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 passengers window will never move if the
  window lock is engaged.
• (FP_w_lock -gt ltgt(FP_State sFP_Stop))
• The window will always stop when the torque
  reaches its limit.
• (DR_torquelimit -gtltgt (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.
• ltgt( (RIGHT_MIRROR ReverseDown) -gt ltgt RMirDown)
• The left mirror will eventually move down when
  the left mirror is selected and the down button
  is pushed.
• ltgt((LEFT_MIRROR press(L_Down)) -gt ltgt 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 -gt locks every door
• Press unlock -gt unlocks every door
• Manual Locks
• Press M_lock -gt locks the individual door
• Press M_unlock -gt unlocks the individual door

12
Window Scenarios

• Press up -gt rolls window up
• Press fp_up -gt driver rolls up Ft Pass window
• Press w_lock-gtlocks the pass. window controls
• Press fp_up-gt Driver can roll down pass. window
• Press up -gt Pass. cannot roll down their window
• Pressing w_unlock restores functionality
• Pressing down for tgt1s 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 doesnt 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