A co-simulation framework for design of time-triggered automotive cyber physical systems

Zhenkai Zhang, Emeka Eyisi, Xenofon Koutsoukos, Joseph Porter, Gabor Karsai, Janos Sztipanovits

Research output: Contribution to journalArticlepeer-review

29 Scopus citations


Designing cyber-physical systems (CPS) is challenging due to the tight interactions between software, network/platform, and physical components. Automotive control system is a typical CPS example and often designed based on a time-triggered paradigm. In this paper, a co-simulation framework that considers interacting CPS components for assisting time-triggered automotive CPS design is proposed. Virtual prototyping of automotive vehicles is the core of this framework, which uses SystemC to model the cyber components and integrates CarSim to model the vehicle dynamics. A network/platform model in SystemC forms the backbone of the virtual prototyping. The network/platform model consists of processing elements abstracted by real-time operating systems, communication systems, sensors, and actuators. The framework is also integrated with a model-based design tool to enable rapid prototyping. The framework is validated by comparing simulation results with the results from a hardware-in-the-loop automotive simulator. The framework is also used for design space exploration (DSE).

Original languageEnglish
Pages (from-to)16-33
Number of pages18
JournalSimulation Modelling Practice and Theory
StatePublished - Apr 2014


  • Automotive control system
  • CPS
  • Co-simulation
  • Model-based design
  • SystemC
  • Virtual prototyping


Dive into the research topics of 'A co-simulation framework for design of time-triggered automotive cyber physical systems'. Together they form a unique fingerprint.

Cite this