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Model-Driven Development of Reliable Automotive Services

Second Automotive Software Workshop, ASWSD 2006, San Diego, CA, USA, March 15-17, 2006, Revised Selected Papers

herausgegeben von: Manfred Broy, Ingolf H. Krüger, Michael Meisinger

Verlag: Springer Berlin Heidelberg

Buchreihe : Lecture Notes in Computer Science

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik" , Springer Professional "Wirtschaft"

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Über dieses Buch

Software development for the automotive domain has become the enabling te- nologyforalmostallsafety-criticalandcomfortfunctionso?eredtothecustomer. Ninety percentofallinnovations inautomotive systems aredirectly or indirectly enabled by embedded software. The numbers of serious accidents have declined in recent years, despite constantly increasing tra?c; this is correlated with the introduction of advanced, software-enabled functionality for driver assistance, such as electronic stability control. Software contributes signi?cantly to the - tomotive value chain. By 2010 it is estimated that software will make up 40% of the value creation of automotive electrics/electronics. However, with the large number of software-enabled functions, their int- actions, and the corresponding networking and operating infrastructure, come signi?cant complexities both during the automotive systems engineering p- cess and at runtime. A central challenge for automotive systems development is the scattering of functionality across multiple subsystems, such as electronic control units (ECUs) and the associated networks. As an example, consider the central locking systems (CLS), whose functionality is spread out over up to 19 di?erent ECUs in some luxury cars. Of course, this includes advanced functi- ality, such as seat positioning and radio tuning according to driver presets upon entry, as well as unlocking in case of a detected impact or accident. However, thisexampledemonstratesthatmodernautomotivesystemsbridgecomfort-and safety-critical functionality. This induces particular demands on safety and - curity, and, in general, software and systems quality. The resulting challenges and opportunities were discussed, in depth, at the second Automotive Software Workshop San Diego (ASWSD) 2006, on whose results we report here.

Inhaltsverzeichnis

Frontmatter

Modeling Techniques and Infrastructures

The Case for Modeling Security, Privacy, Usability and Reliability (SPUR) in Automotive Software

Abstract

During the past few years, there has been considerable growth in the practice of modeling automotive software requirements. Much of this growth has been centered on software requirements and its value in the context of specific functional areas of an automobile, such as powertrain, chassis, body, safety and infotainment systems. This paper makes a case for modeling four cross-functional attributes of software, namely security, privacy, usability, and reliability, or SPUR. These attributes are becoming increasingly important as automobiles become information conduits. We outline why these SPUR attributes are important in creating specifications for embedded in-vehicle automotive software.

Several real-world use-cases are reviewed to illustrate both consumer needs and system requirements — functional and non-functional system requirements. From these requirements the underlying architectural elements of automotive SPUR are also derived. Broadly speaking these elements span three software service domains: the off-board enterprise software domain, the nomadic (device or service) software domain and the embedded (in-vehicle) software domain, all of which need to work in tandem for the complete lifecycle management of automotive software.

K. Venkatesh Prasad, Thomas J. Giuli, David Watson

Addressing Cross-Tool Semantic Ambiguities in Behavior Modeling for Vehicle Motion Control

Abstract

Emerging model-based development methods in the Automotive Vehicle Motion Control (VMC) domain are using different tools at various stages of the engineering process. Behavioral models created in various forms of finite state machines have to be exchanged across these tools, but semantic unknowns in modeling environments and semantic variations across tools preclude automated correct interpretation. This research presents an approach to address this issue through an unambiguous, math-based, tool-neutral extended finite state machine metamodel (eFSM) for behavior specifications in the automotive VMC domain. The semantics of the metamodel are anchored to formal specifications in a mathematical framework. Our approach requires modeling with commercial tool environments conforming to the eFSM. The conformance is enforced by exporting the tool native models into eFSM-conformant models and checking them against the well-formed rules encoded as OCL constraints in the eFSM. We have performed “proof of concept” exercises with two commercial tools in transforming their native models into eFSM-conformant forms, and have been able to show that certain ambiguities in both tools can be prevented through the eFSM, promising higher confidence software engineering for the VMC domain.

Sandeep Neema, Sushil Birla, Shige Wang, Tripti Saxena

A Software and System Modeling Facility for Vehicle Environment Interactions

Abstract

This paper describes an advanced modeling facility for system and software design that is being constructed at the Ford Research and Innovation Center. This facility is intended to address the growing complexity of automotive embedded software and the resulting issues for vehicle development. Software complexity is expected to grow at a significantly higher rate in the near future as vehicle systems begin to interact with external software based systems to provide significant new capabilities in both the infotainment and the safety areas. Increased complexity will require a broader range of modeling capabilities than just functional/behavioral modeling. Our recent experience with the latter has shown substantial benefits for the product development process, and we expect that the more comprehensive modeling process described here will bring even greater benefits.

Edward Nelson, Henry Huang

Model Transformations

Generating Sound and Resource-Aware Code from Hybrid Systems Models

Abstract

Modern real-time embedded systems are complex, distributed, feature-rich applications. Model-based development of real-time embedded systems promises to simplify and accelerate the implementation process. Although there are appropriate models to design such systems and some tools that support automatic code generation from such models, several issues related to ensuring correctness of the implementation with respect to the model remain to be addressed.

In this work, we investigate how to derive sampling rates for distributed real-time systems generated from a hybrid systems model such that there are no switching discrepancies and the resources spent in achieving this are a minimum. Of particular interest are the resulting mode switching semantics and we propose an approach to handle faulty transitions and compute execution rates for minimizing missed transitions.

Madhukar Anand, Sebastian Fischmeister, Jesung Kim, Insup Lee

Towards Verification of Model Transformations Via Goal-Directed Certification

Abstract

Embedded software is widely used in automotive applications, often in critical situations where reliability of the system is extremely important. Such systems often use model based development approaches. Model transformation is an important step in such scenarios. This includes generating code from models, transforming design models into analysis models, or transforming a model between variants of a formalism (such as variants of Statecharts). It becomes important to verify that the transformation was correct, and the transformed model or code preserved the semantics of the design model. In this paper, we will look at a technique called “goal-directed certification” that provides a pragmatic solution to the verification problem. We will see how we can use concepts of bisimulation to verify whether a certain transformation instance preserved certain properties. We will then extend this idea using weak bisimulation and semantic anchoring, to a more general class of transformations.

Gabor Karsai, Anantha Narayanan

Quality Assurance

An Instrumentation-Based Approach to Controller Model Validation

Abstract

This paper discusses the concept of Instrumentation-Based Validation (IBV): the use of model instrumentation and coverage-based testing to validate models of embedded control software. IBV proceeds as follows. An engineer first formalizes requirements as assertions, or small models, which may be thought of as monitors that observe the behavior of the controller model as it executes. The engineer then instruments the model with these assertions and develops test suites with the aim of highlighting where assertion violations occur. To make our discussion of IBV more concrete, we also consider its implementation within the Reactis tool suite for the automated testing and validation of controller models given in ^® /Stateflow^®.

Rance Cleaveland, Scott A. Smolka, Steven T. Sims

TestML - A Test Exchange Language for Model-Based Testing of Embedded Software

Abstract

Test processes in the automotive industry are tool-intensive and affected by technologically heterogeneous test infrastructures. In the industrial practice a product has to pass tests at several levels of abstraction such as Model-in-the-Loop (MIL), Software-in-the-Loop (SIL) and Hardware-in-the-Loop (HIL) tests. Different test systems are applied for this purpose (e.g. dSPACE MTest, dSPACE Automation Desk, National Instruments Teststand) and almost each test system requests its own proprietary test description language. The exchange of tests between different test systems and the reuse of tests between different test levels is normally not possible. Efforts to integrate these heterogeneous test environments, to address test exchange in a general manner and to standardize and harmonize the existing language environment are still at the beginning and not tailored towards the requirements of the automotive domain. To keep the whole development and test process efficient and manageable, the definition of an integrated and seamless approach is required. TestML – the test exchange language we present in this article – is defined to overcome the technological obstacles (different test language syntax and semantics, different data formats and interface descriptions) that almost automatically accompany the application of heterogeneous test tools and test infrastructures. TestML supports the exchange of tests between different test notations in a heterogeneous tool environment. In this paper, we introduce the XML schema of TestML and demonstrate the efficiency of the interchange format by giving examples from the model-based development of electronic control units. Tool support is illustrated by an application with Simulink/Stateflow.

Juergen Grossmann, Ines Fey, Alexander Krupp, Mirko Conrad, Christian Wewetzer, Wolfgang Mueller

Towards Integrated Model-Driven Verification and Empirical Validation of Reusable Software Frameworks for Automotive Systems

Abstract

Software for automotive systems is rapidly increasing in complexity and scale, and leveraging reusable software frameworks in the development of these systems offers significant potential to reduce engineering costs and cycle times. However, the development of practical models and verification and validation techniques for automotive software built with reusable frameworks remains an open research challenge. This paper makes three main contributions to the state of the art in software engineering for automotive systems. First, it summarizes ways in which reusable software frameworks are relevant to automotive software engineering. Second, it describes an approach to verification and validation of reusable software frameworks which we have developed for other application domains. Third, it presents an evaluation of our approach in the context of an illustrative verification and validation scenario.

Venkita Subramonian, Christopher Gill

Real-Time Control

Modeling with the Timing Definition Language (TDL)

Abstract

This paper describes the model-based development process of hard real-time software with the Timing Definition Language (TDL): modeling and simulation of TDL components in Matlab®/Simulink®, their mapping to a specific platform and finally the code generation.

Wolfgang Pree, Josef Templ

Towards Model-Driven Development of Hard Real-Time Systems

Integrating ASCET and aiT/StackAnalyzer

Abstract

Software developers in the automotive sector must achieve high quality objectives. Many design and implementation errors are avoided by synthesizing code from model-based software specifications using automatic code generators such as ETAS’ ASCET. To verify non-functional properties of the implementation, model-based design processes should be complemented with static program analysis tools like AbsInt’s StackAnalyzer and timing analyzer aiT. ASCET, StackAnalyzer and aiT can be integrated in a way that the aiT/StackAnalyzer analysis results for code generated by ASCET are conveniently accessible from within the ASCET development environment. This gives ASCET users a direct feedback on the effects of their design decisions on resource usage, allowing them to select more efficient designs and implementation methods. In the paper, we present the tools, the experimental integration, preliminary results and plans for further tool integration.

Christian Ferdinand, Reinhold Heckmann, Hans-Jörg Wolff, Christian Renz, Oleg Parshin, Reinhard Wilhelm

Services and Components

Reusable Services and Semi-automatic Service Composition for Automotive Software

Abstract

Automotive software has become an important factor in the development of modern and innovative high-end vehicles. More and more functions can only be realized by the cooperation of different control devices. In addition, not only a single product but a number of basic configurations and a large number of optional functions for each new type series have to be addressed by the software. While product lines are a promising approach to address known variability within a car series, the reuse of functions across type series is not feasible with the current proposals. In this paper, a service-oriented approach is sketched which exploits that functions in automotive systems only have to be recombined in a restricted manner in order to enable reuse across car series. Components are used as basic units which provide localized basis functionality, patterns represent reusable assets which capture the interaction and protocols in between several roles, and services capture complex reusable functionality which requires the interaction of multiple units. It is sketched how all phases of the development process can benefit from a service-oriented approach and that advanced synthesis techniques can be employed to reuse the components, patterns and services and compose them with only minimal manual efforts.

Holger Giese

Backmatter

Titel: Model-Driven Development of Reliable Automotive Services
herausgegeben von: Manfred Broy
Ingolf H. Krüger
Michael Meisinger
Verlag: Springer Berlin Heidelberg
Electronic ISBN: 978-3-540-70930-5
Print ISBN: 978-3-540-70929-9
DOI: https://doi.org/10.1007/978-3-540-70930-5