Group 1

Informal Task of the System 

Faculty of Engineering – Department of Computer Science 

Software Engineering – Prof. Dr. M. Heisel 

Embedded Systems Solution of Lab – Group 01 

Phase 1 

An Automatic Cruise Control System (CCS) for a car should be developed using the 

embedded system development process presented in the lecture. The standard car 

is equipped with an anti-lock braking system (ABS) that has an additional digital 

input to activate the brakes. The digital input is realized by a serial (RS-232) 

connection with 9600 Baud, odd parity, and one stop bit. Values between “0” and 

“255” can be sent to the ABS. When “255” is sent to the ABS, the car brakes as 

strongly as possible. When “0” is sent to the ABS, the brakes are released 

completely. All actions of the driver are sent to the CAN-Bus. The position of the 

Accelerator pedal is represented by a CAN-Message with Event-ID 101 and one byte 

data (0=no Acceleration, 255=maximal Acceleration). The position of the brake pedal 

is represented by a CAN-Message with Event-ID 102 and one byte data (0=no 

braking, 255=maximum braking power). The Event-ID for the speed in km/h is 312 

with 2 data bytes containing the speed in integer format. 

Driving the car should become more convenient. It should be possible to set the 

current speed as a desired speed. The car should drive with the desired speed until 

the driver brakes or the speed is one minute above the desired speed. The speed 

should be automatically decreased when the car ahead (or another object) is within a 

certain distance According to the current speed. The car should accelerate up to the 

desired speed when the distance is big enough. The CCS should brake with at most 

30 % of the maximum braking power. It should also be possible to resume to the last 

default speed after breaking. The driver should be able to activate and deactivate the 

CCS. The driver should be able to increase and decrease the desired speed in steps 

of 10 km/h. The system in use connects the Acceleration pedal with the motor by a 

bowden wire. The bowden wire can be replaced by an actuator that sets the 

Acceleration according to the value of a CAN message with one byte data (0=no 

Acceleration, 255=maximal Acceleration). It can be set via Event-ID 105. If no 

Events with ID 105 are received for 100 ms the values sent via Event-ID 101 are 

used. 

We can add an electronic switch with the buttons “+”, “-”, “Set”, “Resume”, and “Off” 

to the car. The electronic switch sends CAN-Events with the Event-IDs 501 (“+”), 502 

(“-”), 503 (“Set”), 504 (“Resume”), and 505 (“Off”) when the buttons are pressed. An 

acoustical and optical warning can be generated by sending a CAN message with 

the Event-ID 601. 

We can also buy a radar sensor that measure the distance to an object in front of the 

car. It sends the distance via CAN every 25 ms. The Event-ID reserved for the radar 

sensor is 820. The CAN-Message contains two bytes data representing the distance 

in cm (0 = 0 cm, 65534 = 655.34 m). When the sensor is not usable (e.g., dirty, 

measures an incoming car) a value of 65535 is sent. A broken sensor can be 

detected by missing CAN-Messages for 100 ms. 

Page 1

1.1. Context Diagram 

a. {pressBrake, releaseBrake} 

b. {pressAccel, releaseAccel} 

c. {sendBrakeSignal} 

d. {sendIincreaseSpeedSignal} 

e. {engineControlUsingBowdenWire} 

1.2. Shortcomings 

f. {brakeControlUsingBowdenWire} 

g. {increaseSpeed, decreaseSpeed} 

h. {sendBrakeSignal} 

i. {controlBrake, brakeStatusSignal} 

SC1: Engine cannot automatically stop (decreaseSpeed immediately) when it is very 

close to another car ahead of it. 

SC2: Engine cannot increaseSpeed automatically with the desired speed or default 

speed when there is distance big enough ahead of it after braking. 

SC3: The system can not measure the distance to an object in front of the car. 

SC4: The Driver must drive fully concentrate to preserve the desired speed and safe. 

1.3. Facts 

F1: The standard car is equipped with an anti-lock braking system (ABS) that has 

an additional digital input to activate the Brakes. The ABS digital input is 

realized by a serial (RS-232) connection with 9600 Baud, odd parity, and one 

stop bit. Values between “0” and “255” readMsgforBrake. When Driver 

pressBrake and then BrakePedal send brakeSignal “255” to the ABS, the car 

brakes as strongly as possible. Otherwise when Driver releaseBrake, 

furthermore send brakeSignal “0” will send to the ABS, and the Brakes are 

released completely. 

F2: Controller-area network (CAN or CAN-Bus) is a vehicle bus standard designed 

to allow microcontrollers and devices to communicate with each other within a 

vehicle without a host computer 

Page 2

F3: All actions of the Driver are sent to the CAN-Bus. 

F4: The position of the AccelPedal when accelSignal is represented by a CAN-Bus 

with readCANMsg Event-ID 101 and one byte data (0=no Acceleration, 

255=maximal Acceleration). The AccelPedal will send accelSignal as an input 

signal to the CAN-Bus. 

F5: The position of the BrakePedal when brakeSignal is represented by a CAN-Bus 

with readCANMsg Event-ID 102 and one byte data (0=no braking, 

255=maximum braking power). 

F6: The CAN-Bus Event-ID for readCANMsgSpeed in km/h is 312 with 2 data bytes 

containing the speedValue in integer format. 

F7: The System also connects AccelPedal to the Engine and BrakePedal to the 

ABS by Actuator. 

F8: The driver are able to increase speed when pressAccel the AccelPedal and 

decrease speed when releaseAccel. 

F9: The driver are also able to decrease speed when pressBrake the BrakePedal 

F10: Anti Lock Braking System (ABS) is a safety system for gripBrake and 

releaseBrake to prevents the wheels from locking while braking. 

F11: The car cannot stop immediately. 

F12: Radar as a Sensor sends the distanceValue by writeCANMsg every 25ms. 

F13: The closest distanceValue to the to front object using acc is 50 meter, if in this 

distance if the current speed is below 30 km/hour then acc will be deactivated. 

1.4. Assumptions 

A1: The Driver is not drunk and drives the car fully concentrates to maintain the 

desired speed. 

A2: The Driver knows how to use and control all car equipments. 

A3: Both the AccelPedal and the BrakePedal are not being pressed by the driver at 

the same time. 

1.5. Glossary 

Driver: A person who is in charge of controlling the vehicle 

Accel_Pedal: A pedal that give impulse to the machine to increase the power of the 

engine 

Brake_Pedal: A pedal that is used to decrease the speed of the vehicle 

Engine:Engine that creates the movement of a vehicle 

Brake: Plates that are placed in the wheels to decrease the speed of the wheels 

ABS: Anti Lock Braking System is a safety system on motor vehicles which 

prevents the wheels from locking while braking. 

ACC Control Unit: Panel to control the ACC. 

Multifunctional Display: The Display to show the ACC speed and the ACC State 

ACC Speed: Lexical domain to get the current speed. 

ACC State: Lexical domain to get the ACC state. 

CAN-Bus: Controller-area network (CAN or CAN-bus) is a vehicle bus standard 

designed to allow microcontrollers and devices to communicate with each 

other within a vehicle without a host computer. 

Page 3

Bowden Wire: A bowden wire is a type of flexible cable used to transmit mechanical 

force or energy by the movement of an inner cable (most commonly of steel 

or stainless steel) relative to a hollow outer cable housing. The housing is 

generally of composite construction, consisting of a helicalsteel wire, often 

coated with plastic, and with a plastic outer sheath. 

1.6. Alternatives 

ALT1: Hire a professional driver 

ALT2: Use GPS and combine with RADAR system. 

ALT3: Create an Automatic Cruise Control System that can do automation to drive a 

car more comfortable but safe. 

1.7. Validations I 

Driver 

Accel_Pedal 

Brake_Pedal 

Engine 

Brake 

ABS 

CAN-Bus Controller 

pressBrake 

sendBrakeSignalreleaseBrake 

pressAccel 

releaseAccel 

sendBrakeSignal 

sendIncreaseSpeedSignal 

engineControlUsingBowden 

Wire 

brakeControlUsingBowdenW 

ire 

decreaseSpeed 

sendBrakeSignalincreaseSpe 

ed 

controlBrake 

brakeStatusSignal 

1.8. Validations II 

F1 F2 F3 F4 F5 F6 F7 F8 F9 F10 A1 A2 A3 

DOMAIN 

PHENOMENA 

The context diagram contains all domains necessary to describe the shortcomings 

and the shortcomings are stated using elements of the domain knowledge 

description. 

SC1: Engine 

SC2: Engine, braking. 

SC4: Driver 

Page 4

2.1 System Mission 

Phase 2 

SM1: The system should make the driving more convenience. 

SM2: The system should make driving of the car safer. 

2.2 Select development alternative 

ALT1: Hire a professional driver 

Driver is also a human, still possible to makes mistake when he is not concentrate. 

ALT2: Use GPS and combine with RADAR system. 

Socket Bluetooth GPS: Around 300 Euro and RADAR system around 200 Euro. 

This alternative is quite cheap but only covers SC3. 

ALT3: Create an Automatic Cruise Control (CCS) System that can do automation to 

drive a car more comfortable but safe. 

CCS prices only 300 Euro. If CCS combined with RADAR system it’s equal to 500 

Euro. With the same price as ALT2 this system has more advantages (cover SC1, 

SC2, SC3, SC4). 

Therefore, ALT3 has chosen as development alternative. 

2.3 New Context Diagram 

Page 5

a: {press accel, release accel} 

b: {press break, release brake} 

c: {press button plus, press button minus, press button set, press button resume, press 

button off} 

d: {accel signal} 

e: {button signal} 

f: {brake signal} 

g: {speed value, ACC state} 

h: {distance value} 

i: {readCANMsg, writeCANMsg} 

j: {read CANMsgSpeed} 

k: {set speed, release speed} 

l; {readMsgforBrake} 

m: {grip brake, release brake} 

2.4 Changed/added/removed Facts 

No Changed/added/removed Facts 

2.5 Changed/added/removed Assumptions 

No Changed/added/removed Assumptions 

2.6 Changed Glossary 

CCS: Cruise Control System is a system that automatically controls the rate of 

motion of a motor vehicle. The driver sets the speed and the system will take 

over the throttle of the car to maintain the same speed. 

2.7 Initial Requirements 

R1: The driver pressButtonResume then the ACC is activated. 

R2: The driver pressButtonOff then the ACC is deactivated. 

R3: If driver pressButtonSet then, the car current speed is setSpeed as desired 

speed. 

R4: If the driver pressButtonPlus then the desired speed will be increased in the 

step of 10km/hour. 

R5: If the driver pressButtonMinus then the desired speed will be decreased in 

the step of 10km/hour 

R6: If the ACC is activated and the speed is set and sensor detect there is an 

object in front of the car for certain distanceValue then the speed will be 

automatically decreased. 

R7: If the ACC is activated and sensor detect from distanceValue there is no 

object in front of the car then the ACC can accelerate the car to the desired 

speed. 

R8: If the ACC is activated it can only brake the car with readMessageforBrake 

at most 30% of maximum braking power. 

R9: If the ACC is activated, ACC can resume to the last default setSpeed after 

braking. 

R10: The Actuator will setSpeed using signal id 105, but if there is no signal 105 

for 100ms then signal 101 will be used. 

Page 6

R11: If there are any buttonSignal then there will be an acoustic and optical 

warning from multifunctional display. 

R12: All accState will also can be seen in multifunctional display. 

R13: If there are accelSignal or brakeSignal from the driver when the ACC is 

activated then the ACC will be overridden. 

Consolidate Requirements 

SM1: The system should make the driving more convenience. 

Driving will be more convenience when the Driver can easily control the car in 

all possible cases. It should be possible to set the current speed as a desired 

speed. The car should drive with the desired speed until the driver brakes or 

the speed is one minute above the desired speed. The car should accelerate 

up to the desired speed when the distance is big enough and decrease Speed 

if the speed is lower than the desired speed and the distance are close 

enough. It should also be possible to resume to the last default speed after 

breaking. 

Necessary: 

(R1, R2, R3, R4, R5, R6, R8, R9) 

• Sufficient : 

(R1 ٨ R2 ٨ R3 ٨ R4 ٨ R5 ٨ R6 ٨ R9 ٨ F2 ٨ F3 ٨ F4 ٨ F5 ٨ F6 ٨ F8 ٨ F9 ٨ 

A2) ٨ 

(R8 ٨ R9 ٨ F2 ٨ F3 ٨ F4 ٨ F5 ٨ F6 ٨ A2 ٨ A3) ٨ (R5 ٨ F9 ٨ F10 ٨ A2 ٨ A3) 

 

SM1 

SM2: The system should make driving of the car safer. 

Driving will be safer when the system can easily detects an object in front of 

the car. The speed should be automatically decreased when the car ahead (or 

another object) is within a certain distance according to the current speed. In 

case the system fails, the engine is remotely controlled by actuators which 

connect the acceleration pedal with the engine. 

٨ 

Summary: 

• Necessary : 

(R6, R7, R8) 

• Sufficient : 

(R6 ٨ R7 ٨ F1 ٨ F2 ٨ F3 ٨ F5 ٨ F6 ٨ F7 ٨ F9 ٨ A2 ٨ A3) ٨ (R8 ٨ F1 ٨ F2 ٨ F3 

A3) SM2 

R’ = {R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11, R12, R13} (mission critical 

requirements) 

Requirements R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11, R12 and R13 are 

“need to have” 

All requirements will be implemented. 

Page 7

2.8 Validation 

2.8.1. Validation I 

• The applied operators for the context diagram are given directly below the 

diagram. 

• The system mission statement addresses the shortcomings or refer to domain 

knowledge of the system in use: 

SM1 address shortcomings SC2 and SC4 

SM2 address shortcomings SC1 and SC3 

• The phenomena and the domains of the context diagram are printed 

emphasized in the requirements and in the domain knowledge. 

2.8.2 Validation II 

All given and designed domains are referenced in the requirements and the 

domain knowledge: 

Driver 

Table1 All given, design domains & phenomenon referenced to the 

Requirement 

ACC Control Unit 

Accel_Pedal 

Brake_Pedal 

CAN-Bus Controller 

Multifuntional Display 

Sensor 

Actuator 

Engine 

ABS 

Brake 

pressButtonResume 

pressButtonOff 

pressButtonSet 

setSpeed 

pressButtonPlus 

pressButtonMinus 

distanceValue 

R1 R2 R3 R4 R5 R6 R7 R8 R9 R10 R1 

1 

DOMAIN 

PHENOMENA 

R1 

2 

R1 

3 

Page 8

Driver 

readMessageforBrake 

buttonSignal 

accState 

Accel_Pedal 

Brake_Pedal 

CAN-Bus 

Sensor 

Actuator 

Engine 

ABS 

Brake 

pressBrake 

releaseBrake 

brakeSignal 

accelSignal 

accelSignal 

brakeSignal 

Table2 All domains & phenomenas referenced to the fack and Assumption 

readCANMsgSpeed 

readCANMsg 

speedValue 

pressAccel 

releaseAccel 

readMsgforBrake 

gripBrake 

releaseBrake 

distanceValue 

writeCANMsg 

F1 F2 F3 F4 F5 F6 F7 F8 F9 F10 F1 

1 

DOMAIN 

PHENOMENA 

F1 

2 

F1 

3 

A1 A2 A3 

Page 9

3.1. Problem diagrams. 

Phase 3 

3.1.1. Problem diagram 1: ACC Control State. 

a. ACC State Control!{setDesiredSpeed, increaseDesiredSpeed, 

decreaseDesiredSpeed } 

b. CAN Bus! {sendSignal +, -, resume, set, off} 

c. ACC Control Unit! {press +, - , resume, set, off} 

d. Driver! {press +, - , resume, set, off } 

e. {get value} 

f. {setDesiredSpeed} 

3.1.2. Problem diagram 2: IncreaseDecrease Control – ACC 

Page 10

a. IDC - ACC!{sendDistanceSignal}s 

b. AutoIDS- CCS!{changeDesiredSpeed} 

c. SS!{sendCurrentSpeedSignal } 

d. AutoIDS- CCS!{increaceSpeed, decreaseSpeed} 

e. Radar!{distanceMeasurement} 

f. {sendIincreaseSpeedSignal} 

g. {changeDesiredSpeed} 

h. {sendCurrentSpeedSignal } 

i. {increaceSpeedCommand, decreaseSpeedCommand} 

j. {increaceSpeed, decreaseSpeed} 

k. {distanceMeasurementSignal} 

l. {distanceMeasurement} 

3.3.3. Problem diagram 3: Overridden Control ACC 

a: CAN_Bus!{ sendBrakeSignal } 

b: DCA! { manualAccel } 

c: DCA! { manualBrake } 

d: BrakePedal!{sendBrakeSignal} 

e: Accel Pedal!{sendAccelSignal} 

f: Driver!{pressBrake} 

g: Driver!{pressAccel} 

h: {pressAccel, pressBrake} 

i: {manualAccel} 

j: {manualBrake} 

Subproblem Relationship 

::= || < manual_driving> 

::= ACC State 

::= Increase and Decrease ACC 

< manual_driving> ::= Overraidden ACC 

Page 11

When the car is started there are modes of driving. There are the Automatic 

driving and the Manual driving. The Automatic driving has the priority in this since the 

aim is get convenient driving. 

For the Manual driving the overridden ACC has the highest priority because if any 

of the sensors are broken the car has to stop or the driver change to Manual driving 

mode to avoid accident. 

3.4. Validation 

The phenomenon in the problem diagrams the same as in the context diagram. 

Only when connection domains are introduced, new phenomena have been 

introduced. (clearly defined in each sub problem) 

The domains in the problem diagram the same as in the context diagram. Only 

connection domains are introduced (clearly defined in each sub problem). 

All requirements of Phase 2 are captured. 

Requirement Sub Problem 

1 1 

2 1 

3 1 

4 1 

5 1 

6 2 

7 2 

8 2 

9 2 

10 2 

11 2 

12 2 

13 3 

Page 12

Phase 4 

4.1 Sequence Diagram: Button Pressed 

S1: if the button resume is pressed then acc control unit will send signal to acc to 

activate acc. 

S2: if the button off is pressed then acc control unit will send signal to acc to 

deactivate acc. 

S3: if the button set is pressed then acc control unit will send signal to acc to set 

the current speed as the desired speed. 

S4: if the button plus is pressed then acc control unit will send signal to acc to add 

the desired speed by 10 km/hour. 

S5: if the button minus is pressed then acc control unit will send signal to acc to 

subtract the desired speed by 10 km/hour. 

S6: If ACC detect button signal then there will be acoustic and optical warning from 

multifunctional display. 

S7: If ACC detect speed value then there will be display in Multifunctional display. 

sd Distance Update 

loop 

ACC CAN Bus Controller 

{currentDistance = -1} 

alt 

ACTIVE_ACC 

sendSignal(820,distance) 


__ t = t + 25 

{currentDistance = currentDistance} 

ACTIVE_ACC 

sendSignal(820,65535) 

__t = t + 101 

sendSignal(601, "OFF",0) 

DEACTIVE_AC 

C 


__ t = now 

Sensor Multifunctional Display 

__ t = now 

sendSignal(601, "OFF",0) 

Figure 4.1. Sequence Diagram Distance Update 

Page 13

Figure 4.2. Sequence Diagram Button Pressed 

Page 14

4.2 Sequence Diagram: Increase decrease – CCS (SDID-CCS) 

S8: if acc is active and there is an object in front of the car, if the distance is more 

than 50 m and the currentspeed is less than desiredspeed then the acc will 

increase the current speed, if the current distance is between 45 m and 50 m, 

the acc will give command for the acumulator to do nothing, if the current less 

then 45 m then the acc will calculate the brake power to brake the car. If the 

current distance is 65535 then acc is deactivated. 

sd Increase and Decrease 

loop 

ACC ACC Speed CAN Bus Controller Sensor Actuator Engine ABS Brake Multidisplay 

ACTIVE_ACC 

ref 

alt 

Active 

distanceUpdate 

[ currentDistance > 5000 

And currentSpeed < desiredSpeed ] 

sendSignal(105,currentSpeed+1) 

[ currentDistance < 5000 ] 

alt 

getCurrentSpeed() 

currentSpeed 

{current speed = current speed} 

[ currentDistance > 4500 ] 

[ currentDistance < 4500 ] 

calculateBrakePower() 

[ currentDistance = 65535 ] 

sendSignal(601,"OFF",0) 

Deactive 

CAN_BUS_CONTROLLED 

_BY_ACC 

sendSignal(105,currentSpeed-1) 

brake(brakePower) 

ACTUATOR_CONTR 

OLED_BY_ACC 

increaseRPM() 

noPower() 

ACTUATOR_NOT_CON 

TROLED_BY_ACC 

sendSignal(601,"OFF",0) 

ABS_CONTROLLED_ 

BY_ACC 

brake() 

ABS_NOT_CONTROL 

ED_BY_ACC 

Figure 4.3 Sequence Diagram Increase Decrease Speed – Cruise Control 

System 

4.3 Sequence Diagram: Manual Control and Overridden ACC 

Page 15

S9: if accel pedal or brake pedal is pressed and the acc is active then the acc will be 

overridden 

Figure 4.4 Sequence Diagram Manual Control and Overridden ACC 

4.4. Sequence diagrams for Initialization 

4.5. Validation 

Page 16

• All requirements assigned to the sub problem and also assigned to 

corresponding sequence diagram. 

• Phenomena of the problem diagram are used in the sequence diagram 

• S ∧ A ∧ F R’ 

• S1 ∧ A2 ∧ F1 ∧ F2 R1 

• S2 ∧ A2 ∧ F1 ∧ F2 R2 

• S3 ∧ A2 ∧ F1 ∧ F2 R3 

• S4 ∧ A2 ∧ F1 ∧ F8 R4 

• S5 ∧ A2 ∧ F1 ∧ F9 R5 

• S8 ∧ A2 ∧ F1 ∧ F6 R6 

• S8 ∧ A2 ∧ F1 ∧ F4 ∧ F12 

∧ F13 R7 

• All requirements are captured. 

• S8 ∧ A3 ∧ F1 ∧ F5 R8 

• S8 ∧ A3 ∧ F1 R9 

• S8 ∧ A1 ∧ F1 R10 

• S6 ∧ A1 ∧ F3 R11 

• S7 ∧ A1 ∧ F3 R12 

• S9 ∧ A3 ∧ F2 ∧ F3 ∧ F7 

R13 

Page 17

Phase 5 

5.1 Automatic Cruise Control (ACC) Architecture 

5.2 Purpose of each Component: 

No Subcomponents needed for this problem. 

5.3 Sub Components: 

No Subcomponents needed for this problem. 

5.4 Automatic Cruise Control System (ACC), Internal Interfaces: 

No internal interface. 

5.5 Automatic Cruise Control System (ACC), External Interfaces: 

Page 18

5.6 Sub problem Relationships: 

The sub problem relationship of the component Automatic Cruise control System is 

the same as problem diagram relationship in Phase 3. 

5.7 Validation: 

- All machine interfaces of the problem diagrams are captured. 

- The signals in the sequence diagrams are the same as in the external interfaces. 

- To each programmable component at least one problem diagram is associated. 

- All problem diagrams are associated to the ACC. 

- All domains in the problem diagrams being part of the machine are associated to 

a component. 

- Only one machine domain in the context diagram exists. Its structure is given by 

the architecture. 

- The purpose of each component is consistent to the associated requirements. 

Page 19

Phase 6 

6.1 Sequence diagrams for Initialization 

6.2 Interface behavior for Control Signal 

Page 20

6.3 Interface behavior for Incoming State Signal 

6.4 Interface behavior for Distance Signal 

Page 21

sd Distance SIgnal 

loop 

CAN Bus Controller ACC 


__ t = now 

alt 

t = t + 101 __ 

Active 


__ t = t + 25 


DEAKTIVE 


• The sequence diagrams describe as in Phase 4, since all diagrams are reused. 

• In interface of Phase 5, all signals are used in at least one sequence 

diagram. 

• The direction of signal is consistence of Phase 5. 

• The signal connect components as connected in the system of Phase 5. 

Phase 7 

Page 22

7.1 ACC System Architecture 

7.1 ACC State Control 

7.1.1 ACC State Control Problem Frame 

7.1.2 ACC State Control Architecture 

7.2 Increase Decrease Control ACC 

7.2.1 Increase Decrease Control ACC Problem Frame 

Page 23

IncreaseDecrease 

Control - ACC 

a 

b 

c 

d 

Acc 

Control 

Unit 

e 

CAN-Bus 

ACC Speed 

Actuator 

ABS 

i 

j 

h 

Driver 

Multifuntio 

f 

nal Display 

Sensor g 

Engine 

Brake 

7.2.2 Increase Decrease Control ACC Architecture 

7.3 Overridden Control ACC 

7.3.1 Overridden Control ACC Problem Frame 

g 

f 

n 

l 

m 

o 

p 

k 

R6, R7, R8, R9,R10, 

R11, R12 

Page 24

7.3.2 Overridden Control Architecture 

ACC Machine 

7.4 Global Architecture 

CAN Bus IAL 

driver 

CAN Bus 

driver 

CAN Bus 

ACC Application Overridden 

MicroController 

ACC Speed 

Page 25

The components of the global architecture are merged using the following 

components of the subproblem architecture. 


ACC Application 

CAN Bus HAL 

Actuator HAL 

ABS HAL 

ACC Application State 

ACC Application Increase Decrease 

ACC Application Overridden 

CAN Bus driver ACC State 

CAN Bus driver IncDec 

Actuator driver IncDec 

ABS driver IncDec 

• The subproblem architectures have the same external interfaces as the 

problem diagram. 

• The phenomena of sequence diagram at the external interfaces are the same 

as the signals in the interfaces of the application layer. 

• The direction of all signals is consistent to each other and consistence to the 

input. 

• The architecture has the same external interfaces as the ACC controller 

component of the machine architecture developed in phase 5. 

The overall architecture contains all components of all subproblem architectures. 

Page 26

Phase 8 

8.1 ACC Control System Architecture 

ACC Machine 

Can_Bus_Out Can_Bus_In 

Can_Bus_Mic_in 

ports_CAN_In 

CAN Bus_In_Iff 

CAN Bus 

IAL 

CAN Bus 

HAL 

CAN Bus 

Can_Bus_Mic_Out 

ports_CAN_Out 

CAN Bus_Out_Iff 


Actuator 

IAL 

Actuator 

HAL 


Actuator 

Actuator_ctr 

ports_Act 

ABS 

IAL 

ABS 

HAL 

ABS 

Abs_ctr 

Actuator_com Abs_com 

Actuator_ctr_Iff 

8.2 Sequence diagrams for Initialization 

port 

4 

Abs_ctr_Iff 

Page 27

8.3 CAN Bus_ACC Control Unit 

sd ACC Control Unit 

alt 

CAN Bus_ACC Control Unit 

resumeButtonPushed() 

offButtonPushed() 

setButtonPushed() 

plusButtonPushed() 

minusButtonPushed() 

8.4 CAN Bus_AccelPedal 

Unit = ms 

sendSignaltoACC(504) 





Page 28

8.5 CAN Bus_BrakePedal 

8.6 CAN Bus_Sensor 

sd Sensor 

loop 

alt 

distance(distance) 

Distance(65535) 

CAN Bus Sensor 

t=t+25 - 

__t=Now 


__t=t+101 


Unit = ms 

ACC_APLICATION 

ACTIVE ACC 

DEACTIVE ACC 

8.7 ACC Application – SubProblem ACC State 

Page 29

sd ACC State Application 

alt 

ACC Application CAN Bus_ACC Control Unit 

ACTIVE ACC 


sendSignal(601,“PLUS“,desiredSpeed) 

ACTIVE ACC 

ACTIVE ACC 


sendSignal(601,“MINUS“,desiredSpeed) 

ACTIVE ACC 

ACTIVE ACC 


sendSignal(601,“SET“,desiredSpeed) 

ACTIVE ACC 

DEACTIVE ACC 


sendSignal(601,“RESUME“,-1) 

ACTIVE ACC 

ACTIVE ACC 


sendSignal(601,“OFF“,0) 

DEACTIVE ACC 

sendSignal(601,“PLUS“,desiredSpeed) 

sendSignal(601,“MINUS“,desiredSpeed) 

sendSignal(601,“SET“,desiredSpeed) 

sendSignal(601,“RESUME“,-1) 


8.8 ACC Application – SubProblem Overriden ACC 

Page 30

sd Overriden ACC Application 

alt 


SendSignal(102,power) 

SendSignal(101,power) 


ACTIVE ACC 

OVERRIDEN 

sendSignal(102,power) 


CAN Bus Controlled 

All sequence diagrams together describe the same behaviors in Phase 6. 

All signals in the interfaces classes of Phase 7 are captured in at least one 

sequence diagram. 

The direction of the signals are consistent with the required or provided 

interfaces of Phase 7. 

The signals connect the same components as connected in the software 

architecture of Phase 7. 

Page 31

Phase 9 

9.1 Global Software Architecture 

ACC Machine 

Can_Bus_Out Can_Bus_In 

Can_Bus_Mic_in 

ports_CAN_In 

CAN Bus_In_Iff 

CAN Bus 

IAL 

CAN Bus 

HAL 

CAN Bus 

Can_Bus_Mic_Out 

ports_CAN_Out 

CAN Bus_Out_Iff 


Actuator 

IAL 

Actuator 

HAL 


Actuator 

ports_Act 

9.2 Component ACC Application 

s 

Actuator_ctr 

Actuator_ctr_Iff 

9.3 Component ACC_ButtonPress 

ABS 

IAL 

ABS 

HAL 

ABS 

Abs_ctr 

Actuator_com Abs_com 

port 

4 

Abs_ctr_Iff 

Page 32

ACC_ButtonPress 

[desiredSpeed < 120]/ 

desiredSpeed = 

desiredSpeed + 10 

sendSignaltoACC(501)/ 

sendSignal(601,“+“,desiredSpeed) 

[else] 



sendSignal(601,“- 

“,desiredSpeed) 

ACTIVE_ACC DEACTIVE_ACC 




sendSignal(601,“SET“,desir 

edSpeed) 

sendSignal(102,power) sendSignal(101,power) 


activateLastdesiredSpeed() 

sendSignal(601,“RESUME“,desi 

redSpeed), 

OVERRIDEN 

9.4 Component Increase Decrease 

[desiredSpeed > 40]/ 

desiredSpeed = 

desiredSpeed + 10 

[else] 



sendSignal(601,“RESUME,-1“) 

ACC_ON 

Page 33

ACC Increase Decrease 

ACTIVE_ACC 

[currentDistance4500]/ 

sendSignal(105,desiredSpeed,N 

O_POWER) 

Page 34

ABS IAL 

ABS_NOT_CONTROLLED_BY_ACC 

c 


ABS__CONTROLLED_BY_ACC 

brake(brake) 

brake(brake) 

9.7 Component ACC IAL Application for CAN Bus 

9.8 Component ACC IAL Application for Actuator 


Page 35

ACTUATOR IAL 

ACTUATOR_NOT_CONTROLLED_BY_ACC 

c 

sendSignal(101,speed) 

ACTUATOR_CONTROLLED_BY_ACC 

[speedDesiredSpeed]/ 

noPower() 




sendSignal(102,brake) 


• The state machines behave as described in the sequence diagrams of Step 8. 

All states are covered. 

• The interface classes are the same as in Phase 7. 

• The state machines handle all possible signals in all states. 

Page 36

PHASE 10 

10.1 Application component 

This component implements component 

public interface Can_Bus_Out_if { 

public void sendSignal(int signal, String value, int desiredSpeed); 

} 

The implementation of the component is located in 

test\acc_g1\Application_test.java 

The test cases for the component is located in 

test\acc_g1\Component_test.java 

The test cases cover the following actions: 

• sending the signal from range 100 – 505 

• sending the value parameter from range 100 – 505 

• check also the state when sending signal 501 - 505 

10.2 ACTUATOR IAL 

Page 37


public interface Actuator_Ctr_if { 

public void sendSignal(int signal, int desiredSpeed); 

public void sendSignal(int signal, int desiredSpeed, ActuatorOperation command); 

} 


test\acc_g1\Actuator_IAL_test.java 




• sending the signal from range -2 until 255 

• sending the value to INCREASE and NO_POWER 

10.3 ABS IAL 

Page 38


public interface Abs_Ctr_if { 

public void brake (int brakePower); 

} 


test\acc_g1\ABS_IAL_test.java 




• sending the brake from range -2 until 255 

10.4 CAN BUS IAL 

Page 39


public interface Can_Bus_Out_if { 

public void sendSignal(int signal, String value, int desiredSpeed); 

} 

public interface Can_Bus_Mic_Out_if { 

public void sendSignaltoACC (int signal, int value); 

public void sendSignaltoACC (int signal); 

} 


test\acc_g1\CAN_IAL_test.java 




• sending the signal from range -2 until 255 

• sending value from range -2 until 255 

Page 40

• sending value PLUS,MINUS and SET 


Test cases for Phase-10 are located in 

test\acc_g1\ Component_test.java 

- In all test cases for 4 software components have been verified 

- Test cases cover all components of our application 

- No failures were found during the component-testing 

Page 41

PHASE 11 

11.1 Scenario 1 : press accel to set the speed to 60, then the current distance is 300m then 

acc is active and set , then set the desired speed to 120 

Test case parameters 

Current speed = 60 km/hour 

Current Distance = 300 m 

ACC : ACTIVE_ACC 

Desired Speed = 120 Km/hour 

Expected Desired Speed = 120 Km/hour 


acc is active and set , then set the desired speed to 120 , then the current distance is 

changed into 40 m 






New current Distance = 40m 

Expected Brake = 10 






Page 42





Expected Brake = 77 










Expected Signal : ( 601 , “OFF”, 0 ) -> signal that show that ACC is deactive 


Test cases for Phase-11 are located in 

test\acc_g1\ Integration_test.java 

In all, four integrating test cases have been verified. No failures were found 

during the testing. 

Page 43

Group 1

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