Co-simulation of multi-ECU hardware/software system using timing back-annotation method

This paper describes a high speed and timing approximate co-simulation method for the large-scale multiple-ECUs automotive system. The timing back-annotating method is applied to accelerate the simulation speed. This paper also shows how to build/maintain large scale virtual automotive software/hardware platform model. Finally, the performance of co-simulation is evaluated by comparing the behavior of actual system and that of co-simulation.