1. Smart Cruise, an application of M INERVA 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.

2. Smart Cruise (An Application of M INERVA 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 Force’s Rome Laboratories, Eaton Corporation, and a Motorola doctoral fellowship.

3. describe smartcruise

4. errors found

5. sample visualization1

6. sample visualization2

7. statistics

8. Smart Cruise Requirements Safety zone Achieve desired trail distance Coast zone Closing zone About 400 ft - acquires target vehicle. Closing speed low enough to control. Starts coasting to match speed Safe zone Maintain proper trail distance - speeds match Closing speed too high. Issues warnings to avoid this condition This is what we want

9. Smart Cruise Class Model x1: integer x2: integer tinc: integer vc: integer vt:integer v:integer tmin: integer = 2 z1: integer z2: integer xhit: integer xcoast: integer setspd: integer a: integer = 15 closing: boolean Control Radar v: integer vc: integer vt: integer x: integer tmode: booelan setv: integer realv: integer Car target acquisition target loss distance carspeed throttle control

10. High Level Control Dynamic Model Get speed and distance Wait for “set”Wait for target Warning or Alarm Check bounds Maintain Trail position settarget [closing] [trailing] Ack from car Dist(x1) [too close | too fast] Closing on target [outside of xcoast] [inside of xcoast]

11. Using M INERVA and Hydra M INERVA Hydra UMLHIL Analysis results Diagram reports Analysis reports Spec* * Hydra can automatically generate formal specifications for a number of target languages, including Promela, the input language for the SPIN model checking analysis tool. Analysis tool

12. 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.