Embedded Automotive Door Control System

1. Embedded Automotive Door Control System Doors2 Presented by: Kevin Forker Sheela Hiremath Demo Given by: Sheela Hiremath

2. Unique Feature of System • The main controller is composed of separate controllers • Each door has its own controller

3. What Does Feature Support? • Each door controller controls only the features each door contains • Divides functionality so features can be added or removed to an individual door

4. Key Model – Class Diagram • Gives whole picture of the system • All dynamic model are based off of the class diagram • Shows the classes of the system and the relationships between them

5. Model Door Control System Sensors ADC Actuators Torque User Interface Reverse Mirror Limit Lck Mtr Win. Mtr. Mir. Mtr. BackDoor FPDoor DrDoor Gear Mirror Positioning Controller Lock Controler Switch Button Window Controller AutoLock Controler Mirror Controller Passenger Window Controller DRWindow Controller Mirror Setting Controller

6. Model Cont. Included In Lck. Mtr. Auto Locks Doors Lock Controller Button Included In Torque Monitors Torque Included In Win. Mtr. Included In Included In Adjust Windows Mirror Positioning Controller Gear Check Reverse Gear Switch Included In Mirror Limit Check Min. & Max Mir. Ang. Mir. Mtr Adjust Mirror

7. Promela and Xspin • How was the system modeled? • Each state diagram was a separate promela. Therefore 3 files were used corresponding to Locks, Windows, and Mirrors • LTL Properties • Safety – A bad thing never happens. • Liveness – Something good eventually happens.

8. Safety • The passenger’s window will never move if the window lock is engaged. • [](FP_w_lock -> <>(FP_State == sFP_Stop)) • The window will always stop when the torque reaches its limit. • [](DR_torquelimit -><> (DR_State == sDR_Stop)

9. Liveness • The right mirror will eventually tilt down when the car is put in reverse and the right mirror is selected. • <>( (RIGHT_MIRROR && ReverseDown) -> <> RMirDown) • The left mirror will eventually move down when the left mirror is selected and the down button is pushed. • <>((LEFT_MIRROR && press(L_Down)) -> <> DOWN)

10. Demo of Prototype • 2 or 4 door capability • Ability to lock/unlock doors (manual or auto.) • Ability to move windows up/down • Window lock to disable pass. windows • Express Roll Down for driver • Ability to move mirrors up/down/left/right • Ability to store mirror positions in memory • Ability to restore mirror positions from memory • Full tilt down of right mirror when car in reverse

11. Lock Scenarios • Automatic Locks • Press “lock” -> locks every door • Press “unlock” -> unlocks every door • Manual Locks • Press “M_lock” -> locks the individual door • Press “M_unlock” -> unlocks the individual door

12. Window Scenarios • Press “up” -> rolls window up • Press “fp_up” -> driver rolls up Ft Pass window • Press “w_lock”->locks the pass. window controls • Press “fp_up”-> Driver can roll down pass. window • Press “up” -> Pass. cannot roll down their window • Pressing “w_unlock” restores functionality • Pressing “down” for t>1s starts express roll down • Pressing “down” again stops express roll down

13. Window Scenarios Cont. • Creating an obstacle • Choose a window from the drop down box • Press ‘o’ to create obstacle • Press “up” and window doesn’t move • Press ‘l’ to remove obstacle • Conflicts

14. Mirror Scenarios • “left” selects left mirror • “up” moves mirror up • “reverse” & “right” tilts right mirror completely down • Memory Functionality • “set” “one” saves mirror pos. in memory one • “one” restores mirror to pos. in memory one