4 is not changed or need not be
adapted even during changes of test model 5.
In the test device 3 according to Fig. 1 to 4, the functional independence of environment model 4
from the test model 5 is achieved by describing and/or reading-out memory locations by test
model 5 with knowledge of the memory locations of the model quantities of the environment
model 4. Test model 5 can be arbitrarily altered (even during the running time of the

--13--
environment model 4), without having to adapt the environment model 4 in any way. Because of
the direct access of the test model 5 to the model quantities of the environment model 4 achieved
in this way, an interface can be dispensed with, with which the model quantities of the
environment model 4 must be made accessible, for which reason the depicted method entails
significant running time advantages.
Fig. 1 also shows that a device 3 was connected to a configuration device 6 via another data
channel 7, so that the test model 5 and the environment model 4 can subsequently be transferred
via the additional data channel 7 from configuration device 6 to test device 3. The configuration
device in the practical example depicted in Fig. 1 serves as a user interface, which enables the
user to influence the test device 3 as desired.
Because of the functional independence between the environment model 4 and the test model 5,
it is readily possible, during the running time of environment model 4, to atop execution of test
model 5 or one of the executed test models 5a, 5b (Fig. 4) on test device 3, just as it is also
possible to load a test model 5 on test device 3 and execute it. Activation of a test model 5, 5a, 5b
in the depicted practical examples, independently of the loading process of a test model 5, 5a, 5b,
is encountered, for example, when all test models 5, 5a, 5b, already at the beginning of the test of
control system 1, were present on test device 3, but are to be executed not simultaneously, but
with a time offset.
In the practical examples depicted in Fig. 1 to 6, each test model 5, 5a, 5b, at the beginning of its
running time, is executed in an asynchronous operating mode relative to environment model 4,
until all the initialization processes of the test models 5, 5a, 5b are concluded, which would
prevent execution of test operation in real time. Because of this configuration of the test method,
the real-time and synchronism requirements can be reset temporarily, so that there is no hazard
that the test process is interrupted, because of violation of these requirements, although the
already initialized test models 5,5a, 5b can be executed easily with fulfillment of these
requirements on the test device 3.

--14--
The test device or the depicted test model, as shown in Fig. 1 to 6, is configured, so that each test
model 5, 5a, 5b is present on the test device 3 in an execution format or is converted to an
execution format that is executed by an interpreter implemented on the test device 3, In the
practical examples, a real-time interpreter is involved, which translates the test models 5, 5a, 5b,
present in the form of byte code, and executes them.
In the depicted practical examples for synchronization of the test models 5, 5a, 5b with the
environment model 4, an activation signal 8 is generated by the environment model 4 to activate
test models 5, 5a, 5b. Activation signal 8 fills the function of a timer for execution of test models
5, 5a, 5b, In which the required functional independence between the environment model 4 and
the test models 5, 5a, 5b is also ensured. Generation of the activation gignal 8 is shown, in
particular, in Fig, 2 to 4 and 6. In the practical examples, the activation signal 8 is generated in
each calculation interval 9 of the environment model 4, so that the test models 5, 5a, 5b can be
executed with precise time synchronization with environment model 4.
In the practical examples, the activation signal 8 is issued after all input quantities of the
environment model 4 have been entered and all model quantities of the environment model 4
(optionally using these input quantities) have been calculated. This ensures that influencing of
the environment model 4 by test models 5, 5a, 5b occurs when the environment model has a
consistent dataset.
As shown in Fig. 2 to 4 and 6, a scheduling method is activated by the activation signal 8, which
coordinates executions of the test model 5, so that the functional independence between
environment model 4 and test model 5 also remains ensured.
The scheduling method is configured in the practical examples according to Fig. 1 to 6 in a
specific manner, in order to be able to meet the real-time and synchronism requirements in
particularly advantageous fashion. For this purpose, based on the activation signal 8, a first
scheduler 10 is initially activated, in which the first scheduler 10 executes test model 5 (Fig. 2).
Execution can be directed in the practical examples only to part of the test models 5, 5a, 5b,
which corresponds to a stipulated calculation interval 9. After completed execution of test

--15--
models 5, 5a, 5b or the stipulated part of test models 5, 5a, 5b, the first, scheduler 10 indicates
termination of the calculation by a termination signal (not shown). It follows from this that the
first scheduler 10 can make execution of test models 5, 5a, 5b independent of other parameters,
for example, the system time or actual calculation interval 9. These parameters are transferred to
the first scheduler 10 as call-up parameters in the depicted practical examples.
In other practical examples (not shown here), the first scheduler 10 receives these and other
parameters by read-out of a parameter memory area prescribed for this. These parameters can
generally also contain information as to which of the test models 5, 5a, 5b are to be executed or
stopped.
A test model 5, 5a, 5b can include several test strings 11a, 11b and 11c, 11d, in which the test
strings 11a, 11b, 11c, 11d are to be understood to mean those parts of a test model 5, 5a, 5b that
are to be executed simultaneously, i.e., within a calculation interval 9. In a case, in which the test
model 5, 5a, 5b has several test strings 11a, 11b, 11c, 11d to be processed simultaneously, the
first scheduler 10 calls up a second scheduler 12, 12a, 12b, optionally with indication of the test
strings to be processed simultaneously, whereupon the second scheduler 12,12a, 12b causes
execution of the test strings 11a, 11b, 11 c, 11d to be processed simultaneously in succession and,
after completion of all test strings 11a, 11b, 11c, 11d to be processed simultaneously, indicates
termination of execution to the first scheduler 10. The first scheduler-10 indicates termination of
calculation by a termination signal. Fig. 3 shows that a single test model 5 includes several test
strings 11a, 11b that are processed systematically by means of the indicated method.
In a case in which several test models 5, 5a, 5b or parts of several test models 5, 5a, 5b are to be
calculated simultaneously, it is prescribed in the practical example according to Fig. 4 that the
first scheduler 10 assigns to each test model 5, 5a, 5b a second scheduler 12a, 12b and calls up
the second scheduler 12a, 12b assigned to each test model 5, 5a, 5b, so that only one second
scheduler 12a, 12b is always active, the corresponding active second scheduler 12a, 12b
indicates to the first scheduler 10 termination of execution of the test model 5, 5a, 5b assigned to
it, whereupon the first scheduler 10 activates an additionally (previously unactivated) second
scheduler 12a, 12b, until all test models 5, 5a, 5b or parts of test models 5, 5a, 5b have been

--16--
calculated, whereupon the first scheduler 10 indicates termination of calculation by a termination
signal. This method is particularly clear and simple to implement and permits checking complete
processing of several test models 5, 5a, 5b in simple fashion.
The practical example according to Fig. 4 also shows that the described properties of the
scheduling method can also be used combined, i.e., in a case in which several of the test models
5, 5a, 5b have parallel test strings 11a, 11b, 11c, 11d.
The practical example depicted in Fig. 5 and 6 explains the method of function of the test method,
scheduling method and the test device by means of a practical example, in which a sinusoidal
signal is to be output as test signal by the test device 3. Fig. 5 shows a continuous sinusoidal
signal 14, as well as a time-discrete signal 15 to be generated by the test device 3 or the test
mode) 5, with consideration of the calculation interval 9 of the environment model 4, which
corresponds to the time-discretized continuous signal 14.
Successful calculation of the discrete signal value 15a at the beginning of the calculation interval
designated with time unit "3" is the starting point of the consideration in Fig. 6; for
simplification, it is assumed that the test models are always executed at the beginning of each
calculation interval 9. Calculation occurred by execution of the test model 5 close to time "3."
After completed calculation of the signal value 15a, the first scheduler 10 refers back to the
environment model 4 by output of a termination signal (dashed line, vertically downward arrows
in Fig. 6).
On reaching the next calculation interval 9 at a time of "4" time units, the environment model 4
generates the first scheduler 10 by the activation signal 8, which then calculates the test model 5
for the now current calculation interval 9, which ends in calculation of the signal value 15b
(dashed line, vertically downward-pointing arrows in Fig. 6). The described process is continued
for the next calculation intervals 9.

--17--
Claims
1. Method for testing of at least one electronic control system (1), in which the control
system (1) is connected via a data channel (2) to a test device (3), at least one environment model
(4) is calculated on test device (3) and the environment model (4) interacts with the control
system (1) via data channel (2) by output of environment model data via test device (3) to the
control system (1) and by receiving control system data from control system (1),
characterized by the fact
that at least one test model (5) is executed on test device (3) to influence the environment model
(4) and/or to calculate the environment model (4) and/or the electronic control system (1),
in which the test model (5) or the test models (5a, 5b) is or are executed functionally
independently of environment model (4) and (in test operation) synchronously with environment
model (4).
2. Method according to Claim 1, characterized by the fact that test model (5) influences the
environment model (4) by describing and/or reading-out memory locations with knowledge of
the memory locations of the model quantities of environment model (4).
3. Method according to Claim 1 or 2, characterized by the fact that a configuration device
(6) is connected to the test device (3) via an additional data channel (7) and the test model (5)
and/or the environment model (4) are then transferred via the additional data channel (7) from
the configuration device (6) to the test device (3).
4. Method according to one of the Claims 1 to 3, characterized by the fact that during the
running time of environment model (4), simultaneously execution of at least one of the executed
test models (5a, 5b) is stopped and/or at least one test model (5a, 5b) in loaded as a replacement
or in addition on test device (3) and executed there.

--18--
5. Method according to one of the Claims 1 to 4, characterized by the fact that the test
model (5), especially when it is newly loaded on test device (3), is executed in an operating
mode asynchronous with the environment model (4), if necessary, especially at the beginning of
its running time for initialization.
6. Method according to one of the Claims 1 to 5, characterized by the fact that the test
model (5) is converted to an execution format that is executed by an interpreter on test device (3),
especially the test model (5) is converted to byte code, which is executed on the test device by a
real-time interpreter.
7. Method according to one of the Claims 1 to 6, characterized by the fact that the
environment model (4), for synchronization of the test model (5), generates an activation signal
(8) for direct or indirect activation of test model (5), in which the activation signal (8) is
generated, especially in each or each whole-number multiple of the calculation interval (9) of
environment model (4).
8. Method according to one of the Claim 7, characterized by the fact that the activation
signal (8) activates a scheduling method, which coordinates execution of the test model (5), in
which the scheduling method is carried out, especially according to Claims 9 to 11.
9. Scheduling method for execution of at least one test model (5) on a test device (3), in
which a first scheduler (10) is activated based on an external activation signal (8),
characterized by the fact
that the first scheduler (10) executes the test model (5) or executes part of test model (5), which
corresponds to a stipulated calculation interval (9) and
the first scheduler (10), after completed execution of test model (5) or the stipulated part of test
model (5), indicates termination of the calculation by a termination signal.

--19--
10. Scheduling method according to Claim 9, characterized by the fact that the first scheduler
(10), in the case in which the test model (5) has several test strings (11a, 11b, 11c, 11d) being
processed simultaneously, calls up a second scheduler (12), indicating the test strings (lla, 1 lb,
11c, 11d) to be processed simultaneously, whereupon the second scheduler (12) causes execution
of the test strings (11a, 11b, 11c, 11d) to be processed simultaneously in succession and, after
termination of all test strings (11a, 11b, 11c, 11d) to be processed simultaneously, indicates
termination of execution to the first scheduler (10), whereupon the first scheduler (10) indicates
termination of the calculation by a termination signal.
11. Scheduling method according to Claim 9 or 10, characterized by the fact that that the first
scheduler (10), in a case in which several test models (5a, 5b) or parts of several test models (5a.
5b) are to be calculated simultaneously, calls up a second scheduler (12a, 12b) assigned to each
test model (5a, 5b), so that only one second scheduler (12a, 12b) is always active, the
corresponding active second scheduler (12a, 12b) indicates to the first scheduler (10) termination
of execution of the test model (5a, 5b) assigned to it, whereupon the first scheduler (10) activates
an additional (still unactivated) second scheduler (12a, 12b), until all test models (5a, 5b) or parts
of test models (5a, 5b) have been calculated, whereupon the first scheduler (10) indicates
termination of calculation by a termination signal.
12. Test device (3) for testing of least one electronic control system (1), in which the test
device (3) can be connected via a data channel (2) to the control system (1), at least one
environment model (4) is calculated with the test device (3) and the environment model (4) can
interact with the control system (1) by output of environment model data to control system (1)
and by receiving control system data from control system (1) via data channel (2),
characterized by the fact
that at least one test model (5) is executed on test device (3) to influence the environment model
(4) and/or to calculate the environment model (4) and/or the electronic control system (1), in

-- 20--
which the test model (5) can be executed functionally independently of environment model (4)
and, during test operation, synchronously with environment model (4).
13. Test device according to Claim 12, characterized by the fact that the process steps
according to one of the Claims 1 to 8 can be executed with it.

A method is presented and described for testing of at least one electronic control system (1), in
which the control system (1) is connected via a data channel (2) to a test device (3), at least one
environment model (4) is calculated on a test device (3) and the environment model (4) interacts
with the control system (1) by output of environment model data via test device (3) to control
system (1) and by receiving control system data from control system (1) via data channel (2).
The method according to the invention prevents the drawbacks known in the prior art by
executing on test device (3) at least one test model (5) to influence the environment model (4)
and/or to calculate the environment model (4) and/or the electronic control system (1), in which
the test model (5) or the test models (5a, 5b) is or are executed functionally independently of the
environment model (4) and, during test operation, synchronously with the environment model (4).

Documents:

http://ipindiaonline.gov.in/patentsearch/GrantedSearch/viewdoc.aspx?id=kD6mkjv+luqkUN2BDZB39A==&loc=wDBSZCsAt7zoiVrqcFJsRw==

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Patent Number

269349

Indian Patent Application Number

1275/KOL/2007

PG Journal Number

43/2015

Publication Date

23-Oct-2015

Grant Date

16-Oct-2015

Date of Filing

11-Sep-2007

Name of Patentee

DSPACE DIGITAL SIGNAL PROCESSING AND CONTROL ENGINEERING GMBH

Applicant Address

TECHNOLOGIEPARK 25, D-33100 PADERBORN

Inventors:

#	Inventor's Name	Inventor's Address
1	GROSSE BOERGER RALF	TEGELWEG 5,, D-33102 PADERBORN
2	WOELFER THOMAS	LEUBUSSTRASSE 15,,D-33098 PADERBORN
3	BRUSKI NICOLA	ROTHEWEG 6A,, D-33102 PADERBORN
4	KRISP HOLGER	STETTINER STRASSE 2,, D-30890 BARSIGHAUSEN
5	LEINFELLNER ROBERT	AM HILLIGENBUSCH 41,, D-33098 PADERBORN
6	MILLER EDUARD	HEDWIG-DRANSFELD-WEG 14A,, D-33154 SALZKOTTEN
7	RICHERT JOBST	LIPPKAMP 23,, D-59558 LIPPSTADT

PCT International Classification Number

F02D11/10; F02D35/00

PCT International Application Number

N/A

PCT International Filing date

PCT Conventions:

#	PCT Application Number	Date of Convention	Priority Country
1	0601894.3	2006-09-11	EUROPEAN UNION