Hybrid supervisory control for real-time embedded bus rapid transit applications

Complex large-scale embedded systems arise in many applications, in particular in the design of automotive systems, controllers, and networking protocols. In this paper, we attempt to present a review of salient results in modeling of complex large-scale embedded systems, including hybrid systems, and review existing results for composition, analysis, model checking, and verification of safety properties. We then present a library of vehicle models designed for vehicle following [cruise control (CC), adaptive CC (ACC), cooperative ACC (CACC)]. The models and controllers attempt to cross the chasm between theory and practice by capturing real-world challenges faced by industry and making the library accessible in a public domain form, with a gradation of levels of complexity. The most complex level was used for controller design and simulation for a bus rapid transit demonstration. Experimental results are shown.