Electronic Stability Control based on FMCSA571.126

Overview

Initial and informal model based on first reading of the US Electronic Stability Control standard.

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Module Statistics: | All clafers: 78 | Abstract: 6 | Concrete: 72 | Reference: 5 | Constraints: 4 | Goals: 0 | Global scope: 1..* | Can skip name resolver: no |

Module Downloads: | [.cfr] | [.html] |

Detailed Model

abstract degree ->> integer
[ this > 0 && this <= 360 ]
abstract Vehicle
`DriveConfiguration
`ElectronicStabilityControlSystem
`AntiLockBreakSystem
`TractionControlSystem
AckermanSteerAngle : degree
speed -> integer
lateralAcceleration -> integer
sideSlipAngle : degree
yawRate : degree
normalYawRate : degree
givenAckermanSteerAngle
hasOversteer ?
[ yawRate > normalYawRate <=> hasOversteer ]
hasUndersteer ?
[ yawRate < normalYawRate <=> hasUndersteer ]
GVWR -> integer
abstract xor DriveConfiguration
twoWheelDrive
frontWheelDrive
rearWheelDrive
allWheelDrive
xor fourWheelDrive
highGearWithLockedDifferential
lowGear
abstract ElectronicStabilityControlSystem
vehicle -> Vehicle
augmentsVehiclesDirectionalStability
adjustsBrakeTorquesToInduceCorrectingYawMoment
toEachWheelIndividually
limits
understeer
oversteer
estimates
YawRate
sideSlip
derivativeWithRespectToTime
monitors
driverSteeringInputs
modifiesEngineTorque
isOperational ?
[ vehicle.speed > 20 ]
duringAllPhasesOfDriving
acceleration
coasting
deceleration
breaking
withAntiLockBrakeSystem
withTractionControlSystem
or isNotOperational
whenTurnedOffByTheDriver ?
whenDrivenInReverse ?
duringSystemInitialization ?
Mode
driverSelected ?
xor type
standard
performance
snowOrSlipperyRoad
Off// (default)
entersStandardModeAfterIgnition
satisfies
stabilityCriteria
responsivenessCriterion
or MalfunctionTelltale ?
malfunctionDetected
mustRemainContinuouslyIlluminatedForAsLongAsMalfunctionExists
ignitionLockInOnPosition
mustExtinguishAtTheNextIgnitionCycleAfterTheMalfunctionHasBeenCorrected
flashingWhenInOperation ?
mustIlluminateWhenIgnitionControlInCheckPosition
SystemControls
Off
xor ignitionControlPosition
Off
Check
On
Start
abstract AntiLockBreakSystem
abstract TractionControlSystem