Control Performance Analysis of Automotive Cyber-Physical Systems: A Study on Efficient Formal Verification

Automotive cyber-physical systems consist of multiple control subsystems working under resource limitations, and the trend is to run the corresponding control tasks on a shared platform. The resource requirements of the tasks are usually variable at runtime due to the uncertainties in the environment, necessitating some kinds of adaptation to deal with the resource limitations. Such adaptations may positively or negatively affect the control performance of several subsystems. Since there might be some thresholds on the control performances as quality constraints, this matter should be considered carefully to avoid any quality attribute constraint violation. This paper proposes a scalable control performance constraint verification method for such a system that works based on a feedback scheduler. The scalability is the result of a control-aware pruning method. In case of a constraint violation, the designer may change the system configuration and perform re-verification. Our evaluations show that the proposed method scales well while preserving the verification soundness.