Embedded Systems are increasingly equipped with open interfaces that enable communication and collaboration with other embedded systems. Collaborative embedded systems (CES) can be seen as an emerging new class of systems which, although individually designed and developed, can form collaborations at runtime. When embedded systems collaborate with each other, functions developed independently need to be integrated for performing evaluation of the resulting system in order to discover unwanted side-effects. Traditionally, early-stage validation and verification (V&V) of systems composed of collaborative subsystems is performed by function integration at design time. Simulation is used at this stage to verify system’s behaviour in a predefined set of test scenarios. In this paper we provide a survey of simulation methods and tools for the V&V of CES. In the context of one use case from the automotive domain (vehicle platooning) we present solutions (methods and tools) and challenges brought by evaluating vehicle collaboration using simulation.

嵌入式系统越来越多地配备开放接口，可以与其他嵌入式系统进行通信和协作。协作嵌入式系统（CES）可以被视为一种新兴的新型系统，虽然是单独设计和开发的，但可以在运行时形成协作。当嵌入式系统相互协作时，需要集成独立开发的功能以对最终系统进行评估，以发现不需要的副作用。传统上，由协作子系统组成的系统的早期验证和验证 (V&V) 是通过设计时的功能集成来执行的。在此阶段使用模拟来验证系统在一组预定义的测试场景中的行为。在本文中，我们对 CES 的 V&V 仿真方法和工具进行了调查。在汽车领域（车辆队列）的一个用例的背景下，我们提出了通过使用仿真评估车辆协作所带来的解决方案（方法和工具）和挑战。