Related Work

ASAM OpenDrive: Road networks are specified in the OpenDrive format. It is used to test simulation models in a co-simulation directly in the GitHub CI pipeline.

ASAM OpenScenario: How objects move in a scene is described in the OpenScenario format. It is used to test simulation models in a co-simulation directly in the GitHub CI pipeline.

ASAM OpenSimulationInterface: All simulation models on OpenMSL use OSI as the standard interface for model input and model output.

Modelica FMI: All models on OpenMSL are packaged as an FMU, compliant with the FMI standard. This enables co-simulation of multiple models from different suppliers.

SSP Traceability: To specify a system for co-simulation, the SSP standard is used. This XML standard defines, which FMUs belong to a certain system and how they are connected in a so-called System Structure Definition (SSD). Also, parameters can be assigned to the different FMUs.

esmini: For co-simulation of OpenMSL models directly in the GitHub CI pipeline, esmini is used to play OpenScenario files as input for the models.

FMPy: To check, if an FMU build by the GitHub pipeline is conforming to the FMI standard, FMPy validate is used.

FMU Compliance Checker: Alongside the aforementioned FMPy, the official FMU Compliance Checker by Modelica is also used to ensure that all FMUs comply with the FMI standard.

OpenMCx: Simulations with multiple models packaged as FMUs need a co-simulation master. To test models in the GitHub CI pipeline, OpenMCx is used to connect multiple FMUs according to a System Structure Definition (SSD).

OSI Sensor Model Packaging: OSMP is used as a template to package all models using OSI and FMI.

OpenX Standards for Scenario-Based Testing by Vector and Persival (29.11.2023)

Enabling Virtual Test & Validation by BMW (26.09.2023)

OpenDRIVE Visualization with Open Source Software esmini by Elgato (25.09.2023)