A method for constructing Autosar model library based on Modelica language

Abstract

The invention discloses a method for constructing an Autosar model library based on the Modelica language, and the method comprises the following steps: 1. designing and decomposing the Autosar system model library according to the Autosar specification; 2. constructing the data type in Autosar based on the Modelica language; 3. constructing the basic modeling elements of Autosar based on the Modelica language, and processing the definition information of each element in Autosar and the static structural relationship between each element with the object-oriented idea; 4. graphically representing the Autosar modeling elements based on the Modelica language; 5. supporting the dynamic behavior interaction of each element of the Autosar model through the Modelica language; 6. supporting the dynamic modification and data calibration of the parameter value and variable type of the Autosar system model based on the Modelica language. The invention can effectively reduce the difficulty of Autosar model development, accurately represent the Autosar model information, enhance the dynamic design capability of the model, and improve the design efficiency.

Description

Technical Field

[0001] The invention belongs to the field of computers and relates to an Autosar model library construction method, in particular to an Autosar model library construction method based on Modelica language. Background Art

[0002] The automotive controller refers to the electronic control unit (ECU) used to control the body electrical system. At present, the automotive electronic network is developing towards multi-bus hybrid network interconnection, the electronic control system hardware is developing towards specialization, high integration, and high performance, and its software architecture is also developing towards modularization, platformization, and standardization. With the popularization of new energy and intelligent vehicles, as well as the increase in some non-functional requirements, the complexity of automotive electronic / electrical systems will further increase. This will lead to a sharp increase in the development cycle and cost of new products. In order to reduce the risk of automotive control software development, vehicle manufacturers are looking for ways to reduce software complexity.

[0003] Autosar is a set of standard specifications dedicated to automotive electronic controllers, which effectively solves a series of problems brought about by the increase in the degree of automotive electrification. Autosar (i.e., Automotive Open System Architecture) is a cooperative development framework for automotive electronic systems jointly participated by global automakers, parts suppliers, and various research and service institutions, and an open automotive controller (ECU) standard software architecture has been established. Autosar has achieved the role of "unified standards, decentralized implementation, and integrated configuration", effectively reducing the design complexity of automotive electronic controllers and reducing design costs. Autosar also draws on the content of the MSR standard, and its specifications include the concept of MSR. MSR is an organization established in Germany in 1990, which supports the joint development of automakers and their electronic system suppliers by achieving proper management of process synchronization and information exchange. The application of Autosar specifications abroad is earlier and more mature than in China. Volkswagen, General Motors, Delphi, Fiat and other companies have applied software that complies with the Autosar specification to their ECU products; in recent years, with the growth of domestic demand for controllers related to new energy vehicles, the Autosar specification has received more and more attention in China, and the application demand has also increased. Mainstream domestic vehicle manufacturers such as SAIC and BAIC, as well as some parts suppliers, have begun to develop automotive controller software that complies with the Autosar specification. The Autosar specification is also expected to become a software standard widely adopted by the entire automotive electronics industry in the future. In addition, in the design and development process of automotive electronic control systems, vehicle calibration is an important part. Vehicle calibration refers to the process of debugging and modifying global variables within certain specified address ranges in the control system, including the calibration software host computer, calibration tools, and calibration object ECU.

[0004] At present, the existing Autosar system modeling and simulation methods only express the model in a descriptive causal modeling way, and cannot strictly comply with the Autosar standard specifications to express the model information, which increases the complexity of Autosar system modeling and the difficulty of Autosar system modeling. Modelica is a modeling language currently popular in the industry. The full-system modeling and simulation based on unified model specifications represented by it has become an important innovative development direction in the field of industrial digitalization, and has gradually formed a collaborative innovation ecosystem, but there is currently a lack of Autosar model libraries supported by the Modelica language. The Modelica language is object-oriented, equation-based, reusable and hierarchical. The interface expression based on flow variables and potential variables provides great convenience for the model expression of the Autosar system. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a method for constructing an Autosar model library based on the Modelica language. The method is a modeling method based on a platform supporting the Modelica language, which can comply with the Autosar standard specification, accurately express the Autosar model information, realize the seamless integration of the Autosar system, effectively reduce the difficulty and complexity of the Autosar model library, increase the reusability and extensibility of the model, shorten the cycle of the Autosar model system research and development, and reduce the cost. The present invention can be used on any platform supporting Modelica, the model has strong applicability, is reusable and extensible, and provides modular, standard and reusable simulation software for the design and development of the Autosar system in the field of automotive electronic control, and provides an efficient auxiliary means for the design and development of the automotive controller, which can effectively reduce the difficulty of Autosar system modeling, enhance the dynamic design capability of the model, and improve the design efficiency.

[0006] The objective of the present invention is achieved through the following technical solutions:

[0007] A method for constructing an Autosar model library based on Modelica language comprises the following steps:

[0008] Step 1: According to the Autosar specification, the Autosar system model library is decomposed into MSR sub-model library, AUTOSAR Templates sub-model library and Utilities sub-model library;

[0009] Step 2: construct data types in Autosar based on Modelica language, the data types include Autosar basic data types, Autosar structure data types and Autosar enumeration data types, wherein: use the "type" of Modelica language to define Autosar basic data types; use "record" to define Autosar structure data types; use "enumeration" to define Autosar enumeration data types;

[0010] Step 3: Construct the basic modeling elements of Autosar based on Modelica language, and process the definition information of each element in Autosar and the static structural relationship between each element with object-oriented thinking. The specific steps are as follows:

[0011] Step 31. Processing of abstract classes in Autosar: Abstract classes in the Autosar model are represented by abstract classes in the Modelica language;

[0012] Step 3.2. Handling inheritance relationships between classes in Autosar: Use Modelica language to solve the inheritance confusion problem caused by multiple inheritance between classes in Autosar in a direct inheritance manner;

[0013] Step 3. Aggregation of attributes in the class definition of Autosar modeling elements: Use the Modelica language mechanism to process the attribute information in the class definition of Autosar modeling elements, and solve the attribute type problem by directly declaring the Autosar element type; solve the attribute multiplicity problem through indefinite dimension arrays, and support the dynamic change of array dimensions in conjunction with the Modelica language "Dialog (connectorSizing = true)" mechanism; directly define the attributes in the class definition of the Autosar modeling element, and cooperate with the Modelica language "inner / outer" mechanism to solve the problem of inconsistent aggregation of class attributes in the class;

[0014] Step 4: Graphically represent the Autosar modeling elements based on the Modelica language. The specific steps are as follows:

[0015] Step 41. Display and filtering strategy of Autosar element icons: graphically represent the commonly used modeling elements in the Autosar software component layer according to the Autosar specification definition; when the icons of other Autosar system modeling elements are displayed, they are displayed in the form of filling the element name in a rectangle;

[0016] Step 42: Picture display of model information related to the icon layer of the Autosar model: automatically set the icon of the Autosar model system to a reduced picture of its graphic layer; store the graphic layer in the form of a picture; automatically update the stored picture to the Modelica icon layer icon, so as to achieve the effect of automatically updating the icon of the Modelica model to a reduced picture of the graphic layer;

[0017] Step 5: Use Modelica language to support the dynamic behavior interaction of each element of the Autosar model. The specific steps are as follows:

[0018] Step 51. Dynamic behavior interaction between models in the Autosar system: Modeling is based on the non-causal relationship modified by the "equation" equation in the Modelica language. In the Modelica language, the connection between Autosar models is realized through connectors. According to different communication modes, the flow variables transmitted between connectors are different. If it is a sender / receiver mode, the flow variable represents the data element of the interaction; if it is a client / server mode, the flow variable represents the method called between the two interacting parties;

[0019] Step 52: Dynamic interaction between elements contained in the Autosar model and the model itself or other Autosar models: Use declarative causal modeling based on the "algorithm" algorithm modification in the Modelica language, and use the "inner / outer" mechanism in the Modelica language to represent the dynamic communication behavior between elements inside the Modelica component and elements outside the Modelica component, and between Modelica local components and Modelica global components;

[0020] Step 6: Support the dynamic modification and data calibration of Autosar system model parameter values ​​and variable types based on Modelica language. The specific steps are as follows:

[0021] Step 61. Dynamically modify the parameter values ​​of the Autosar system model: In the Modelica language, the "Dialog" mechanism in the "annotation" is used to dynamically modify the parameter values ​​of the Autosar system model;

[0022] Step 62: Dynamically modify the variable type of the Autosar system model: The dynamic modification of the variable type of the Autosar system model is realized through the "replaceable variant" mechanism in the Modelica language;

[0023] Step 6.3: Support data calibration of Autosar system: Based on the advantages of Modelica language, debug and modify the Autosar system model variables during the simulation process to achieve the vehicle calibration task.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] 1. The present invention constructs the Autosar model based on the Modelica language. As a multi-domain unified modeling language based on equations, object-oriented, and powerful component-based modeling capabilities, Modelica meets the needs of the development direction of modeling and simulation. It naturally has the characteristics suitable for Autosar model modeling, and is suitable for the modeling and simulation of Autosar models and related large-scale complex physical systems. At the same time, the Modelica model uses mathematical descriptions of differentials, algebra, and discrete equations, and has the characteristics of versatility, openness, and standardization, thereby reducing the development difficulty, increasing reusability, and improving work efficiency in the modeling of the Autosar system, and enabling the system to reflect the actual physical system.

[0026] 2. The present invention builds an Autosar system model library based on Modelica's model library specifications and processes. The model is reusable and extensible, providing modular, standard, and reusable simulation software for the design and development of Autosar systems in the field of automotive electronic control, and providing an efficient auxiliary means for the design and development of automotive controllers.

[0027] 3. The present invention is a method for constructing an Autosar model library based on the Modelica language with good reusability and hierarchy, which can effectively reduce the difficulty of Autosar model development, accurately represent Autosar model information, enhance the model's dynamic design capability, and improve design efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is the overall flow chart of the Autosar model library construction method based on Modelica language.

[0029] Figure 2 It is an exploded view of the Autosar model library.

[0030] Figure 3 It is a tree diagram of the Autosar model library.

[0031] Figure 4 It is an information diagram of the class definition of Autosar elements. (a) is the class definition diagram of RunnableEntity in Autosar, and (b) is a UML class diagram representing the inheritance relationship between the RunnableEntity class and its parent class and ancestor class.

[0032] Figure 5 It is an icon definition diagram of elements in Autosar.

[0033] Figure 6 It is the interaction diagram of elements in Autosar in sender / receiver communication mode. DETAILED DESCRIPTION

[0034] The technical solution of the present invention is further described below in conjunction with the accompanying drawings, but is not limited thereto. Any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention should be included in the protection scope of the present invention.

[0035] The present invention provides a method for constructing an Autosar model library based on Modelica language, such as Figure 1 As shown, the method comprises the following steps:

[0036] Step 1: According to the Autosar specification, the Autosar system model library is designed and decomposed into MSR sub-model library, AUTOSAR Templates sub-model library and Utilities sub-model library.

[0037] In this step, the construction of the Autosar model library is mainly based on the official Autosar standard specifications, and the definition information of the model elements in the Autosar specifications is complied with to the maximum extent; the Autosar model is converted into a mathematical model expressed by equations or assignment expressions using causal modeling and non-causal modeling ideas; the mathematical model is converted into a Modelica model corresponding to the Autosar model elements using the modeling software platform and the Modelica language.

[0038] Preferably, based on full consideration of model reuse, the Autosar model library design is decomposed into Figure 2 The three sub-model libraries shown are: MSR sub-model library, AUTOSARTemplates sub-model library and Utilities sub-model library, among which:

[0039] MSR sub-model library: that is, the Manufacturer Supplier Relationship standard model library, which contains a set of elements in the MSR specification to assist Autosar modeling and provides additional modeling information for the Autosar model, such as data dictionary, document font format, document version number, etc.

[0040] AUTOSAR Templates sub-model library: It is the Autosar template library, which includes the generic structure library GenericStructure, the software component layer template element library WComponentTemplate and the common structure library CommonStructure in the Autosar template. The modeling elements in this subsystem library are the key part of the Autosar system modeling and directly participate in the graphical modeling process;

[0041] Utilities sub-model library: Contains additional tool libraries outside the Autosar specification to assist in the modeling of the Autosar system model, such as data type tools used to solve the attribute multiplicity problem in the class definition process of Autosar elements.

[0042] Model design package structure such as Figure 3 As shown, the M2 package is the top-level package of the Autosar model library, which contains three sub-model libraries: AUTOSAR Templates, MSR, and Utilities. Each model sub-library contains a lower-level Autosar model sub-library according to its functions and physical characteristics.

[0043] Step 2: Construct data types in Autosar based on Modelica language.

[0044] In this step, the Autosar data types that need to be constructed include Autosar basic data types, Autosar structure data types and Autosar enumeration data types, among which: for Autosar basic data types, in addition to the existing built-in data types, Modelica language can customize the construction of other basic data types that meet the Autosar standard through the "type" method, such as the timestamp data type is a string that meets certain specifications; for Autosar structure data types, it is implemented by "record" in Modelica language, and the structure data type is a data type composed of Autosar basic data types; for Autosar enumeration data types, it is implemented by the "enumeration" method in Modelica language, which is used to represent a single literal in the enumeration set of the Autosar model system.

[0045] Step 3. Construct the basic modeling elements of Autosar based on the Modelica language, and use object-oriented thinking to process the definition information of each modeling element in Autosar and the static structural relationship between elements, including the processing method of abstract classes in Autosar, the processing method of inheritance relationship between classes, and the aggregation method of attributes in the class definition of Autosar modeling elements.

[0046] In this step, the definition of the Autosar element class is as follows Figure 4 As shown in (a), this figure describes the specific definition information of RunnableEntity in the Autosar system, including the class name definition of the modeling element, the hierarchical structure of the package, the annotation information, the ancestor class list of the element definition class, and the attribute information contained in the class definition of the element. Among them, the hierarchical structure of the package is divided according to the functions and physical characteristics of the element collection it contains, and has a clear structure; the annotation information of the element class definition provides the modeler with a detailed description of the element; the ancestor class list of the element definition class contains all the ancestor classes that the element directly and indirectly inherits; the attribute information contained in the element class describes the attribute name, attribute type, attribute multiplicity, the aggregation method of class attributes in the class to which it belongs, and the annotation information of the attribute.

[0047] How to handle abstract classes in Autosar: The Autosar system has the concept of abstract classes, which represent Autosar modeling element classes that cannot be instantiated and contain common information required by derived classes. In the Modelica language, this is achieved through "partial", which means that the modified class is an abstract class and is used to represent abstract classes in the Autosar model. The object-oriented modeling concept of Modelica is very practical for defining modeling elements of the Autosar system.

[0048] How to handle inheritance relationships between Autosar elements: In the Autosar system, modeling elements have the attributes of ancestor classes through inheritance. According to the Autosar standard specification, the definition of Autosar element classes has the problem of multiple inheritance relationships. Figure 4 As shown in (a) and 4(b), RunnableEntity has multiple base classes, but there are additional inheritance relationships between these ancestor classes, which easily leads to confusion in the inheritance relationship between the classes to which the modeling elements belong. The present invention reasonably transforms the Autosar definition information and solves this problem by adopting a direct inheritance method, that is, the currently defined element class only inherits its direct base class, and its ancestor class continues to inherit from its base class in this way.

[0049] Aggregation method of attributes in the class definition of Autosar modeling elements: The class definition of Autosar modeling elements contains attributes. When processing the attribute definition information of the Autosar modeling element class, the definition information of the attribute name, attribute type, attribute multiplicity, attribute aggregation method in the class and attribute annotation is involved. The attribute type is directly expressed in the Modelica language definition of the element class by declaring the attribute type; the attribute multiplicity is expressed in the Modelica language in the form of an indefinite dimensional array to express the indefinite value of the attribute number. At the same time, when declaring and defining the attribute array, the parameter type modified by "parameter" specifies the array dimension size (the default is 0), and the "Dialog (connectorSizing = true)" mechanism in the annotation "annotation" supports the dynamic change of the array dimension during the modeling process, thereby improving the flexibility of the Autosar model; for the problem of the diversity of the aggregation methods (reference, combination) of class attributes in the class, the Modelica language does not have a special function to handle this situation. The present invention uniformly declares that each attribute is included in the class definition of the element, and also solves the problem by cooperating with the "inner / outer" mechanism of the Modelica language. The "inner / outer" mechanism can handle the outer reference relationship between the element class and the element instance in the Autosar system to solve the class attribute reference problem in the class definition.

[0050] Step 4: Graphically represent the Autosar modeling elements based on the Modelica language. The specific steps are as follows:

[0051] Step 41. Display filtering strategy for Autosar modeling element icons: graphically represent the commonly used modeling elements in the Autosar software component layer according to the Autosar specification definition; when the other Autosar system modeling element icons are displayed, they are displayed in the form of element names filled in rectangles. Figure 5 It shows the icon representation of commonly used modeling elements in the software component layer in the Autosar specification. Common modeling element icons include but are not limited to Composition, Atomic Software Component, RTE Event, Port Interface, S / RPPort, S / R RPort, C / S PPort.

[0052] Step 42. Picture display of the model related to the Autosar model icon layer: Modelica language supports three editing modes: icon layer, graphic layer and text layer, among which: the icon layer represents the display icon of the Modelica model, the graphic layer represents the internal design of the Modelica model, and the text layer represents the source code of the Modelica model. In this step, the icon of the Autosar model system is automatically set to a reduced image of its graphic layer, and the method is: obtain the Modelica model and parse its internal information to obtain its graphic layer representation; store the graphic layer in the form of a picture; and automatically update the stored picture to the Modelica icon layer icon, so as to achieve the effect of automatically updating the icon of the Modelica model to a reduced image of the graphic layer.

[0053] Step 5: Use the Modelica language to support the dynamic behavior interaction between the elements of the Autosar model, including the dynamic behavior interaction between Autosar models, between the elements contained in the Autosar model and the model itself or with other models. The specific steps are as follows:

[0054] Step 51. Dynamic behavior interaction between Autosar models: For the larger-granularity interaction behaviors in the Autosar system, such as the interaction between Autosar models, modeling is performed based on the non-causal relationship modified by the "equation" equation in the Modelica language. It only has a model description but does not explain how to solve it. This modeling method is convenient for handling the interaction relationship between Autosar models.

[0055] In the Modelica language, the connection between the elements in the Autosar model is realized through "connectors". Depending on the different communication modes, the flow variables transmitted between the connectors are different. Figure 6It represents the interaction diagram of the Autosar model in the sender / receiver communication mode, in which the combined software component includes the atomic software component and another combined software component inside, and the software combination and the software component interact dynamically through the ports and connectors in Autosar; the Autosar system connectors in the present invention include DelegationSwConnector, PassTroughSwConnector and AssemblySwConnector; in the Modelica language, the connection between models is realized through connectors (connectors), which are a special type and a method for models to exchange information with each other. At the same time, the Modelica language standardizes two forms of variables, namely "potential variables" and flow variables, following the principle of "potential equals, flow sum is zero". In the Autosar system, flow variables are used to represent the information transmitted by different elements in interaction. If it is a sender / receiver mode, the flow variables represent the interactive data elements; if it is a client / server mode, the flow variables represent the method called between the two dynamic interactions.

[0056] Step 52: Dynamic behavior interaction between elements contained in the Autosar model and the model itself or other models: For interactive behaviors with smaller granularity in the Autosar system and Autosar functional units that only provide specific functions, such as dynamic behavior interaction between elements contained in the Autosar model and the model itself or other models, the declarative causal modeling based on the "algorithm" algorithm modification in the Modelica language is used, and the description and solution of the model are consistent; at the same time, the size of the model interaction granularity is not bound to the modeling method described above, and supports simple model expression based on empirical formulas. This expression method is suitable for models with high model complexity and difficult to simplify. The "inner / outer" mechanism in the Modelica language is used to represent the dynamic communication behavior between elements within the Modelica component and elements outside the Modelica component, and between Modelica local components and Modelica global components. "Inner / outer" is equivalent to defining a global interface or variable that can be accessed in all nested instance levels.

[0057] Step 6: Support the dynamic modification and data calibration of Autosar system model parameter values ​​and variable types based on Modelica language. In Modelica language, variables represent the attributes of the model, usually representing a physical quantity, which changes over time during the simulation process; parameters are modified by "parameter" and remain constant during the simulation process. Model parameters can be modified before the simulation is run, and the simulation results of the model after the parameters are modified may change. The specific steps are as follows:

[0058] Step 61. Dynamically modify the parameter values ​​of the Autosar system model: In the Modelica language, the "Dialog" mechanism in the "annotation" is used to realize the dynamic modification of the parameter values ​​of the Autosar system model. This mechanism can provide modelers with a user interface for modifying the parameter values ​​in the Autosar model, thereby realizing the effect of dynamic modification of parameter values.

[0059] Step 6.2. Dynamically modify the variable type of the Autosar system model: In the Modelica language, the "replaceable variant" mechanism is used to implement dynamic modification of the variable type of the Autosar system model. The variant allows modifying certain properties of the element class while declaring an Autosar object, dynamically modifying the type of an element in the Autosar model, and improving the flexibility of model design.

[0060] Step 63: Support data calibration of Autosar system: Different from traditional causal modeling, based on the advantage of Modelica language in modeling and simulation, the present invention can dynamically and quickly debug and modify the global variables in the Autosar system during the simulation process to achieve the vehicle calibration task.

Claims

1. A method for constructing an Autosar model library based on Modelica language, characterized in that The method comprises the following steps: Step 1: According to the Autosar specification, the Autosar system model library is decomposed into MSR sub-model library, AUTOSAR Templates sub-model library and Utilities sub-model library; Step 2: Construct data types in Autosar based on Modelica language, including Autosar basic data types, Autosar structure data types and Autosar enumeration data types, wherein: use "type" of Modelica language to define Autosar basic data types; use "record" to define Autosar structure data types; use "enumeration" to define Autosar enumeration data types; Step 3: Construct the basic modeling elements of Autosar based on Modelica language, and process the definition information of each element in Autosar and the static structural relationship between each element with object-oriented thinking. The specific steps are as follows: Step 31. Processing of abstract classes in Autosar: Abstract classes in the Autosar model are represented by abstract classes in the Modelica language; Step 3.

2. Handling inheritance relationships between classes in Autosar: Use Modelica language to solve the inheritance confusion problem caused by multiple inheritance between classes in Autosar in a direct inheritance manner; Step 3. Aggregation of attributes in the class definition of Autosar modeling elements: Use the Modelica language mechanism to process the attribute information in the class definition of Autosar modeling elements, and solve the attribute type problem by directly declaring the Autosar element type; solve the attribute multiplicity problem through indefinite dimension arrays, and support the dynamic change of array dimensions in conjunction with the Modelica language "Dialog (connectorSizing = true)" mechanism; directly define the attributes in the class definition of the Autosar modeling element, and cooperate with the Modelica language "inner / outer" mechanism to solve the problem of inconsistent aggregation of class attributes in the class; Step 4: Graphically represent the Autosar modeling elements based on the Modelica language; Step 5: Support the dynamic behavior interaction of each element of the Autosar model through the Modelica language; Step 6: Support the dynamic modification and data calibration of Autosar system model parameter values ​​and variable types based on Modelica language.

2. The Autosar model library construction method based on Modelica language according to claim 1 is characterized in that The MSR sub-model library is the Manufacturer Supplier Relationship standard model library, which contains a set of elements in the MSR specification used to assist Autosar modeling and provide additional modeling information for the Autosar model; the AUTOSARTemplates sub-model library is an Autosar template library, which contains the generic structure library GenericStructure, the software component layer template element library WComponentTemplate and the common structure library CommonStructure in the Autosar template. The modeling elements in the AUTOSAR Templates sub-model library are the key part of Autosar system modeling and directly participate in the graphical modeling process; the Utilities sub-model library contains additional tool libraries outside the Autosar specification for assisting Autosar system modeling.

3. The Autosar model library construction method based on Modelica language according to claim 1 is characterized in that The specific steps of step 4 are as follows: Step 41. Display and filtering strategy of Autosar element icons: graphically represent the commonly used modeling elements in the Autosar software component layer according to the Autosar specification definition; when the icons of other Autosar system modeling elements are displayed, they are displayed in the form of filling the element name in a rectangle; Step 42: Picture display of model information related to the icon layer of the Autosar model: automatically set the icon of the Autosar model system to a reduced image of its graphic layer; store the graphic layer in the form of a picture; automatically update the stored picture to the Modelica icon layer icon, so as to achieve the effect of automatically updating the icon of the Modelica model to a reduced image of the graphic layer.

4. The Autosar model library construction method based on Modelica language according to claim 1 is characterized in that The specific steps of step five are as follows: Step 51: Dynamic behavior interaction between models in the Autosar system: Modeling is based on the non-causal relationship modified by the "equation" equation in the Modelica language. In the Modelica language, the connection between Autosar models is realized through connectors. Depending on the different communication modes, the flow variables transmitted between connectors are different. If it is a sender / receiver mode, the flow variables represent the interactive data elements. If it is a client / server mode, the flow variable represents the method called between the two interacting parties; Step 52: Dynamic behavior interaction between elements contained in the Autosar model and the model itself or with other Autosar models: Use declarative causal modeling based on the "algorithm" algorithm modification in the Modelica language, and use the "inner / outer" mechanism in the Modelica language to represent the dynamic communication behavior between elements inside the Modelica component and elements outside the Modelica component, and between Modelica local components and Modelica global components.

5. The Autosar model library construction method based on Modelica language according to claim 1 is characterized in that The specific steps of step six are as follows: Step 61. Dynamically modify the parameter values ​​of the Autosar system model: In the Modelica language, the "Dialog" mechanism in the "annotation" is used to dynamically modify the parameter values ​​of the Autosar system model; Step 62: Dynamically modify the variable type of the Autosar system model: The dynamic modification of the variable type of the Autosar system model is realized through the "replaceable variant" mechanism in the Modelica language; Step 6.3: Support data calibration of Autosar system: Based on the advantages of Modelica language, debug and modify the Autosar system model variables during the simulation process to achieve the vehicle calibration task.

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