PATH's automated vehicle control application software is responsible for the longitudinal and lateral control of each vehicle in a platoon [5]. The software consists of a set of processes running concurrently on a PC, reading data from various sensors (e.g., radar, speedometer, accelerometer, magnetometer), writing to actuators (throttle, brake and steering), and using radio to communicate data
... [Show full abstract] to other vehicles. The processes exchange data with each other using a publish/subscribe scheme. In this paper, we describe the current software, and propose a model written in the synchronous language Esterel [1]. We use Taxys [2,7], a tool for timing analysis of Esterel based on the Kronos model-checker [3], and the Esterel compiler Saxo-RT [6], to verify that the application meets its deadlines. Timing analysis is done on-the-fly during the execution of the appropriately instrumented C code generated by the compiler. Instrumentation allows the verifier to observe the execution time of the application code. The C code generated by Saxo-RT, appropriately linked to the publish/subscribe library, can be run on the vehicles.