Model-Based Control Design and Integration of Cyberphysical Systems: An Adaptive Cruise Control Case Study

Abstract

The systematic design of automotive control applications is a challenging problem due to lack of understanding of the complex and tight interactions that often manifest during the integration of components from the control design phase with the components from software generation and deployment on actual platform/network. In order to address this challenge, we present a systematic methodology and a toolchain using well-defined models to integrate components from various design phases with specific emphasis on restricting the complex interactions that manifest during integration such as timing, deployment, and quantization. We present an experimental platform for the evaluation and testing of the design process. The approach is applied to the development of an adaptive cruise control, and we present experimental results that demonstrate the efficacy of the approach.

Co-simulation framework for design of time-triggered cyber physical systems

“…However, these approaches only consider the cyber part of the system and do not include a physical dynamics model. Hardware-in-the-loop (HIL) automotive simulators are also found in [4] and [5]. Compared to software-based simulation frameworks, they are more expensive and usually not available at early design stages.…”

“…The main objective of the low controller is two-fold: first, using the desired acceleration command from the upper level controller, the lower level controller determines whether to apply braking control or throttle control; second, the required control command is applied to the vehicle in order to achieve the desired acceleration. Details about the ACC can be found in [5].…”

A case study on the model-based design and integration of automotive cyber-physical systems

“…Figure 4 shows a block diagram of the ACC system. The ACC system is based on our previous work in [6], where two hierarchical levels of control is applied. The upper level controller depicted in Figure 4 uses the driver inputs, the radar measurements and the current distance and velocity of the ACC-equipped vehicle relative to a leading vehicle, to compute the desired acceleration that is required to achieve the desired spacing or velocity.…”

“…The applied control command is either throttle angle command, or master cylinder pressure command. A more detailed description of the ACC depicted in Figure 4 can be found in [6].…”

“…Our model-based development process utilizes a model-based tool-chain, Embedded Systems Modeling Language (ESMoL) [5], which streamlines control design with software modeling, code generation and deployment on platform/network, providing detailed models for the various design layers in order to constrain the resulting interactions. In order to evaluate the system integration, we employ an experimental platform introduced in [6] which is based on the time-triggered paradigm [7]. We present experimental results from the hardware-in-the-loop simulation of the integrated system on the experimental platform.…”