Smart Cruise, an application of MINERVA and Hydra

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Smart Cruise, an application of MINERVA and Hydra

• Dr. William E. McUmber, Laura A. Campbell, and
  Dr. Betty H.C. Cheng
• This work is supported in part by National
  Science Foundation grants EIA-0000433,
  CDA-9700732, CDA-9617310, CCR-9633391,
  CCR-9901017 and DARPA grant No.
  F30602-96-1-0298, managed by Air Force's Rome
  Laboratories, Eaton
  Corporation, a Motorola doctoral fellowship, and
  in cooperation with Siemens Automotive and
  Detroit Diesel Corporation.

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Smart Cruise(An Application of MINERVA and Hydra)

• Dr. William E. McUmber, Laura A. Campbell
• Advisor Dr. Betty H.C. Cheng
• Software Engineering and Network Systems Lab
• Michigan State University

This work has been supported in part by NSF
grants EIA-0000433, CDA-9700732, CDA-9617310,
CCR-9633391, CCR-9901017, and DARPA grant No.
F30602-96-1-0298 managed by Air Forces Rome
Laboratories, Eaton Corporation, and a Motorola
doctoral fellowship.
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describe smartcruise
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errors found
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sample visualization1
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sample visualization2
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statistics
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Smart Cruise Requirements
Achieve desired trail distance
Safety zone
Coast zone
Closing zone
About 400 ft - acquires target vehicle. Closing
speed low enough to control.
Starts coasting to match speed
Maintain proper trail distance - speeds match
Safe zone
This is what we want
Closing speed too high.
Issues warnings to avoid this condition
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Smart Cruise Class Model
target acquisition target loss distance
Control
Radar
x1 integer x2 integer tinc integer vc
integer vtinteger vinteger tmin integer
2 z1 integer z2 integer xhit integer xcoast
integer setspd integer a integer 15 closing
boolean
v integer vc integer vt integer x
integer tmode booelan
carspeed
Car
carspeed throttle control
setv integer realv integer
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High Level Control Dynamic Model
Wait for set
Wait for target
set
target
Ack from car
too close too fast
Get speed and distance
Warning or Alarm
Check bounds
Dist(x1)
trailing
closing
Maintain Trail position
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Using MINERVA and Hydra
Analysis results
UML
HIL
Spec
Analysis tool
MINERVA
Hydra
Diagram reports
Analysis reports
Hydra can automatically generate formal
specifications for a number of target languages,
including Promela, the input language for the
SPIN model checking analysis tool.
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Embedded Systems

• Software for embedded systems is in general
  difficult to design and debug because it usually
  involves time-dependent sections in difficult to
  instrument situations. Methods for developing and
  modeling embedded systems software and rigorously
  verifying behavior before committing to code are
  important because embedded systems frequently
  control critical devices.