混合動(dòng)力和電動(dòng)汽車控制系統(tǒng)開發(fā)

1、Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.混合動(dòng)

2、力和電動(dòng)汽車控制系統(tǒng)開發(fā) Hans Goller博士，易特馳汽車技術(shù)(上海)有限公司Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brand

3、s belonging to their respective owners.2簡介系統(tǒng)概述新技術(shù)要求和市場需求用于EV/HEV的控制系統(tǒng)開發(fā)開發(fā)EV/HEV 系統(tǒng)的工具鏈控制復(fù)雜度 AUTOSAR概念開發(fā)未來ECU（電子控制單元） 的工具控制功能原型開發(fā)用于檢測ECU網(wǎng)絡(luò)和實(shí)時(shí)性要求高的控制功能的硬件在環(huán)系統(tǒng)ECU 標(biāo)定成功案例:賦予寶馬 X5 混合動(dòng)力車活力綜述及前景展望議程 Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain C

4、onference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.3簡介系統(tǒng)概述新技術(shù)要求和市場需求用于EV/HEV的控制系統(tǒng)開發(fā)開發(fā)EV/HEV 系統(tǒng)的工具鏈控制復(fù)雜度 AUTOSAR概念開發(fā)未來ECU（電子控制單元） 的工具控制功能原型開發(fā)用于檢測ECU網(wǎng)絡(luò)和實(shí)時(shí)性要求高的控制功能的

5、硬件在環(huán)系統(tǒng)ECU 標(biāo)定成功案例:賦予寶馬 X5 混合動(dòng)力車活力綜述及前景展望議程 Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brand

6、s belonging to their respective owners.4電機(jī)/發(fā)電機(jī)蓄電池功率電子元件混合動(dòng)力 CANE-motorECU蓄電池管理電動(dòng)和混合動(dòng)力驅(qū)動(dòng)電子控制開發(fā)系統(tǒng)概述變速箱內(nèi)燃機(jī)變速箱ECU驅(qū)動(dòng)扭矩制動(dòng)制動(dòng)ECUPowertrain CANChassis CANGate-way中央混合動(dòng)力控制實(shí)施驅(qū)動(dòng)策略協(xié)調(diào)機(jī)械和電子驅(qū)動(dòng)及制動(dòng)混合動(dòng)力ECU發(fā)動(dòng)機(jī)ECU電機(jī)控制控制和監(jiān)控功率電子元件(逆變器)高動(dòng)態(tài)(采樣時(shí)間50 s - 100 s)高安全要求電機(jī)ECUDevelopment of Control Systems for Hybrid and Electric Ve

7、hicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.5電機(jī)/發(fā)電機(jī)蓄電池功率電子元件混合動(dòng)力 CAN電機(jī)ECU蓄電池管理電動(dòng)和混合動(dòng)力驅(qū)動(dòng)電子控制開發(fā)系統(tǒng)概述變速箱內(nèi)燃機(jī)發(fā)

8、動(dòng)機(jī)ECUTrans-missionECU驅(qū)動(dòng)扭矩制動(dòng)制動(dòng)ECU傳動(dòng)系 CAN底盤CANGate-way混合動(dòng)力ECU蓄電池控制監(jiān)測 SOC電池平衡電源管理Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in t

9、his document are trademarks or brands belonging to their respective owners.6客戶 (成本/效益, 性能、扭矩、舒適度、安全性 )法規(guī)和環(huán)境(排放 、能耗和安全性)制造成本可靠性上市時(shí)間市場 (人口結(jié)構(gòu)、需求、車型、燃料種類) 不同版本 可用性可維護(hù)性開發(fā)、生產(chǎn)和運(yùn)營需求：以下是車輛設(shè)計(jì)要求主要影響要素：系統(tǒng)軟件生命周期競爭促進(jìn)車輛多樣性應(yīng)用 (PV, LCV, HCV, )細(xì)分 (小型、中型、豪華型 )車輛類型 (PV, SUV, 轎卡, 客貨車, )型號(hào)(小轎車、旅行車、 活動(dòng)頂篷汽車、AT自動(dòng)檔、MT手動(dòng)檔, CV

10、T、 柴油車、汽油車、混合動(dòng)力車 )新技術(shù)要求和市場需求系統(tǒng)及其不同版本更具多樣性Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands

11、 belonging to their respective owners.7ISO 26262:電子系統(tǒng)功能安全性規(guī)范ISO 26262 取代公路車輛通用標(biāo)準(zhǔn)IEC 61508ISO 26262 要求對電子系統(tǒng)開發(fā)所采用的軟件工具進(jìn)行資質(zhì)認(rèn)證依照該規(guī)范，不可能有獨(dú)立于使用實(shí)例且 “符合ISO26262”的通用工具ETAS支持軟件開發(fā)工具的流程相關(guān)資質(zhì)認(rèn)證懸架轉(zhuǎn)向制動(dòng)距離車道偏離障礙駕駛員輔助系統(tǒng)車輛動(dòng)態(tài)柵極(插電)電機(jī)/發(fā)電機(jī)蓄電池功率電子元件例2 駕駛員輔助系統(tǒng)和車輛動(dòng)態(tài)控制系統(tǒng)例1 電力驅(qū)動(dòng)安全性要求高的系統(tǒng)電子系統(tǒng)的功能安全性/ ISO 26262Development of Cont

12、rol Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.8簡介系統(tǒng)概述新技術(shù)要求和市場需求用于EV/

13、HEV的控制系統(tǒng)開發(fā)開發(fā)EV/HEV 系統(tǒng)的工具鏈控制復(fù)雜度 AUTOSAR概念開發(fā)未來ECU（電子控制單元） 的工具控制功能原型開發(fā)用于檢測ECU網(wǎng)絡(luò)和實(shí)時(shí)性要求高的控制功能的硬件在環(huán)系統(tǒng)ECU 標(biāo)定成功案例:賦予寶馬 X5 混合動(dòng)力車活力綜述及前景展望議程 Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All

14、rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.9混合動(dòng)力汽車控制系統(tǒng)的開發(fā)用于混合動(dòng)力控制開發(fā)的工具鏈9ECU 網(wǎng)絡(luò)休眠總線仿真功能模型和環(huán)境仿真PC臺(tái)式電腦混合動(dòng)力控制的功能模型原型混合動(dòng)力控制驗(yàn)證混合動(dòng)力控制原型ECU 網(wǎng)絡(luò)功能在環(huán)ECU 網(wǎng)絡(luò)車上的混合動(dòng)力控制的標(biāo)定和驗(yàn)證混合動(dòng)力控制通過實(shí)時(shí)PC進(jìn)行硬件在環(huán)試驗(yàn)混合動(dòng)力控制功能模型自動(dòng)生成代碼寫入ECU軟件接口模塊ES59x測量模塊

15、ES4xx混合動(dòng)力控制標(biāo)定F11011111000001111000ABCDE基本軟件控制原型ECU網(wǎng)絡(luò)內(nèi)復(fù)雜 控制算法的驗(yàn)證要求緊湊且功能強(qiáng)大， 適于車載應(yīng)用高性能CAN / FlexRay集成ECU兼容性實(shí)時(shí)環(huán)境測試系統(tǒng) 各個(gè)復(fù)雜度水平的驗(yàn)證要求延時(shí)短, 周期快通過總線接口集成 高性能ECU擴(kuò)展總線仿真選項(xiàng): 充分使用 特定ECU功能，以執(zhí)行白盒 測試標(biāo)定環(huán)境同時(shí)標(biāo)定混合動(dòng)力控制和周邊系統(tǒng)改進(jìn)開發(fā)流程內(nèi)的標(biāo)定任務(wù)，在臺(tái)式電腦或硬件在環(huán)系統(tǒng)上實(shí)現(xiàn)基于模型的標(biāo)定功能要求同步快速使用多個(gè)控制器實(shí)驗(yàn)室和車輛標(biāo)定的智能優(yōu)化算法Development of Control Systems for Hy

16、brid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.10控制復(fù)雜度 概念A(yù)UTOSAR 虛擬功能總線 (VFB) 是一個(gè)新的抽象層支

17、持網(wǎng)絡(luò)中ECU的軟件組件的抽象開發(fā)已及靈活分配總線功能范圍虛擬功能總線AUTOSAR 減少系統(tǒng)之間的相互依賴性并降低復(fù)雜度易于重復(fù)使用軟件展現(xiàn)全新的車輛功能和系統(tǒng)的先進(jìn)平臺(tái)Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations u

18、sed in this document are trademarks or brands belonging to their respective owners.11簡介系統(tǒng)概述新技術(shù)要求和市場需求用于EV/HEV的控制系統(tǒng)開發(fā)開發(fā)EV/HEV 系統(tǒng)的工具鏈控制復(fù)雜程度 AUTOSAR概念開發(fā)未來ECU（電子控制單元） 的工具控制功能原型開發(fā)用于檢測ECU網(wǎng)絡(luò)和實(shí)時(shí)性要求高的控制功能的硬件在環(huán)系統(tǒng)ECU 標(biāo)定成功案例:賦予寶馬 X5 混合動(dòng)力車活力綜述及前景展望議程 Development of Control Systems for Hybrid and Electric Vehicle

19、s l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.12開發(fā)未來ECU的工具控制功能對特定芯片的原型設(shè)計(jì)問題用與產(chǎn)品相近的硬件開發(fā)原型，而無需SW開發(fā)解決方法用基本軟件和集成界面進(jìn)行

20、與產(chǎn)品相近的ECU原型設(shè)計(jì)用MBD工具實(shí)現(xiàn)所開發(fā)功能的完美整合性能FlexECU, EHOOKS, INTECRIOOSEK 實(shí)時(shí)環(huán)境用于ECU的I/O驅(qū)動(dòng)程序支持多種MBD 工具集成編譯器標(biāo)定工具界面ECUECU 插口物理信號(hào)Target system帶有基本軟件和 SW原型的ECU原型實(shí)時(shí)ECU功能的模擬ECU功能建模ECU功能配置和運(yùn)行標(biāo)定控制、配置和數(shù)據(jù)分析Application可選:額外 I/O 和處理功能User interfaceDevelopment of Control Systems for Hybrid and Electric Vehicles l H. Goller

21、l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.13開發(fā)未來ECU的工具基于PC的控制功能快速原型開發(fā)問題在ECU外進(jìn)行車輛動(dòng)態(tài)控制的全套應(yīng)用軟件模擬解決方法在筆記本或帶有高性能多核處理器的強(qiáng)固型PC而非專

22、有硬件上進(jìn)行ECU應(yīng)用軟件的車載驗(yàn)證性能軟件 “ASCET-RTS”O(jiān)SEK 實(shí)時(shí)環(huán)境多核處理器支持通過高速數(shù)據(jù)傳輸器實(shí)現(xiàn)應(yīng)用SW 和ECU 的同步工作ECUECU 插口物理信號(hào)Target system帶有基本軟件開發(fā)ECU原型實(shí)時(shí)ECU功能模擬ECU 功能建模、ECU功能配置和操作標(biāo)定邏輯信號(hào)(“全旁通/ 旁通”) 通過高速數(shù)據(jù)傳輸器多核處理器筆記本中的一核專門用于執(zhí)行模擬A核B核應(yīng)用全套應(yīng)用軟件可選:適于車載應(yīng)用的獨(dú)立的PC上執(zhí)行模擬用戶界面Development of Control Systems for Hybrid and Electric Vehicles l H. Golle

23、r l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.14傳動(dòng)系和底盤EngineTransmissionBrakeCAN/Flexray混合動(dòng)力控制HybridE-MotorBatteryCAN/Flexr

24、ay多核實(shí)時(shí)PC模型仿真用戶PCECU 測試用HiL 從單個(gè)ECU到整車網(wǎng)絡(luò)的測試要求問題具有高度相互依賴性的混合動(dòng)力控制系統(tǒng)要求靈活設(shè)立測試系統(tǒng)，從配備擴(kuò)展總線仿真的單個(gè)ECU模擬到整套ECU網(wǎng)絡(luò)測試解決方法開放和可擴(kuò)展架構(gòu)與汽車I/O規(guī)格相對應(yīng)的實(shí)時(shí)I/O硬件擴(kuò)展總線仿真能力使用PCIe 總線實(shí)現(xiàn)快速通訊實(shí)時(shí)模型仿真的多核支持性能ECU得到優(yōu)化集成，以滿足ECU測試的特定要求實(shí)時(shí)PC模型仿真用戶PCHybrid增加測試ECU的數(shù)量Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st

25、 China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.15混合動(dòng)力控制系統(tǒng)的測試在信號(hào)層上進(jìn)行高動(dòng)態(tài)電機(jī)的硬件在環(huán)測試控制邏輯逆變器電流 /電壓信號(hào)角位& 速度信號(hào)扭矩速度定位電機(jī)高壓蓄電池車輛驅(qū)動(dòng)& 環(huán)境車輛信號(hào):扭矩要

26、求、 回收要求等CAN / FlexRay / etc.HILS電力電子模擬(逆變器)測試實(shí)際控制器面板用于信號(hào)層硬件在環(huán)測試逆變器控制器被拆開PWM控制信號(hào)根據(jù)實(shí)時(shí)控制協(xié)議運(yùn)行模型(例如Simulink)電壓電流Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The nam

27、es and designations used in this document are trademarks or brands belonging to their respective owners.16BMS中央控制器CSC = 電池監(jiān)控電路電池?cái)?shù)量、電池組和電壓等可能有所不同 (僅作為示例)CSC-2CSC-3CSC-n內(nèi)環(huán)U_電池CSC-1(H)EV ECU-網(wǎng)絡(luò)(CAN, FlexRay, )其他 I/O-CHs電池?zé)峁芾戆踩芈稡MS充電機(jī)等LABCARHIL 系統(tǒng)電池模擬器控制根據(jù)客戶需求確定:1x, 2x, Nx (例如：20 x 用于120 電池)電池-模型一般來自蓄電

28、池制造商(具有很高的特定性!)例如： CAN/Ethernet/PCIe蓄電池控制模型車輛模型(環(huán)境)SOC (充電狀態(tài))和蓄電池系統(tǒng)層的更多功能混合動(dòng)力控制系統(tǒng)的測試 電池功率級(jí)的BMS 測試電池功率級(jí)的測試(BMS - HW / SW 開發(fā) 蓄電池模塊制造商)例如：CAN/I2C/ SPI 其他U_BattI_BattU_電池T_電池I_電池Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing

29、 l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.17不同車型ECU標(biāo)定 經(jīng)典流程車輛上參數(shù)的手工標(biāo)定按功能確定的程序ECU 參數(shù)調(diào)整車輛或試驗(yàn)臺(tái)上系統(tǒng)反應(yīng)的測量記錄測量數(shù)據(jù)的評(píng)估手工或基于工具的優(yōu)化 “按步”操作ECU項(xiàng)目規(guī)劃/ 評(píng)估測量n 迭代手工1 優(yōu)化功能11011111000001111000標(biāo)定

30、不同車型數(shù)據(jù)集Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective own

31、ers.18ECU 標(biāo)定環(huán)境和效率潛力PC試驗(yàn)臺(tái)車輛標(biāo)定工作基于物理模型的參數(shù)優(yōu)化不同版本ECU的虛擬原型自動(dòng)化快速讀取ECU可用性圖形用戶界面用戶指導(dǎo)半自動(dòng)化5%25%70%如今如今如今15%45%40%201520152015環(huán)境在各個(gè)環(huán)境中優(yōu)化標(biāo)定效率的參數(shù)+示例Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010.

32、All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.19100 msASAP3ECU 標(biāo)定示例: 試驗(yàn)臺(tái)上的快速讀取 ECU (如今)問題運(yùn)行點(diǎn)的動(dòng)態(tài)設(shè)置和試驗(yàn)臺(tái)上測量數(shù)據(jù)的快速采集: 無延時(shí)、 無UUT危險(xiǎn)。解決方案智能界面模塊向試驗(yàn)臺(tái)實(shí)時(shí)傳輸物理形式的測量數(shù)據(jù)和參數(shù)特性速度 100 x ASAP3 / ASAM MCD-3 界面1 ms ETK/XETK- 界面 試驗(yàn)臺(tái)EtherC

33、AT,iLinkRT, 負(fù)載控制 INCA-MCE嵌入的測量和標(biāo)定INCA參數(shù)測量tDevelopment of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brand

34、s belonging to their respective owners.20簡介系統(tǒng)概述新技術(shù)要求和市場需求用于EV/HEV的控制系統(tǒng)開發(fā)開發(fā)EV/HEV 系統(tǒng)的工具鏈控制復(fù)雜程度 AUTOSAR概念開發(fā)未來ECU（電子控制單元） 的工具控制功能原型開發(fā)用于檢測ECU網(wǎng)絡(luò)和實(shí)時(shí)性要求高的控制功能的硬件在環(huán)系統(tǒng)ECU 標(biāo)定成功案例:賦予寶馬 X5 混合動(dòng)力車活力綜述及前景展望議程 Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain

35、 Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.21賦予BMW X5混合動(dòng)力車活力ETAS 工具鏈支持新混合動(dòng)力功能的開發(fā)Development of Control Systems for Hybrid and Electric Vehicles l H. Gol

36、ler l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.22賦予BMW X5混合動(dòng)力車活力從傳統(tǒng)車輛到插電式系列混合動(dòng)力車在位于德國蘭茨胡特的應(yīng)用科技大學(xué)實(shí)施項(xiàng)目 基本車輛: 寶馬 X5 SUV (E70)

37、移除整個(gè)原車的動(dòng)力及驅(qū)動(dòng)系統(tǒng)在每個(gè)軸上集成一個(gè)電機(jī)裝入鋰離子電池裝入用于蓄電池充電的發(fā)電機(jī)裝入作為增程發(fā)動(dòng)機(jī)的柴油發(fā)動(dòng)機(jī)Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are t

38、rademarks or brands belonging to their respective owners.23賦予BMW X5混合動(dòng)力車活力集成混合動(dòng)力車部件和工具電機(jī)和發(fā)動(dòng)機(jī)鋰離子電池用作增程發(fā)動(dòng)機(jī)的柴油發(fā)動(dòng)機(jī)工具設(shè)置Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved.

39、The names and designations used in this document are trademarks or brands belonging to their respective owners.24賦予BMW X5混合動(dòng)力車活力系統(tǒng)建模和驗(yàn)證使用ASCET開發(fā)所有驅(qū)動(dòng)功能。采用諸如方框圖、有限狀態(tài)機(jī)和條件表等不同的建模方法基于基本驅(qū)動(dòng)功能，已開發(fā)更高級(jí)別的驅(qū)動(dòng)功能: 巡航控制坡道駐車系統(tǒng)和陡坡緩降控制系統(tǒng) 牽引力控制 測試階段嚴(yán)格依照汽車軟件工程設(shè)計(jì)原則進(jìn)行。采用下述方法:使用ASCET進(jìn)行離線模擬使用INTECRIO 和ES910進(jìn)行快速原型開發(fā)開發(fā)僅用時(shí)18個(gè)月

40、!在下一步，所有開發(fā)的功能將獲取AUTOSAR接口Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.25簡介系統(tǒng)概述新技術(shù)要求和市場需求用于EV/HEV的控制系統(tǒng)開發(fā)開發(fā)EV/HEV 系統(tǒng)的工具鏈控制復(fù)雜度 AUTOSAR概念開發(fā)未來ECU（電子控制單元） 的工具控制功能原型開發(fā)用于檢測ECU網(wǎng)絡(luò)和實(shí)時(shí)性要求高的控制功能的硬件在環(huán)系統(tǒng)ECU 標(biāo)定成功案例:賦予寶馬 X5 混合動(dòng)力車活力綜述及前