Tighter Dimensioning of Heterogeneous Multi-Resource Autonomous CPS with Control Performance Guarantees
Tighter Dimensioning of Heterogeneous Multi-Resource Autonomous CPS with Control Performance Guarantees
复制标题
具有控制性能保证的异构多资源自治 CPS 的更严格尺寸
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
S. Chakraborty
中科院分区：
文献类型：
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作者：
Debayan Roy;Wanli Chang;S. Mitter;S. Chakraborty
在现代自治系统中，通常有大量连接的组件实现复杂的功能。例如，在自动驾驶汽车（AV）中，有数千万行代码在数百个传感器、控制器和执行器上实现。无人驾驶汽车已经部署，主要是在试验和限制环境中，表明在功能开发方面取得了实质性进展。然而，他们仍然面临着两个主要挑战：（i）在所有可能的情况下安全关键功能的性能保证;（ii）在有限资源下的功能实现。这两个挑战是相互冲突的，因为安全保证需要进行最坏情况分析，这对于复杂的硬件/软件系统来说往往是非常悲观的，因此需要更多的资源。为了解决这个问题，我们研究了一个抽象的异构网络物理系统架构组成的高质量和低质量的资源，如时间和事件触发的资源，或有线和无线资源的混合。我们表明，通过适当地管理这样的资源组合，并制定一个正式的验证（模型检查）问题，它是可能的，紧密尺寸的高质量资源的最低限度（50%，在某些情况下），同时提供控制性能保证。
In modern autonomous systems, there is typically a large number of connected components realizing complex functionalities. For example, in autonomous vehicles (AVs), there are tens of millions of lines of code implemented on hundreds of sensors, controllers, and actuators. AVs have been deployed, mostly in trials and restricted environments, showing that substantial progress has been made in functionality development. However, they are still faced with two major challenges: (i) performance guarantee of safety-critical functions under all possible scenarios; (ii) functionality implementation with limited resources. These two challenges are conflicting because safety guarantees necessitate a worst-case analysis that is often very pessimistic for complex hardware/software systems, and thus require more resources. To address this, we study an abstraction of a heterogeneous cyber-physical system architecture consisting of a mix of high- and low-quality resources, such as time- and eventtriggered resources, or wired and wireless resources. We show that by properly managing such a mix of resources and formulating a formal verification (model checking) problem, it is possible to tightly dimension the high-quality resource to the minimum (50% in certain cases) while providing control performance guarantees.