VehicleSpeedFusion Multi-Rate Example#

This example shows a VehicleSpeedFusion.Step runnable that depends on a separately modeled preprocessing function, VehicleSpeedPreProcessor.Step. The runnables are introduced following the standard naming convention which defines Init, Step and Terminate entry points per function.

The Data interfaces reuse standard wheel-speed VSS paths and Vehicle.Speed. Runtime quality is explicitly indicated through runtimeCompanion.qualityCode as an enum-based qualifier interface, without duplicating the normal Data metadata.

  1# *******************************************************************************
  2# Copyright (c) 2026 ZF Friedrichshafen AG
  3#
  4# See the NOTICE file(s) distributed with this work for additional
  5# information regarding copyright ownership.
  6#
  7# This program and the accompanying materials are made available under the
  8# terms of the Apache License Version 2.0 which is available at
  9# https://www.apache.org/licenses/LICENSE-2.0
 10#
 11# SPDX-License-Identifier: Apache-2.0
 12#
 13# Contributors:
 14#   Thomas Pfleiderer - Function specification added
 15#   Saran Gundlapalli - vehicle_speed_fusion_multirate.afs.yaml updated according to metamodel v0.4.0
 16# *******************************************************************************
 17
 18functionSpecification:
 19  name: VehicleSpeedFusion
 20  version: 1.0.0
 21  metaModelRef:
 22    name: Eclipse-autoapiframework-Metamodel
 23    version: 0.4.0
 24
 25    description: Fuses standard VSS wheel-speed inputs into Vehicle.Speed. Input preprocessing is modeled as a separate function/runnable and referenced through the predecessor relationship.
 26
 27  dataInterfaces:
 28    - name: Vehicle.Chassis.Axle.Row1.Wheel.Left.Speed
 29      direction: input
 30      dataType: float
 31      description: Linear speed of the left wheel on axle row 1.
 32      unit: km/h
 33      min: null
 34      max: null
 35      defaultValue: null
 36      resolution: null
 37      precision: null
 38      FuSa: true
 39      ASIL: B
 40      minUpdatePeriodMs: 10
 41      accuracy: null
 42      protection: complement
 43      runtimeCompanion:
 44        qualityCode:
 45          name: Vehicle.Chassis.Axle.Row1.Wheel.Left.Speed.Qualifier
 46          datatype: enum
 47          enumRef: DataQuality
 48
 49    - name: Vehicle.Chassis.Axle.Row1.Wheel.Right.Speed
 50      direction: input
 51      dataType: float
 52      description: Linear speed of the right wheel on axle row 1.
 53      unit: km/h
 54      min: null
 55      max: null
 56      defaultValue: null
 57      resolution: null
 58      precision: null
 59      FuSa: true
 60      ASIL: B
 61      minUpdatePeriodMs: 10
 62      accuracy: null
 63      protection: complement
 64      runtimeCompanion:
 65        qualityCode:
 66          name: Vehicle.Chassis.Axle.Row1.Wheel.Right.Speed.Qualifier
 67          datatype: enum
 68          enumRef: DataQuality
 69
 70    - name: Vehicle.Chassis.Axle.Row2.Wheel.Left.Speed
 71      direction: input
 72      dataType: float
 73      description: Linear speed of the left wheel on axle row 2.
 74      unit: km/h
 75      min: null
 76      max: null
 77      defaultValue: null
 78      resolution: null
 79      precision: null
 80      FuSa: true
 81      ASIL: B
 82      minUpdatePeriodMs: 10
 83      accuracy: null
 84      protection: complement
 85      runtimeCompanion:
 86        qualityCode:
 87          name: Vehicle.Chassis.Axle.Row2.Wheel.Left.Speed.Qualifier
 88          datatype: enum
 89          enumRef: DataQuality
 90
 91    - name: Vehicle.Chassis.Axle.Row2.Wheel.Right.Speed
 92      direction: input
 93      dataType: float
 94      description: Linear speed of the right wheel on axle row 2.
 95      unit: km/h
 96      min: null
 97      max: null
 98      defaultValue: null
 99      resolution: null
100      precision: null
101      FuSa: true
102      ASIL: B
103      minUpdatePeriodMs: 10
104      accuracy: null
105      protection: complement
106      runtimeCompanion:
107        qualityCode:
108          name: Vehicle.Chassis.Axle.Row2.Wheel.Right.Speed.Qualifier
109          datatype: enum
110          enumRef: DataQuality
111
112    - name: Vehicle.Speed
113      direction: output
114      dataType: float
115      description: Fused vehicle speed output for downstream consumers.
116      unit: km/h
117      min: null
118      max: null
119      defaultValue: null
120      resolution: null
121      precision: null
122      FuSa: true
123      ASIL: B
124      minUpdatePeriodMs: 20
125      accuracy: null
126      protection: complement
127      runtimeCompanion:
128        qualityCode:
129          name: Vehicle.Speed.Qualifier
130          datatype: enum
131          enumRef: DataQuality
132
133  # Runtime quality companions are shown explicitly for the Data interfaces.
134  # Each qualifier is an enum-based runtime interface with DataQuality semantics.
135
136  parameters:
137    - name: Vehicle.Chassis.SpeedFusion.Alpha
138      dataType: float
139      defaultValue: 0.7
140      description: Weight applied by the fusion algorithm.
141      unit: ratio
142      tunable: false
143      min: 0.0
144      max: 1.0
145
146    - name: Vehicle.Chassis.SpeedFusion.MaxDeltaPerStep
147      dataType: float
148      defaultValue: 5.0
149      description: Maximum allowed output change per 20 ms cycle.
150      unit: km/h
151      tunable: false
152      min: 0.0
153      max: 100.0
154
155  scheduling:
156    - functionName: VehicleSpeedFusion.Init
157      runType: init
158      description: Initialize filter states and fallback defaults.
159      implementedASIL: B
160      executionResult:
161        type: FunctionResult
162      supervision:
163        required: false
164
165    - functionName: VehicleSpeedFusion.Step
166      runType: cyclic
167      description: >-
168        20 ms cyclic runnable that performs source fusion and publishes Vehicle.Speed.
169      cycleTimeMs: 20
170      implementedASIL: B
171      previousRunnableRef: VehicleSpeedPreProcessor.Step
172      executionResult:
173        type: FunctionResult
174      supervision:
175        required: false
176
177    - functionName: VehicleSpeedFusion.Terminate
178      runType: terminate
179      description: Release resources and set deterministic safe defaults.
180      implementedASIL: QM
181      previousRunnableRef: VehicleSpeedFusion.Step
182      executionResult:
183        type: FunctionResult
184      supervision:
185        required: false

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