Revision 8a57f3b03992351f46c4537fd0d9351592278d2b (click the page title to view the current version)

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