A FMI-based Approach for CAN Bus Simulation and Simulink Model Integration in Vehicle Simulation Environment

Automotive software is becoming more complex and diverse, making the development and verification process more important. However, the existing integrated simulation environment does not reflect the characteristics of CAN communication that can occur in the real vehicle environment. In this paper, we propose a Functional Mock-up Interface (FMI) 2.0-based approach to build an integrated simulation environment that includes a CAN bus. We design and implement a CAN Bus Simulation (CBS) FMU model that can simulate CAN communication among various models of vehicle systems, and an FMI CAN Function Module that can make Simulink models compatible with CAN communication. We also integrate the developed models into the MasterSim simulation environment and verify that the data exchange between the models is performed correctly. Our approach has several advantages over the existing methods. First, it supports various models and tools that comply with the FMI 2.0 standard. Second, it can simulate the actual operation of the CAN bus such as message transmission time and priority, and evaluate the impact of these factors on system performance. Lastly, it preserves the original structure and function of Simulink models and requires only minimal modifications to support CAN communication.