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4.2 Sequence Diagram: Increase decrease – CCS (SDID-CCS)<br />
S8: if acc is active and there is an object in front of the car, if the distance is more<br />
than 50 m and the currentspeed is less than desiredspeed then the acc will<br />
increase the current speed, if the current distance is between 45 m and 50 m,<br />
the acc will give command for the acumulator to do nothing, if the current less<br />
then 45 m then the acc will calculate the brake power to brake the car. If the<br />
current distance is 65535 then acc is deactivated.<br />
sd Increase and Decrease<br />
loop<br />
ACC ACC Speed CAN Bus Controller Sensor Actuator Engine ABS Brake Multidisplay<br />
ACTIVE_ACC<br />
ref<br />
alt<br />
Active<br />
distanceUpdate<br />
[ currentDistance > 5000<br />
And currentSpeed < desiredSpeed ]<br />
sendSignal(105,currentSpeed+1)<br />
[ currentDistance < 5000 ]<br />
alt<br />
getCurrentSpeed()<br />
currentSpeed<br />
{current speed = current speed}<br />
[ currentDistance > 4500 ]<br />
[ currentDistance < 4500 ]<br />
calculateBrakePower()<br />
[ currentDistance = 65535 ]<br />
sendSignal(601,"OFF",0)<br />
Deactive<br />
CAN_BUS_CONTROLLED<br />
_BY_ACC<br />
sendSignal(105,currentSpeed-1)<br />
brake(brakePower)<br />
ACTUATOR_CONTR<br />
OLED_BY_ACC<br />
increaseRPM()<br />
noPower()<br />
ACTUATOR_NOT_CON<br />
TROLED_BY_ACC<br />
sendSignal(601,"OFF",0)<br />
ABS_CONTROLLED_<br />
BY_ACC<br />
brake()<br />
ABS_NOT_CONTROL<br />
ED_BY_ACC<br />
Figure 4.3 Sequence Diagram Increase Decrease Speed – Cruise Control<br />
System<br />
4.3 Sequence Diagram: Manual Control and Overridden ACC<br />
Page 15
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