Adaptive%20Cruise%20Control

1
Adaptive Cruise Control

• Group 2
• PresentersLydia Eatmon
• Ben Deneweth
• Toby Tripp
• Craig Vasel

2
Unique Feature of System

• Adjustable safe distance interval
• Components of adjustable safe distance interval
• User interface (at this point unspecified)

3
What Does Feature Support?

• Functionality of unique feature
• Allows driver to adjust the safe distance
• Does not allow driver to make the safe distance
  less than 2 seconds
• Sample scenario description
• Useful for slippery road conditions

4
Key Model

• Controller state diagram
• Why important
• Where all the work of the ACC is done
• Makes all the decisions of the system

5
Controller Model
Idle
6
Key Model

• Class diagram of entire system
• Why important
• Clarifies how different segments work at the same
  time
• Shows main aspects of system

7
Class Model
Adaptive Cruise Control
Controller
User Interface
Sensor
Actuator
Contact
8
Critical Properties

• Representative list of critical properties
• Collision avoidance
• Maintains safe distance
• Resumes driver control
• Imminent collision warning

(Safety)
(Safety)
(Liveness)
(Safety)
9
Promela and XSpin

• Analysis
• Modeled entire system, separating states with
  labels
• Tested with random sensor feedback
• Tested specific event sequences
• Results
• Identified potential deadlock
• Verified model behavior
• Reachability
• Safety/Liveness
• Assertions

/ "Idle" State / end_ctrl_idle
ctrl_idle do get_speed!signal
ret_speed?current_speed if (
current_speed lt 25 ) -gt goto ctrl_idle
( current_speed gt 25 ) -gt goto ctrl_no_cars
fi od
/ speed sensor model / active proctype
speed_sensor() end_speed_sensor do
get_speed?_ ret_speed!10
get_speed?_ ret_speed!25
get_speed?_ ret_speed!95 od
init host_speed 65 target_speed 45
target_distance 350 cruise OFF radar
CONTACT radar NOCONTACT cruise ON
host_speed 85 target_speed 55
target_distance 280 radar CONTACT
( sentNoContact -gt ltgt (resumeCruise
resumeEngine)) define sentNoContact radar_sensor
1_at_sent_no_contact define resumeCruise cruise_ac
tuator1_at_resume_cruise define
resumeEngine engine_actuator1_at_resume_engine