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Smart HiL-System with Vector CANoe: Implementation as LDW demonstrator

TESIS and Vector Informatik present a smart, scalable, and efficient Hardware-in-the-Loop test system.
The demonstrator setup incorporates a LDW (Lane Departure Warning) ECU, however the HiL system architecture is equally applicable for testing other ECUs.


  • Cost-effective and clearly arranged HiL setup with CANoe as basis.
  • Scalable execution from standard PC configuration to distributed real-time platforms, from simple to detailed simulation models.
  • Efficient and quick setup by using the following off-the-shelf components without specific customizations:
    - CANoe including interaction layer
    - DYNA4 Driver Assistance Package with DYNAanimation
    - Standard Windows PC

LDW Functional Description

LDW is a Driver Assistance System designed to warn a driver visually, audibly, or via vibration when the vehicle moves unintentionally from its current lane. The camera and the ECU are usually mounted as a single unit on the front windscreen behind the rear-view mirror.

Key Components

  •  The CANoe software provides the target environment for running the simulation as well as the interface to all hardware via the USB CAN Adapter. The target platform is flexible and can be selected based on the system requirements. In this case a standard PC is used.
  • DYNA4 is used to generate the simulation models of a vehicle driving on a particular road and also for the animation details which are displayed on the monitor, including the surrounding road environment which can incorporate various landscape details or other road users.
  • The LDW ECU (incl. camera) is connected as hardware and is positioned in front of the monitor such that it films the DYNAanimation scene as if it was in a real vehicle. The LDW ECU algorithms process the images and send a warning via the CAN Bus whenever the vehicle passes over a lane.
  • The Force Feedback Wheel is also connected via the CAN Bus and is used to display this warning in the form of vibration feedback.


  • Model configuration: The vehicle and environment models for the test system are developed and configured in DYNA4, offering a wide range of options and levels of detail
  • Code generation: For use together with CANoe, the model is compiled to a DLL and seamlessly imported as a simulation node in CANoe with a simple press of a button
  • Parameterization: Once compiled, parameter changes to the vehicle model, road profile etc. can be easily applied using the DYNA4 framework.
  • Automated virtual test drives: The interaction with the remaining bus simulation is done from CANoe, e.g. by activating the indicator switch on a panel. The test management functionality in CANoe is used to manage the ECU algorithm tests and trigger their execution.

HIL system with DYNA4 and CANoe

DYNA4 vehicle simulation
Vector CANoe

Phone +49 89 74 73 777 444 
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