A Scene-Driven Modeling Reconfigurable Hardware-in-Loop Simulation Environment for the Verification of an Autonomous CPS

Cyber-Physical System(CPS) is now a new evolutional morphology of embedded systems. With features of merging computation and physical processes together, the traditional verification and simulation methods have being challenged recently. After analyzed the state-of-art of related research, a new simulation environment is studied according to the characters of a special autonomous cyber-physical system-Unmanned Aerial Vehicle, and designed to be scene-driven, modeling and reconfigurable. In this environment, a novel CPS-in-loop architecture, which can support simulations under different customized scenes, is studied firstly to ensure its opening and flexibility. And as another foundation, some dynamics models of CPS and atmospheric ones of relative sensors are introduced to simulate the motion of CPS and the change of its posture. On the basis above, the reconfigurable scene-driven mechanisms that are Based on hybrid events are mainly excogitated. Then, different scenes can be configured in terms of special verification requirements, and then each scene will be decomposed into a spatio-temporal event sequence and scheduled by a scene executor. With this environment, not only the posture of CPS, but also the autonomy of its behavior can be verified and observed. It will be meaningful for the design of such autonomous CPS.