
Model-Based Testing in Embedded Automotive Systems 555
Te st
comparator
Inputs
generator
Outputs
conditioning
Test automation framework
Model
Software
Software
+
Hardware
u
u
u
y
m
y
s
y
h
z
Environment simulation
HiL
SiL
MiL
Environment simulation
Environment simulation
FIGURE 19.7
Integrated MiL-SiL-HiL testing approach.
An integrated MiL-SiL-HiL testing approach is presented in Figure 19.7 (Fey and
Str¨umer 2007, Jaikamal 2009). It shows how different model-based simulation techniques
can be used together in MBT of a single ECU. At the beginning of a development project,
ECU models shall be validated and then MiL techniques can be considered as a source
of test vectors and ...